JPH09257984A - Narrow pipe reparing device for nuclear reactor and method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure the soundness of narrow pipe welded part by applying a laser beam having a specified power concentration and a specified pulse width to a welded part inside a narrow part welded to a reactor vessel. SOLUTION: A visible pulse laser beam 4 from an obtical fiber 2 is converged with a combination condensing lens 3 and incident to the inner surface of a narrow pipe 1. An outer cylinder 62 of rotatively driving motor 7 and the emission part of the fiber 2 are connected by a partially transparent cylindrical laser application window 6 and the power supply to the motor 7 is made by a storage battery 8 mounted at an end of the motor 7. A laser reparing or correcting device 13 for the inner surface of a narrow pipe is put at the deep position of the pipe 1 by a device for putting the device 13 in and out of the pipe 1, and the device 13 is moved while pulled to the direction of the pipe 1. An optical connection structure 61 is composed of a connection structure 66, the optical fiber 2, the lens 3, a fixation ring 68 and the like, and the window 6 is connected to the outer cylinder 65 while the cylinder 65 to the structure 66.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a capillarity repairing apparatus and a repairing method for a nuclear reactor, and more particularly to a nuclear power plant that has already started to generate power in order to further ensure long-term safety of the plant. Inspect and repair the welds on the inner surface of thin pipes such as instrumentation pipes that are attached to the pressure vessel by welding, and shorten the period during which the nuclear power plant is shut down in order to perform efficient preventive maintenance work, Further, as a result, the present invention relates to a capillary tube repairing apparatus and repair method for a nuclear reactor, which can reduce the radiation dose received by workers and reduce the number of workers.

[0002]

2. Description of the Related Art Nuclear power plants are designed with a lifetime of 30 or 40 years. However, not all devices that make up a nuclear power plant have the same life.

With regard to thin pipes such as instrumentation pipes attached to a pressure vessel by welding, it is expected that the welded portion will be thoroughly inspected and repaired or preventive maintenance will be performed to ensure soundness during the design life. As a result, it has been attracting attention for the purpose of protecting the global environment.

[0004]

The welded portion of the thin pipe such as the instrumentation pipe attached to the pressure vessel of the reactor by welding is
At the time of welding, it may be joined in a tensile state and residual surface stress may remain. Therefore, it is conceivable that if the residual stress is left as it is, the welded portion deteriorates with age.

However, in order to ensure the soundness of a welded portion of a thin pipe (for example, an inner diameter of about 9 mm) such as an instrumentation pipe attached by welding to a pressure vessel of a nuclear power plant in operation of a furnace, repair or preventive maintenance is required. A small robot capable of performing the above has not yet been developed. In reality, the quality of the welded portion of the thin tube depends on the quality control at the time of manufacturing.

Therefore, an object of the present invention is to perform repair or preventive maintenance in order to ensure the soundness of a welded portion of a thin pipe such as an instrumentation pipe attached to a pressure vessel of an operating nuclear power plant by welding. It is an object of the present invention to provide a thin tube repair device and repair method for a nuclear reactor.

[0007]

A welded portion of a thin pipe such as an instrumentation pipe attached to a pressure vessel of a nuclear reactor by welding may be joined in a pulled state during welding. According to the present invention, a compressive force is applied to the welded portion so that the residual stress is in a compressed state, and the surface of the welded portion of the thin pipe such as the instrumentation pipe is modified for repair.

When the structure surface is irradiated with a pulsed laser beam having a certain energy density or more (for example, visible light pulsed laser beam in water), several atomic layers on the surface are directly vaporized to generate a plasma state. At this time, a super-high pressure state is shocked on the surface of the structure, and high pressure acts on the structure to generate compressive stress. Here, instead of a physical method such as shot peening, laser peening is used to improve the surface by irradiating a pulsed laser beam to make the surface residual stress a compressive stress.

In laser peening, when the laser irradiation is performed in water, the generated plasma has the effect of being confined in the water, so that a pressure about 100 times that in the air is generated. Therefore, it is possible to generate a large compressive force for performing the surface modification work in a liquid such as water, and to reduce the radiation exposure of the worker because it has a shielding effect against radiation.

Further, when the pulse laser is a visible light laser, there is little loss even if it is transmitted in water, so that chamber equipment for making the working space a gas is unnecessary.

For these reasons, the laser peening technique using the visible light pulsed laser is effective for modifying the surface of the inner surface of the thin tube.

The laser irradiation spot diameter capable of obtaining the surface modification effect by laser peening is about 0.5 mm in the present laser technology. It is necessary to irradiate the laser spot by uniformly superimposing it on a certain range of the surface of the object to be reconstructed and at the same time performing the irradiation by remote control.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The first and second embodiments of the present invention will be described below with reference to the drawings.

First, referring to FIGS. 1 to 44, the first embodiment of the present invention will be described with reference to various examples.
Next, the second embodiment of the present invention will be described with reference to various examples with reference to FIGS. 45 to 81.

In the description of the first embodiment or the second embodiment, each embodiment is classified into a plurality of inventions, and some embodiments or modified examples are included in each invention. Explain and explain.

In the first embodiment of the present invention, the inside of the cylinder containing the rotary drive motor 7 and the injection section of the optical fiber 2 is filled with gas, and the liquid such as water outside the cylinder is cylinder-filled. The inside of the cylinder is sealed so that it does not penetrate into the inside of the cylinder.
As a result, it becomes possible to rotate the semitransparent rotating mirror 5 and the like at high speed. On the other hand, in order to seal the inside of the cylinder, it is necessary to install a partially transparent cylindrical laser irradiation window 6 or the like so that the cylindrical laser irradiation window 6 or the like is not damaged by the focused laser beam. There is a need.

Further, in the second embodiment of the present invention, a liquid such as water penetrates into the inside of the cylinder in which the rotary drive motor 7 and the emitting portion of the optical fiber 2 are housed, as in the outside of the cylinder. However, unlike the first embodiment, the inside of the cylinder is not sealed. As a result, when trying to rotate the semi-transparent rotating mirror 5 or the like at high speed, the resistance to water or the like is likely to occur, but a simple device configuration can be realized.

A first embodiment of the present invention will be described below with reference to FIGS. 1 to 44.

First, a first embodiment of the first invention in the first embodiment of the present invention will be described with reference to FIGS. In the thin tube inner surface laser repairing apparatus 13 of the first embodiment of the first invention, the visible light pulsed laser light 4 emitted from the optical fiber 2 is converged by the combination condenser lens 3 and the thin tube 1 by the semitransparent rotating mirror 5. Is irradiated to the inner surface of. A rotary drive motor 7 for rotating the semitransparent rotary mirror 5 is installed in front of the irradiation point. The outer cylinder 62 of the rotary drive motor 7 and the emitting part of the optical fiber 2 are connected by a partially transparent cylindrical laser irradiation window 6, and the power supply for driving the rotary drive motor 7 is provided at its tip. It is performed by the attached storage battery 8. The thin tube inner surface laser repairing device 13 is attached to the thin tube 1
First, it is put into the inner position of the thin tube by the loading / unloading device 15 (see FIG. 2) for moving in and out, and then it is moved while being pulled out in the axial direction of the thin tube to perform a surface modification work on a certain range of the inner surface of the thin tube 1. Perform inspection and maintenance such as.

FIG. 1 is a diagram showing a relationship between a laser pulse width and a laser energy density for generating a physical phenomenon on a laser irradiation surface. Laser peening is shown in FIG. P. The interaction time (interactio
n time) and power density.

FIG. 2 is a system conceptual diagram for operating the present invention. The instrumentation pipe 69 such as a neutron instrumentation pipe is welded and joined to the pressure vessel 11 of the nuclear reactor at a welded portion 69a inside thereof.

The laser repairing device 13 for the inner surface of the thin tube is inserted into the instrumentation tube 69 by the loading / unloading device 15. Access device 15
Is installed in an insertion device 71 for inserting the detector 70. Here, the insertion device 71 is a device installed in advance in the nuclear reactor in order to insert the detector 70 for inspection into the instrumentation pipe 69, and one end of the instrumentation pipe 69 is attached to the insertion device 71. ing. Access device 15
Inserts and removes the capillary inner surface laser repairing device 13 into and out of the instrumentation tube 69 so that the insertion device 71 inserts the detector 70 into the instrumentation tube 69.

The composite cable 12 is composed of the optical fiber 2 (118) shown in FIG. 4, an electric wire for signal (not shown), etc., and has a certain degree of hardness because a plurality of cables are combined, and accordingly, It can be pushed into the instrumentation tube 69 from one end. The composite cable 12 is the winding device 1
It is rolled up to 19.

A visible light pulse laser oscillator 116 centered on blue, a visible light laser oscillator 115 centered on red, and a semitransparent mirror 117 are coupled by a laser transmission system, and the combined laser light is transmitted to an optical fiber 118. The other end of the optical fiber 118, which has been introduced, is coupled to the winding device 119.

FIG. 3 shows a thin tube 1 of a visible light pulsed laser light 4.
It is a figure which shows moving the spot point irradiated to the inner surface of FIG. In FIG. 3, A is the spot diameter, n is the number of times the spots are overlapped and irradiated,
ΔA is the distance that the spot moves on the inner surface of the thin tube 1 during the time ΔT, and the time ΔT is the irradiation interval time of the visible light pulsed laser light.

FIG. 4 shows a thin tube inner surface laser repairing apparatus for irradiating the inner surface of the thin tube 1 with the laser light 4 emitted from the optical fiber 2 by rotating the semitransparent rotating mirror 5 by the rotary drive motor 7 driven by the storage battery 8. It is a conceptual diagram which shows schematic structure of 13. Although only the optical fiber 2 is shown in FIG. 4, the optical fiber 2 constitutes a composite cable 12 together with other cables such as electric wires (not shown) and has a certain degree of hardness, and one end of the composite cable 12 can be pushed or pulled. Then, the thin tube inner surface repair device can be put in and taken out of the instrumentation tube 69.

The thin tube inner surface laser repairing device 13 roughly comprises a tip structure portion 60, a cylindrical laser irradiation window 6, and an optical system coupling structure portion 61.

The tip structure 60 includes an outer cylinder 62, an end plug 63,
It is composed of a storage battery 8, a rotary drive motor 7, and the like. The rotary drive motor 7 utilizes screw connection between the fixed ring 64 and the outer cylinder 62 so that the axial distance matches the design value.
It is fixed to the end face of the cylindrical laser irradiation window 6. A semitransparent rotary mirror 5 is coupled to the rotary drive motor 7.
The semi-transparent rotating mirror 5 is surface-treated so as to reflect laser light having a wavelength centered on blue and transmit laser light centered on red.

The rotary drive motor 7 includes a semitransparent rotary mirror 5
There is provided a light control device 14 (not shown) for starting and stopping driving by receiving a laser beam centered on the red color that has passed through. The contact terminal 9 and the spring 1 are provided on the outer surface of the outer cylinder 62.
0 is attached. A spring 10 is attached so that the contact terminal 9 comes into contact with the inner surface of the thin tube 1 with the state in which the contact terminal 9 comes into contact with the inner surface of the thin tube 1 as a calculation reference of the focal length. Three or more contact terminals 9 and springs 1 in the cross section
0 is attached at a point-symmetrical position. The end plug 63 is connected to the outer cylinder 62, and the outer cylinder 62 is connected to the cylindrical laser irradiation window 6. The contact terminal 9 is constantly pressed against the inner surface of the thin tube 1 (instrumentation tube 69) by the spring 10.

The optical system coupling structure 61 is composed of an outer cylinder 65, a connecting structure 66 such as a cable, an optical fiber 2, an optical fiber emitting end structure 67, a combination condenser lens 3, a fixing ring 68 and the like. The contact terminal 9 and the spring 10 are attached to the outer surface of the outer cylinder 65. The cylindrical laser irradiation window 6 is coupled to the outer cylinder 65, and the outer cylinder 65 is coupled to the connection structure 66.

Next, the operation of the first embodiment of the first invention will be described below.

A fixed number of instrumentation pipes 69 are selected from the plurality of instrumentation pipes 69 welded to the pressure vessel 11 and inserted into the installation location of the insertion device 71 for inserting the detector 70. Instead of the device 71, a loading / unloading device 15 is installed, and the capillary tube inner surface laser repair device 13 is loaded / unloaded by the loading / unloading device 15.

The thin tube inner surface laser repairing device 13 attached to the end of the composite cable 12 including the optical fiber 2 is arranged near the end of the predetermined instrumentation tube 69 (thin tube 1), and the insertion / removal device 15 is set to the predetermined amount. Attached to the end of the mounting pipe 69 (narrow pipe 1),
The loading / unloading device 15 is operated to push the composite cable 12 into the instrumentation tube 69 (capillary tube 1). The composite cable 12 is inserted a certain distance deeper than the welded portion 69a at the place where the surface modification of the inner surface of the instrumentation pipe 69 (the thin pipe 1) is to be performed. Laser peening is performed while pulling out the composite cable 12 inserted further into the interior by a certain distance.

A red laser oscillated by a laser device 116 is produced by using a pulse laser beam oscillated by the pulse laser device 115 and having a spectrum centered on blue with little attenuation in water as a laser beam for high energy density work. A continuous wave laser beam centered on light is used as a control laser beam. For this purpose, the light beams of the pulse laser device 115 and the laser device 116 are combined using a semi-transparent mirror 117, and the light diameter is introduced into the optical fiber 118 by using a condensing optical system so that the light diameter is about 0.5 mm. The combined laser light is introduced into the optical fiber 2 of the composite cable 12 via 119.

First, the laser device 116 is activated, and the red laser light is transmitted through the semitransparent mirror 117, the optical fiber 118, the winding device 119, and the optical fiber 2 to the optical fiber emitting end structure of the thin tube inner surface laser repair device 13. Lead to section 67. The red laser light is emitted from the end of the optical fiber 2 of the optical fiber emission end structure 67, is condensed by the combination condenser lens 3, and is irradiated onto the semitransparent rotating mirror 5. The emitted red laser light is transmitted through the semitransparent rotary mirror 5 and guided to the light control device 14 attached to the rotary drive motor 7. For example,
As an example, the shaft of the rotary drive motor 7 is hollow, and the hollow shaft is used as a laser transmission tube to guide the red laser light to the light receiving portion of the light control device 14. Red laser light is light control device 1
When detected by 4, the light control device 14 activates the rotation drive motor 7 to rotate at a preset rotation speed, and rotates the semitransparent rotation mirror 5 at a predetermined rotation speed.

After activating the rotation of the semitransparent rotary mirror 5, the pulse laser device 115 is oscillated after a fixed time.
Semitransparent mirror 117 for pulsed laser light, optical fiber 11
8 through the winding device 119 and the optical fiber 2 to the optical fiber emitting end structure portion 67 of the thin tube inner surface laser repair device 13. A pulse laser beam centered on blue is emitted from the end portion of the optical fiber 2 of the optical fiber emission end structure portion 67, condensed by the combination condenser lens 3, irradiated onto the semitransparent rotating mirror 5, and reflected. Irradiation is performed so that light is transmitted through the cylindrical laser irradiation window 6, propagated in water, and focused on the inner surface of the thin tube 1.

At the same time that the surface of the instrumentation tube 69 (capillary tube 1) begins to be irradiated with the pulsed laser light centered on blue, the access device 15 is operated to pull out the composite cable 12 including the optical fiber 2 at a predetermined speed. Take action.

The rotation speed N of the semitransparent rotary mirror 5 and the drawing speed V of the thin tube inner surface laser repairing device 13 are controlled so as to satisfy the following relationship.

N = Z / N2 (ΔA / πD + N0) (1) Z = 1 / ΔT (2) ΔA = A / n (3) V = A × N (4) where N: number of revolutions of the semitransparent rotating mirror 5; pulse laser frequency N2; laser pulse distribution number ΔA; irradiation spot movement amount D; inner diameter of instrumentation tube 69 (capillary tube 1) N0; integer ΔT; pulse interval A; irradiation spot Diameter n: Number of overlapping irradiation spots V: Extraction speed When the extraction amount of the composite cable 12 reaches a predetermined length, oscillation of the pulse laser device 115 centered on blue is stopped and red laser light is emitted from the red laser device 116 again. It is introduced into the optical fiber 118, transmitted through the semitransparent rotary mirror 5 and guided to the light control device 14 attached to the rotary drive motor 7, and the drive of the rotary drive motor 7 is stopped.

The optical fiber 2 is activated by operating the access device 15.
The work of pulling out the composite cable 12 containing the from the thin tube 1 (instrument tube 69) is performed, and the thin tube inner surface laser repair device 13 attached to the tip thereof is taken out from the instrument tube 69 (narrow tube 1).
When the thin-tube inner surface laser repairing device 13 is taken out of the loading / unloading device 15, the storage battery 8 attached to the tip portion thereof is charged (or another charged storage battery 8 is replaced). When this work is completed, the composite cable 12 is again inserted into another instrumentation pipe 69 (narrow pipe 1), and the above work is repeated again.

Next, the effect of the first embodiment will be described.

By using the thin-tube inner surface laser repairing device 13 of the present invention, the inspection and maintenance such as the surface modification work of the inner surfaces of the plurality of instrumentation tubes 69 (thin tubes 1) welded to the pressure vessel 11 can be performed remotely or underwater. Therefore, it is possible to secure the long-term soundness of the equipment and extend the life of the equipment in a shorter working period. Further, when applied to a nuclear power plant, since the underwater work is performed remotely, it is possible to reduce the exposure of the worker and perform the work.

Next, with reference to FIG. 5, a second embodiment of the first invention in the first embodiment will be described.

In the second embodiment, the rotary drive motor 7 in the first embodiment is axially moved by a linear drive motor 16 attached to the tip of the rotary drive motor 7 to change the two focal point positions on the inner surface of the thin tube 1 to improve the surface. The present invention relates to a laser repair device for an inner surface of a thin tube, which is used for inspection and maintenance such as quality work.

The thin-tube inner surface laser repairing device 37 shown in FIG.
Is a laser drive emitted from the optical fiber 2 by rotating the semitransparent rotary mirror 5 by the rotary drive motor 7 driven by the storage battery 8 and axially moving the semitransparent rotary mirror 5 by the linear drive motor 16. 4 is applied to the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 37 comprises a tip structure portion 72, a laser irradiation window 6, and an optical system coupling structure portion 61.

The second embodiment of the first invention differs from the first embodiment in the following points.

The tip structure portion 72 includes an outer cylinder 62, an end plug 73,
It is composed of a storage battery 8, a linear drive motor 16, a rotary drive motor 7, and the like. The linear drive motor 16 is
The end plug 7 is provided through the assembled gear 74 such as a pinion and the guide rod 75.
It is configured to move relative to the No. The rotary drive motor 7 is connected to the linear drive motor 16 so as to be movable in the axial direction. The rotary drive motor 7 that rotationally drives the semitransparent rotary mirror 5 can move using the inner surface of the outer cylinder 62 as a guide surface.

Next, the operation of the second embodiment will be described below.
The operation is similar to that of the first embodiment, but the following points are different.

The pulsed laser light centered on blue is the thin tube 1.
The linear drive motor 1
6 is also operated to move the semitransparent rotary mirror 5 in the axial direction to bring the focus position to an optimum position.

Next, the effect of the second embodiment will be described.

The same effects as those of the first embodiment can be obtained. Further, the linear drive motor 16 is used to move the semitransparent rotary mirror 5 in the axial direction to focus on the inner surface of the thin tube 1, so that the surface modification work can be easily performed under the optimum conditions. .

Next, with reference to FIG. 6, a third embodiment of the first aspect of the invention will be described.

In the third example, the combination collective lens 3 in the first example of the first embodiment is replaced by the ultrasonic linear motor 1.
The present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work of a certain range of the inner surface of the thin tube 1 by moving the lens 7 relatively to adjust the focal length.

In FIG. 6, the laser repairing device 3 for the inner surface of the thin tube is shown.
Reference numeral 8 is for rotating the semitransparent rotary mirror 5 by a rotary drive motor 7 driven by using a storage battery 8 and moving the combined collective lens 3 with a laser beam 4 emitted from the optical fiber 2 by an ultrasonic linear motor 17. It is a device that adjusts the focal length by and irradiates the inner surface of the thin tube 1 within a certain range so that the focal position is reached.

The thin tube inner surface laser repairing device 38 is composed of a tip structure portion 60, a laser irradiation window 6, and an optical system coupling structure portion 76.

It differs from the first example of the first embodiment in the following points.

The optical system coupling structure 76 is composed of an outer cylinder 65, a connection structure 66 for cables and the like, an optical fiber 2, an optical fiber emitting end structure 67, an ultrasonic linear motor 17, a combination condenser lens 3, and a fixing ring 68. The contact terminal 9 and the spring 10 are attached to the outer surface of the outer cylinder 65. The laser irradiation window 6 and the outer cylinder 65 are connected to each other, and the outer cylinder 65 and the connection structure 66 are connected to each other. Inside the outer cylinder 65, the distance between the lenses of the combined condenser lens 3, that is, the focal position can be adjusted by the ultrasonic linear motor 17.

Next, the operation of the third embodiment will be described.

It has the same operation as the first embodiment of the first invention, but differs in the following points.

When the semitransparent rotary mirror 5 starts to rotate, the pulse laser oscillator 116 centering on blue color injects the pulse laser beam centering on blue color into the optical fiber 2 and outputs the pulse laser light to the optical fiber emitting end structure. A pulse laser emitted from the end of the optical fiber 67 of the optical fiber 67, moving the ultrasonic linear motor 17 to focus the combined focusing lens 3 with the focal length adjusted and irradiating the semi-transparent rotating mirror 5 with the reflected laser beam. Light is transmitted through the cylindrical laser irradiation window 6 and propagated in water to focus on the surface of the thin tube 1. The focal length of the combined condenser lens 3 in the ultrasonic linear motor 17 is adjusted by detecting the intensity of the laser light reflected from the surface of the thin tube 1.

The third example can achieve the same effects as the first example of the first embodiment. The inner diameter of the thin tube 1 (instrumentation tube 69) is designed to irradiate the laser beam 4 on the surface of the thin tube 1 (instrumentation tube 69) by adjusting the focal length of the combination condenser lens 3 with the ultrasonic linear motor 17. Even if the value is different from the value, the optimum irradiation focal length condition can be easily set, and therefore, high quality surface modification work can be performed.

Next, a fourth embodiment of the first invention will be described with reference to FIG.

Laser repairing device 12 for inner surface of thin tube of the fourth embodiment
In the second example, the portion including the ultrasonic linear motor 17 of the thin tube inner surface laser repairing device 38 of the third embodiment of the first embodiment is expanded and contracted by the sonic linear motor 120 to modify the surface of the inner surface of the thin tube 1 within a certain range. It is a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as work.

FIG. 7 shows a semitransparent rotary mirror 5 rotated by a rotary drive motor 7 driven by a storage battery 8, and a laser beam 4 emitted from an optical fiber 2 in an ultrasonic linear motor 1.
7 is a conceptual diagram of a thin tube inner surface laser repairing device 122 for irradiating a certain range on the inner surface of the thin tube 1 by expanding and contracting a portion including a structural portion for adjusting the focal length by 7 with an ultrasonic linear motor 120 in the axial direction.

The thin tube inner surface laser repairing device 122 includes a tip structure portion 60, a cylindrical laser irradiation window 6, and an optical system coupling structure portion 1.
21.

It differs from the third embodiment of the first invention in the following points.

That is, in this embodiment, the optical system coupling structure 121 includes the connection structure 66 such as a cable, the optical fiber 2, the optical fiber emitting end structure 67, the ultrasonic linear motor 17, the ultrasonic linear motor 120, Combination condenser lens 3
And so on. The combination condenser lens 3 of this embodiment is composed of a condenser lens portion 3a on the side closer to the optical fiber 2 and a condenser lens portion 3b on the side closer to the semitransparent rotating mirror 5.
Parallel light rays are emitted from the condenser lens portion 3a, parallel light rays always enter the condenser lens portion 3b, and the condenser lens portion 3b is moved back and forth by the ultrasonic linear motor 17 so that the condensing point is the thin tube 1. The focus should be on the inside surface. By expanding and contracting between the condenser lens portions 3a and 3b by the ultrasonic linear motor 120, the axial position of the thin tube 1 at the condenser point is changed.

The operation of the fourth embodiment will be described below.

It has the same operation as the third embodiment of the first invention, but differs in the following points.

When the surface of the thin tube 1 is irradiated with the pulsed laser light centered on blue, the ultrasonic linear motor 120
Is driven to move the semitransparent rotary mirror 5 in the axial direction at a predetermined speed (the semitransparent rotary mirror 5 is moved by the irradiation spot diameter distance during one rotation). When the ultrasonic linear motor 120 moves by the movable amount in the axial direction, the oscillation of the pulse laser oscillation device 116 centered on blue is stopped, and the loading / unloading device 15 is actuated so that the composite cable 12 including the optical fiber 2 is translucent. The same length as when the rotating mirror 5 is moved in the axial direction is extracted. During this drawing operation, the ultrasonic linear motor 120 is returned to the original position. The surface of the inner surface of the thin tube 1 is modified by irradiating a pulsed laser beam centered on blue color again.

The effects of the fourth embodiment of the first invention will be described below.

The same effect as that of the third embodiment of the first invention can be expected. Further, the ultrasonic linear motor 120 adjusts the length between the condenser lens portions 3a and 3b, and the ultrasonic linear motor 17 adjusts the condenser lens portion 3a.
Since b is adjusted, the irradiation position in the axial direction can be easily moved while focusing on the inner surface of the thin tube 1 easily.

Next, a fifth embodiment of the first invention will be described with reference to FIG.

In this example, the combination collective lens 3 in the second example of the first embodiment is replaced by the ultrasonic linear motor 17.
The present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work of a certain range of the inner surface of the thin tube 1 by relative movement by adjusting the focal length.

In FIG. 8, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by using the storage battery 8, and the semitransparent rotary mirror 5 is moved by the linear drive motor 16 in the axial direction. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 39 which irradiates a certain range of the inner surface of the thin tube 1 by adjusting the focal length of the emitted laser light 4 with an ultrasonic linear motor 17.

The thin tube inner surface laser repairing device 39 is composed of the tip structure portion 72, the laser irradiation window 6, and the optical system coupling structure portion 76.

The following points are different from the second embodiment of the first invention.

The optical system coupling structure 76 includes an outer cylinder 65, a connecting structure 66 such as a cable, the optical fiber 2, an optical fiber emitting end structure 67, an ultrasonic linear motor 17, a combination condenser lens 3, and a fixed ring 68. The contact terminal 9 and the spring 10 are attached to the outer surface of the outer cylinder 65. The laser irradiation window 6 and the outer cylinder 65 are connected to each other, and the outer cylinder 65 and the connection structure 66 are connected to each other.

The operation of the fifth example of the first embodiment will be described below.

The operation is the same as that of the second example of the first embodiment, but the following points are different.

When the semitransparent rotary mirror 5 starts to rotate, the pulse laser oscillator 116 introduces the pulsed laser light centered in blue into the optical fiber 118 and emits it from the optical fiber 2 end of the optical fiber emission end structure 67. Then, the ultrasonic linear motor 17 collects light with the focal length of the combined condenser lens 3 adjusted and irradiates the semi-transparent rotating mirror 5, which is reflected and transmitted through the laser irradiation window 6 to propagate the water. Then, the inner surface of the capillary 1 is focused. Ultrasonic linear motor 1
The focal length of the combined condenser lens 3 in 7 is adjusted by the thin tube 1
The intensity of the laser beam reflected from the surface of is detected.

The effects of the fifth embodiment of the first invention are shown below.

The same effect as the second embodiment of the first invention can be expected. The ultrasonic linear motor 17 adjusts the focal length of the combination condenser lens 3, and the ultrasonic linear motor 16 moves the semitransparent rotary mirror 5 in the axial direction to move the thin tube 1 (instrumentation tube 6).
The inner surface of 9) is irradiated with the laser beam 4 to easily irradiate a certain range in the axial direction of the thin tube 1 (instrumentation tube 69) under optimum irradiation conditions, so that high quality surface modification work can be performed.

Further, even if there is a step or an inner diameter change on the surface, the surface modification work can be performed correspondingly, so that the work applicable range can be widened and the work efficiency can be improved.

Next, a sixth embodiment of the first invention will be described with reference to FIG.

In this embodiment, an ultrasonic linear motor 18 is used in place of the linear drive motor 16 in the second embodiment of the first invention to change the focal point of the inner surface of the thin tube 1 to modify the surface. It relates to a laser repair device for the inner surface of a thin tube that performs the inspection and maintenance of.

In FIG. 9, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by using the storage battery 8, and the semitransparent rotary mirror 5 is axially moved by the ultrasonic linear motor 18, so that the optical fiber 2 FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 40 that irradiates the inner surface of the thin tube 1 with a laser beam 4 emitted from

The thin tube inner surface laser repairing device 40 is composed of the tip structure portion 77, the laser irradiation window 6, and the optical system coupling structure portion 80.

It differs from the second embodiment of the first invention in the following points.

The tip structure 77 includes an outer cylinder 78, an end plug 79,
Storage battery 8, ultrasonic linear motor 18, rotary drive motor 7
And so on. The ultrasonic linear motor 18 is configured to relatively move the end plug 79 and the rotary drive motor 7 in the axial direction.

The sixth embodiment of the first invention has the same operation as the second embodiment of the first invention. Further, the sixth embodiment of the first invention has the same effect as the second embodiment.

Next, referring to FIG. 10, the seventh aspect of the first invention
An example will be described.

In this embodiment, the combination collective lens 3 in the sixth embodiment of the first invention is relatively moved by the ultrasonic linear motor 17 to adjust the focal length, thereby modifying the surface of the inner surface of the thin tube 1 within a certain range. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as work.

In FIG. 10, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser beam emitted from the optical fiber 2 is moved by the ultrasonic linear motor 18 in the axial direction. 4 is an ultrasonic linear motor 17
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 41 that adjusts the focal length and irradiates a fixed range on the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 41 is composed of the tip structure portion 77, the laser irradiation window 6, and the optical system coupling structure portion 76.

It differs from the sixth embodiment of the first invention in the following points.

The optical system coupling structure 76 includes an outer cylinder 65, a connection structure 81 such as a cable, the optical fiber 2, an optical fiber emitting end structure 67, an ultrasonic linear motor 17, a combination condenser lens 3, and a fixed ring 68. The contact terminal 9 and the spring 10 are attached to the outer surface of the outer cylinder 65. The laser irradiation window 6 and the outer cylinder 65 are connected, and the outer cylinder 65 and the connection structure 81 are connected. The combination condenser lens 3 of this embodiment
Is composed of a condenser lens portion 3a on the side closer to the optical fiber 2 and a condenser lens portion 3b on the side closer to the semitransparent rotating mirror 5, and parallel rays are emitted from the condenser lens portion 3a, and the condenser lens portion 3b. A parallel light beam always enters the lens, and the condensing lens portion 3b is moved back and forth by the ultrasonic linear motor 17 and the semitransparent rotating mirror 5 is moved in the axial direction so that the condensing point is on the inner surface of the thin tube 1. Try to move in the axial direction.

The operation of the seventh embodiment of the first invention will be described below.

The operation is similar to that of the sixth embodiment of the first invention, but the following points are different.

When the semitransparent rotary mirror 5 starts to rotate, a pulsed laser light oscillating device centered on blue is injected into the optical fiber 2 to generate an optical fiber of the optical fiber emitting end structure 67. The light is emitted from the two ends, and the ultrasonic linear motor 17 collects light with the focal length of the combined condenser lens 3 adjusted and irradiates the semitransparent rotating mirror 5 with
The light is reflected and transmitted through the laser irradiation window 6 to propagate in water to focus on the surface of the thin tube 1.

The effects of the seventh embodiment of the first invention are shown below.

The same effect as the sixth embodiment of the first invention can be expected. The focal length of the combined condenser lens 3 is adjusted by the ultrasonic linear motor 17, and the semitransparent rotary mirror 5 is moved in the axial direction by the ultrasonic linear motor 18 to cover the surface of the inner surface of the thin tube 1 over a certain range in the axial direction. The modification work can be performed easily.

Next, with reference to FIG. 11, a first embodiment of the second invention of the first embodiment of the present invention will be described.

The first embodiment of the second invention is the optical fiber 2
The visible light pulsed laser light 4 emitted from the tube is focused by the combination condenser lens 3, reflected by the semitransparent rotating mirror 5, passed through the transparent cylindrical laser irradiation window 6, and irradiated on the inner surface of the thin tube 1. The laser repairing device 42.

A rotary drive motor 7 for rotating the semitransparent rotary mirror 5 inside the cylindrical laser irradiation window 6 is installed in front of the laser irradiation window 6, and the combined condenser lens 3 is provided inside the cylindrical laser irradiation window 6. A linear drive motor 16 for mounting a part of the connection pipe 19 and providing a connection pipe 19 having a partially transparent structure to move the connection pipe 19 and the rotary drive motor 7 simultaneously in the axial direction.
Is installed at a position closer to the tip of the rotary drive motor 7, and the power supply for driving the rotary drive motor 7 and the linear drive motor 16 is supplied by the storage battery 8 installed at the most advanced state, and the thin tube inner surface laser repair device 42 is put in and taken out. The present invention relates to a thin tube inner surface laser repairing device that moves in the axial direction by a device 15 to inspect and maintain the inner surface of the thin tube 1 such as surface modification work.

In FIG. 11, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and a part (3b) of the combined condenser lens 3 is placed inside the cylindrical laser irradiation window 6. Connection, connecting pipe 19 with a partially transparent structure
And a rotary drive motor 7 are simultaneously moved in the axial direction by a linear drive motor 16 to irradiate a laser beam 4 emitted from an optical fiber 2 onto a certain range of the inner surface of the thin tube 1 as a conceptual diagram of a thin tube inner surface laser repairing device 42. .

The thin tube inner surface laser repairing device 42 includes a tip structure portion 83, a cylindrical laser irradiation window 6, and an optical system coupling structure portion 8.
4

The tip structure portion 83 includes an outer cylinder 62, an end plug 82,
It is composed of a storage battery 8, a linear drive motor 16, a rotary drive motor 7, and the like. A rotary drive motor 7 for rotating the semitransparent rotating mirror 5 inside the cylindrical laser irradiation window 6, and a combined condenser lens 3 provided inside the cylindrical laser irradiation window 6.
A linear drive motor 16 that simultaneously moves the connecting pipe 19 to which a part of the above is attached in the axial direction is coupled to the inside of the outer cylinder 62 via the assembled gear 74.

The semi-transparent rotating mirror 5 is surface-treated so as to reflect laser light having a wavelength centered on blue and transmit laser light centered on red. The rotary drive motor 7 is provided with a light control device 14 (not shown) for starting and stopping the drive by receiving the laser light centered on the red color transmitted through the semitransparent rotary mirror 5. A contact terminal 9 and a spring 10 are attached to the outer surface of the outer cylinder 62, and the contact terminal 9 serves as a reference for calculating the focal length in a state where the contact terminal 9 is in contact with the inner surface of the thin tube 1, and the contact terminal 9 is the inner surface of the thin tube 1. A spring 10 is attached so as to contact with. Three or more contact terminals 9 and springs 10 are attached symmetrically in a cross section. The end plug 82 and the outer cylinder 62 are connected, and the outer cylinder 62 is connected to the laser irradiation window 6.

The optical system coupling structure 84 is composed of an outer cylinder 85, a connecting structure 66 for cables and the like, an optical fiber 2, an optical fiber emitting end structure 67, a combination condenser lens 3, and a fixing ring 68. A contact terminal 9 and a spring 10 are attached to the outer surface. The laser irradiation window 6 and the outer cylinder 85 are connected to each other, and the outer cylinder 85 and the connection structure 66 are connected to each other.

The operation of the first embodiment of the second invention will be described below.

It differs from the first embodiment of the first invention in the following points.

The pulsed laser light centered on blue is the thin tube 1.
At the same time when the surface of the (instrumentation tube 69) starts to be irradiated, the linear drive motor 16 is operated to rotate the rotary drive motor 7 with the semitransparent rotary mirror 5 and a part of the combination condenser lens 3 (3b).
At the same time, the connecting pipe 19 to which is attached is moved in the axial direction at a predetermined speed. When the amount of movement reaches a predetermined length, the oscillation of the pulsed laser light oscillation device centered on blue is stopped, red laser light is injected again from the red laser device into the optical fiber 2, and transmitted through the semitransparent rotating mirror 5. Then, the light is guided to the light control device 14 attached to the rotary drive motor 7, and the drive of the rotary drive motor 7 and the drive of the linear drive motor 16 are stopped.

The composite cable 12 including the optical fiber 2 is pulled out by operating the loading / unloading device 15 to a length equivalent to the axial movement of the semitransparent rotary mirror 5. While this drawing is being performed, the linear drive motor 16 is driven in the reverse direction by the red laser light, and the semitransparent rotating mirror 5
When is moved in the opposite direction in the axial direction by a predetermined distance, the driving stop is controlled by the red laser light. When the pulling-out of the laser repairing device 42 for the inner surface of the thin tube and the movement of the semitransparent rotating mirror 5 in the opposite direction by the predetermined distance are completed, the pulsed laser light centered on blue is irradiated again to cause the thin tube 1 (the instrumentation tube 6
Perform the surface modification work of 9).

The first embodiment of the second invention can be expected to have an effect close to that of the fourth embodiment of the first invention.

Next, referring to FIG. 12, the second aspect of the second invention
An example will be described.

In the second embodiment, instead of moving the connecting pipe 19 and the rotary drive motor 7 in the first embodiment of the second invention at the same time in the axial direction, the relative position of the two in the axial direction is changed. The present invention relates to a thin tube inner surface laser repairing device that installs a linear drive motor 20 and adjusts the focus on the inner surface of the thin tube 1 to perform inspection and maintenance such as surface modification work.

In FIG. 12, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser light 4 emitted from the optical fiber 2 is assembled inside the cylindrical laser irradiation window 6. The connecting tube 29 having a partially transparent structure to which a part (3b) of the optical lens 3 is attached and the rotary drive motor 7 are relatively moved in the axial direction by the linear drive motor 20 to adjust the focal length and to obtain a thin tube. It is a conceptual diagram of the thin tube inner surface laser repair device 43 which irradiates the inner surface of 1.

The following points are different from the first embodiment of the second invention.

The thin tube inner surface laser repairing device 43 comprises a tip structure portion 86, a laser irradiation window 6, and an optical system coupling structure portion 84.

The tip structure portion 86 includes an outer cylinder 62, an end plug 82,
It is composed of a storage battery 8, a linear drive motor 20, a rotary drive motor 7, and the like. A semi-transparent rotating mirror 5 rotated by a rotation driving motor 7 inside a cylindrical laser irradiation window 6,
A linear drive motor 20 for axially moving the relative position with respect to the combined condenser lens 3 attached to the connecting tube 29 having a partially transparent structure provided inside the cylindrical laser irradiation window 6.
Are coupled to the inside of the outer cylinder 62 via the assembled gear 74.

The operation of the second embodiment of the second invention will be described below.

The operation is the same as that of the first embodiment of the second invention, but the following points are different.

When the semitransparent rotary mirror 5 starts to rotate, the pulse laser oscillator 116 injects a pulse laser beam centered on blue into the optical fiber 2 and emits it from the optical fiber 2 end of the optical fiber emitting end structure 67. Then, the linear drive motor 20 collects light with the focal length of the combined condenser lens 3 adjusted, and the condensed light is reflected by the semitransparent rotating mirror 5, and the connecting tube 29
While passing through the cylindrical laser irradiation window 6 to propagate the water to focus on the surface of the thin tube 1 (instrumentation tube 69), at the same time, the access device 15 is operated to operate the composite cable 12 including the optical fiber 2. Is pulled out at a predetermined speed. The focal length of the combined condenser lens 3 in the linear drive motor 20 is adjusted by detecting the intensity of laser light reflected from the surface of the thin tube 1.

According to the second embodiment, the third aspect of the first invention
The same effect as that of the embodiment can be expected. Further, since the laser beam 4 can be applied to the surface of the thin tube 1 (instrumentation tube 69) by adjusting the focal length with the linear drive motor 20, the thin tube 1 (instrumentation tube 6
Even if the inner diameter of 9) is different from the designed value, it is possible to easily set the optimum focal length irradiation conditions, so that high quality surface modification work can be performed.

Next, a third embodiment of the second invention in the first embodiment of the present invention will be described with reference to FIG.

In the third embodiment, the linear drive motor 20 for adjusting the focal length in the second embodiment of the second invention is moved by the linear drive motor 16 in the axial direction. The present invention relates to a thin tube inner surface laser repairing device that moves the entire inner surface laser repairing device 44 in the axial direction to perform inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 1.

In FIG. 13, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser light 4 emitted from the optical fiber 2 is combined and collected inside the cylindrical laser irradiation window 6. The linear drive motor 20 for adjusting the focal length by axially moving the connection tube 29 and the rotary drive motor 7 which have a partially transparent structure to which a part (3b) of the optical lens 3 is attached is adjusted in the axial direction. It is a conceptual diagram of a thin tube inner surface laser repairing device 44 which is attached to a linear drive motor 16 which moves to a position and irradiates the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 44 comprises a tip structure 88, a laser irradiation window 6, and an optical system coupling structure 84.

The third embodiment differs from the second embodiment of the second invention in the following points.

The tip structure portion 88 includes the outer cylinder 62, the storage battery 8,
The linear drive motor 20, the linear drive motor 16, and the rotary drive motor 7 are included. Cylindrical laser irradiation window 6
A semi-transparent rotary mirror 5 which is rotated by a rotary drive motor 7 inside, and a combination condenser lens 3 attached to a connecting tube 29 which is partially transparent inside the cylindrical laser irradiation window 6 and has a transparent structure. The linear drive motor 20 that moves the relative position of the above in the axial direction is coupled to the linear drive motor 16 via the assembled gear 88.

The operation of the third embodiment is the same as that of the second invention.
The same operation as the embodiment is achieved, but the following points are different.

The pulsed laser light centered on blue is the thin tube 1.
At the same time when the surface of the (instrumentation tube 69) starts to be irradiated, the linear drive motor 16 is actuated to rotate the semitransparent rotary mirror 5, and the linear drive motor 20 with the rotary drive motor 7 is axially moved at a predetermined speed. . When the amount of movement reaches a predetermined length, the oscillation of the pulsed laser light oscillating device centered on blue is stopped, and the light control device 14 is activated by the red laser light again to rotate the rotary drive motor 7, the linear drive motor 16 and the linear drive motor 16. The drive of the drive motor 20 is stopped.

The composite cable 12 including the optical fiber 2 is pulled out by operating the loading / unloading device 15 to a length equivalent to the axial movement of the semitransparent rotary mirror 5. While the drawing is being performed, the linear drive motor 16 is driven in the reverse direction by the red laser light, and when the semitransparent rotary mirror 5 moves in the reverse direction by a predetermined distance in the axial direction, the driving is stopped by the red laser light. Take control. When the pulling-out of the thin-tube inner surface laser repairing device 44 and the movement of the semitransparent rotating mirror 5 in the opposite direction by the predetermined distance are completed, the thin-tube 1 (the instrumentation pipe 6
Perform the surface modification work of 9).

In the third embodiment of the second invention, the same effect as that of the fourth embodiment of the first invention can be expected. Further, since the linear drive motor 20 adjusts the focal length of the combination condenser lens 3 to irradiate the laser beam 4 on the surface of the thin tube 1 (instrumentation tube 69), the inner diameter of the thin tube 1 (instrumentation tube 69) is a design value. Even if it is different from the above, it is possible to easily set the optimum irradiation conditions and perform high-quality surface modification work.

Next, with reference to FIG. 14, a fourth example of the second invention of the first embodiment will be described.

The fourth embodiment uses an ultrasonic linear motor 21 as the linear drive motor 20 for adjusting the focal length in the second embodiment of the second invention and inspects the surface modification work of the inner surface of the thin tube 1.・ Relating to the laser repair device for the thin tube inner surface that performs maintenance.

In FIG. 11, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser beam 4 emitted from the optical fiber 2 is combined with the condensing lens 3.
Of the thin tube inner surface laser repairing device 45 for irradiating the inner surface of the thin tube 1 by adjusting the focal length by moving the connecting tube 19 having a partially transparent structure attached with the ultrasonic linear motor 21 in the axial direction. It is a conceptual diagram.

The thin tube inner surface laser repairing device 45 is composed of the tip structure 90, the laser irradiation window 6, and the optical system coupling structure 84.

The fourth embodiment differs from the second embodiment of the second invention in the following points. The tip structure portion 90 includes an outer cylinder 62, an end plug 82, a storage battery 8, an ultrasonic linear motor 21, a rotary drive motor 7, and the like. Ultrasonic linear motor 21
Is a structure in which the connecting tube 19 can be moved in the axial direction, and the relative position between the combined condenser lens 3 and the semitransparent rotating mirror 5 can be changed.

The fourth embodiment can achieve the same operation and effect as the second embodiment of the second invention.

Next, with reference to FIG. 15, a fifth embodiment of the second invention in the first embodiment will be described.

In the fifth embodiment of the second invention, an ultrasonic linear motor 21 is used as the linear drive motor 20 for adjusting the focal length in the third embodiment of the second invention so that the inner surface of the thin tube 1 can be moved within a certain range. The present invention relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as surface modification work.

In FIG. 15, the semi-transparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser light 4 emitted from the optical fiber 2 is combined and collected inside the cylindrical laser irradiation window 6. An ultrasonic linear motor 21 that adjusts the focal length by moving the rotary drive motor 7 and the connecting tube 29, which is a partially transparent structure with a part of the optical lens 3 attached, is moved in the axial direction. Linear drive motor 16
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 46 that is attached to a laser to irradiate the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 46 is composed of the tip structure portion 91, the laser irradiation window 6, and the optical system coupling structure portion 84.

The fifth embodiment differs from the third embodiment in the following points. The tip structure portion 91 includes an outer cylinder 62, a storage battery 8, an ultrasonic linear motor 21, a linear drive motor 16, a rotary drive motor 7, and the like. The semi-transparent rotating mirror 5 which is rotated by the rotation driving motor 7 inside the cylindrical laser irradiation window 6 and the connecting pipe 19 which is provided inside the cylindrical laser irradiation window 6 and has a partially transparent structure are attached. The rotary drive motor 7 to which the ultrasonic linear motor 21 that moves the relative position with respect to the combination condenser lens 3 in the axial direction is attached is coupled to the linear drive motor 16 via the assembly gear 92.

The fifth embodiment can achieve the same actions and effects as the third embodiment.

Next, with reference to FIG. 16, a sixth embodiment of the second invention in the first embodiment will be described.

In the sixth embodiment, an ultrasonic linear motor 22 is used in place of the linear drive motor 16 in the fifth embodiment to perform inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 1. The present invention relates to an internal laser repair device.

In FIG. 16, the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8, and the laser light 4 emitted from the optical fiber 2 is combined inside the cylindrical laser irradiation window 6. A part of the optical lens 3 (3b) is attached to the connecting tube 29 having a transparent structure, and an ultrasonic linear motor 21 for adjusting the focal length by relatively moving the rotary drive motor 7 in the axial direction. It is a conceptual diagram of a thin tube inner surface laser repairing device 47 which is attached to an ultrasonic linear motor 22 which moves in a direction and irradiates the inner surface of the thin tube 1.

The capillary inner surface laser repairing device 47 is composed of the tip structure portion 91, the laser irradiation window 6, and the optical system coupling structure portion 84.

The sixth embodiment differs from the fifth embodiment in the following points. The tip structure portion 91 includes an outer cylinder 62, a storage battery 8, an ultrasonic linear motor 21, an ultrasonic linear motor 22, a rotary drive motor 7, and the like. The semi-transparent rotating mirror 5 which is rotated by the rotation driving motor 7 inside the cylindrical laser irradiation window 6 and the connecting pipe 19 which is provided inside the cylindrical laser irradiation window 6 and has a partially transparent structure are attached. A rotary drive motor 7 having an ultrasonic linear motor 21 for moving the relative position with respect to the combined condenser lens 3 in the axial direction is coupled to the ultrasonic linear motor 22.

The sixth embodiment can achieve the same actions and effects as the fifth embodiment.

Next, with reference to FIG. 17, a first embodiment of the third invention in the first embodiment will be described.

Inner surface laser repairing device 4 for thin tube of the first embodiment
Reference numeral 8 focuses the visible light pulsed laser light 4 emitted from the optical fiber 2 by the combination condenser lens 3, reflects it by the semitransparent rotary mirror 5, passes through the transparent cylindrical laser irradiation window 6, and passes through the thin tube 1. Irradiate the inner surface.

In the thin-tube inner surface laser repairing device 48, the rotary drive motor 23 for rotating the semitransparent rotating mirror 5 inside the cylindrical laser irradiation window 6 is installed in front of the laser irradiation window 6 and the optical system. The slip ring portion (not shown) installed in the system coupling structure portion 94 and the rotary drive motor 23
The rotating structure 96 is connected to the inside of the cylindrical laser irradiation window 6 and the connection structure 24 having no shielding structure is provided in the laser irradiation direction. Power and control signals are transmitted to the rotary drive motor 7 via the connection structure 24. The thin-tube inner surface laser repairing device 48 is moved in the axial direction by the loading / unloading device 15 to perform inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 1.

In FIG. 17, power and control signals are sent to the rotary drive motor 23 via a slip ring 95 (not shown) and the connection structure 24, and the rotary drive motor 23 connects the semitransparent rotary mirror 5 and the connection structure 24. It is a conceptual diagram of a thin tube inner surface laser repairing device 48 that simultaneously rotates and irradiates the inner surface of the thin tube 1 with the laser light 4 emitted from the optical fiber 2.

The capillary inner surface laser repairing device 48 comprises a tip structure portion 97, a laser irradiation window 6, and an optical system coupling structure portion 94.

The first embodiment of the third invention differs from the first embodiment of the first invention in the following points.

The tip structure portion 97 includes an outer cylinder 98, an end plug 99,
It is composed of a rotary drive motor 23 and the like. The semi-transparent rotary mirror 5 provided inside the cylindrical laser irradiation window 6 and the connection structure 24 to which the slip ring 95 is attached are connected to the rotary drive motor 23 via the rotary unit 96 for simultaneous rotation.
The rotary drive motor 23 is connected to the end plug 99.

The first embodiment of the third invention has the same operation as the first embodiment of the first invention, but the rotary drive motor 2
Power supply and transmission of control signals to the connection structure 24
The difference is that it is done via a cable attached to.

The same effects as those of the first embodiment of the first invention can be expected in the first embodiment.

Next, a second example of the third invention of the first embodiment will be described with reference to FIG.

The second embodiment is different from the first embodiment of the third invention in that the focus of the combined condenser lens 3 is adjusted by the ultrasonic linear motor 17.

In FIG. 18, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the semitransparent rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 49 that irradiates the inner surface of the thin tube 1 with the laser beam 4 emitted from the optical fiber 2 by adjusting the focal length with the ultrasonic linear motor 17.

The thin tube inner surface laser repairing device 49 comprises a tip structure portion 97, a laser irradiation window 6, and an optical system coupling structure portion 76.

The second embodiment differs from the first embodiment in the following points. In the second embodiment, the optical system coupling structure portion 76 includes an outer cylinder 85, a connection structure 66 such as a cable, an optical fiber 2, an optical fiber emitting end structure 67, an ultrasonic linear motor 17, a combination condenser lens 3, and a fixed ring. 68 and an external cylinder 85
A contact terminal 9 and a spring 10 are attached to the outer surface of the. The laser irradiation window 6 and the outer cylinder 85 are connected to each other, and the outer cylinder 85 and the connection structure 66 are connected to each other.

The second embodiment has substantially the same operation as the third embodiment of the first invention.

According to the second embodiment, substantially the same effect as that of the third embodiment of the first invention can be expected.

Next, with reference to FIG. 19, a third embodiment of the third invention of the first embodiment will be described.

In the third embodiment, while the rotary drive motor 23 in the first embodiment of the third invention is moved in the axial direction by the linear drive motor 16, the surface modification work of a certain range of the inner surface of the thin tube 1 is performed. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance.

In FIG. 19, power and control signals are sent to the rotary drive motor 23 by the connection structure 24 to which the slip ring 95 and a part (3b) of the combined condenser lens 3 are attached, and the rotary drive motor 23 is semitransparent. A thin tube inner surface laser repairing device that simultaneously rotates the rotary mirror 5 and the connection structure 24, moves the rotary drive motor 23 in the axial direction by the linear drive motor 16, and irradiates the inner surface of the thin tube 1 with the laser light 4 emitted from the fiber 2. It is a conceptual diagram of 50.

The capillary inner surface laser repairing apparatus 50 is composed of the tip structure portion 100, the laser irradiation window 6, and the optical system coupling structure portion 101.

The third embodiment differs from the first embodiment in the following points.

The tip structure portion 100 includes the outer cylinder 98 and the end plug 9.
9, a rotary drive motor 23, a linear drive motor 16 and the like. The connecting structure 24, to which the semitransparent rotating mirror 5, the slip ring 95, and a part (3b) of the combined condenser lens 3 provided inside the cylindrical laser irradiation window 6 are attached, has a rotating portion 96 for rotating at the same time. The rotary drive motor 23 is coupled to the end plug 99 via the linear drive motor 16.

The third embodiment has substantially the same operation as the first embodiment of the second invention.

According to the third embodiment, the same effect as that of the first embodiment of the second invention can be expected.

Next, a fourth example of the third invention of the first embodiment will be described with reference to FIG.

The fourth embodiment differs from the third embodiment of the third invention in that an ultrasonic linear motor 22 is used instead of the linear drive motor 16 in the third embodiment, and the surface modification of the inner surface of the thin tube 1 is made. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as quality work.

FIG. 20 shows a rotary drive motor 2 which supplies necessary power and control signals through a connecting structure 24 to which a slip ring 95 and a part (3b) of the combined condenser lens 3 are attached.
3, the rotary drive motor 23 simultaneously rotates the semitransparent rotary mirror 5 and the connecting structure 24, the ultrasonic linear motor 22 moves the rotary drive motor 23 in the axial direction, and the laser light 4 emitted from the fiber 2 FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 51 that irradiates the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 51 is composed of the tip structure portion 102, the laser irradiation window 6, and the optical system coupling structure portion 101.

The fourth embodiment differs from the third embodiment in the following points.

The tip structure portion 102 includes the outer cylinder 98 and the end plug 9.
9, a rotary drive motor 23, an ultrasonic linear motor 22, and the like. The connecting structure 24, to which the semitransparent rotating mirror 5, the slip ring 95, and a part (3b) of the combined condenser lens 3 provided inside the cylindrical laser irradiation window 6 are attached, has a rotating portion 96 for rotating at the same time. Is connected to the rotary drive motor 23 via the rotary drive motor 23,
It is coupled to the end plug 99 via the ultrasonic linear motor 22.

The fourth embodiment has substantially the same operation and effect as the third embodiment.

Next, with reference to FIG. 21, a fifth embodiment of the third invention in the first embodiment will be described.

The fifth embodiment is different from the third embodiment in that the semi-transparent rotating mirror 5 and the combined condenser lens of which part (3b) is attached to the connecting structure 24 are simultaneously rotated, and the relative position in the axial direction is different. Gear structure section 104 so that
The present invention relates to a thin tube inner surface laser repairing device for mounting and adjusting the focal length so as to inspect and maintain the inner surface of the thin tube 1 such as surface modification work.

FIG. 21 shows a connecting structure 2 to which a slip ring 95 and a part (3b) of the combined condenser lens 3 are attached.
Power and control signals are sent to the rotary drive motor 7 via 4 and the semitransparent rotary mirror 5 and the connecting structure 24 are simultaneously rotated by the rotary drive motor 7, while the linear drive motor 2
0, part of the semi-transparent rotating mirror 5 and the connecting structure 24 (3
The relative position with respect to the combination collective lens 3 to which b) is attached is changed in the axial direction, the rotary drive motor 20 is moved in the axial direction by the linear drive motor 16, and the focal length of the laser light 4 emitted from the fiber 2 is adjusted. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 52 that irradiates a fixed area on the inner surface of the thin tube 1.

The capillary inner surface laser repairing device 52 is composed of the tip structure portion 103, the laser irradiation window 6, and the optical system coupling structure portion 101.

The sixth embodiment differs from the third embodiment of the third invention in the following points.

The tip structure portion 103 includes the outer cylinder 98 and the end plug 9.
9, a rotary drive motor 7, a linear drive motor 20, a linear drive motor 16 and the like. The connecting structure 24, to which the semitransparent rotating mirror 5, the slip ring 95, and a part (3b) of the combined condenser lens 3 provided inside the cylindrical laser irradiation window 6 are attached, has a rotating portion 96 for rotating at the same time. It is coupled to the rotary drive motor 7 via.
The rotary drive motor 7 is connected to the linear drive motor 20 and is partially (3
The relative position in the axial direction of the combination condenser lens 3 to which b) is attached and the semitransparent rotating mirror 5 can be changed. The linear drive motor 20 is coupled to the end plug 99 via the assembled gear 105.

The fifth embodiment has almost the same operation as the third embodiment of the third invention, but differs in that the irradiation spot diameter is adjusted and the laser beam 4 is irradiated to modify the surface.

The fifth embodiment can be expected to have substantially the same effects as the third embodiment of the second invention. Further, the surface modification work can be easily performed in response to changes in the inner diameter of the thin tube 1.

Next, with reference to FIG. 22, a sixth embodiment of the third invention in the first embodiment will be described.

The sixth embodiment uses an ultrasonic linear motor 30 in place of the linear drive motor 20 in the fifth embodiment to carry out inspection and maintenance such as surface modification work on the inner surface of the thin tube 1 within a certain range. The present invention relates to a laser repair device.

In FIG. 22, power and control signals are sent to the rotary drive motor 23 through the connection structure 24 to which the slip ring 95 and a part of the combined condenser lens 3 are attached. 5 and connection structure 24
Are simultaneously rotated, and the relative position of the semitransparent rotary mirror 5 and the combined condenser lens 3 having a part (3b) attached to the connection structure 24 is changed in the axial direction by the ultrasonic linear motor 30, and the linear drive motor 16 6 is a conceptual diagram of a thin tube inner surface laser repairing device 53 that axially moves the rotary drive motor 23 to irradiate the inner surface of the thin tube 1 with the laser light 4 emitted from the fiber 2. FIG.

The capillary inner surface laser repairing device 53 is composed of the tip structure portion 114, the laser irradiation window 6, and the optical system coupling structure portion 101.

The sixth embodiment differs from the fifth embodiment in the following points.

The tip structure portion 114 includes the outer cylinder 98 and the end plug 9.
9, a rotary drive motor 23, an ultrasonic linear motor 30, a linear drive motor 16 and the like. The semi-transparent rotating mirror 5 provided inside the cylindrical laser irradiation window 6, the slip ring 95, and the connection structure 24 to which a part of the combined condenser lens 3 is attached are rotated via the rotating portion 96 for simultaneous rotation. It is coupled to the drive motor 23. The rotary drive motor 23 is connected to the ultrasonic linear motor 30, and is configured to change the axial relative position between the combination condenser lens 3 partly attached to the connection structure 24 and the semitransparent rotary mirror 5. There is. The ultrasonic linear motor 30 is coupled to the linear drive motor 16 via the assembled gear 105. The linear drive motor 16 is coupled to the end plug 99.

The sixth embodiment has substantially the same operation and effect as the fifth embodiment of the third invention.

Next, with reference to FIG. 23, a seventh embodiment of the third invention in the first embodiment will be described.

In the seventh embodiment, an ultrasonic linear motor 123 for axially moving the mirror rotation drive motor 23 of the second embodiment of the third invention is added to modify the surface of the inner surface of the thin tube 1 within a certain range. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as work.

In FIG. 23, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the semitransparent rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23. Ultrasonic linear motor 1
The rotary drive motor 23 is moved in the axial direction by 23, and the laser beam 4 emitted from the optical fiber 2 is irradiated on a certain range on the inner surface of the thin tube 1 by adjusting the focal length and the irradiation spot diameter by the ultrasonic linear motor 17. Capillary inner surface laser repairing device 124
It is a conceptual diagram of.

The thin tube inner surface laser repairing device 124 is composed of the tip structure portion 125, the cylindrical laser irradiation window 6, and the optical system coupling structure portion 76.

The seventh embodiment differs from the second embodiment of the third invention in the following points.

In the seventh embodiment, the tip structure portion 125 is composed of the outer cylinder 98, the end plug 99, the rotary drive motor 23, the ultrasonic linear motor 123 and the like. Semi-transparent rotating mirror 5 and connection structure 2 provided inside a cylindrical laser irradiation window 6
4 is simultaneously rotated by a rotary drive motor 23, and the connecting structure 24 is rotatably connected to a slip ring 95. The rotary drive motor 23 is the ultrasonic linear motor 1
It is connected to the end plug 99 via 23.

The seventh embodiment has substantially the same operation as that of the second embodiment, but the ultrasonic linear motor 123 moves the semitransparent rotary mirror 5 in the axial direction so that the laser beam 4 is kept constant on the inner surface of the thin tube 1. The area of irradiation is different.

According to the seventh embodiment, substantially the same effect as that of the second embodiment can be expected, and the rotary mirror 5 can be moved in the axial direction to irradiate the laser beam 4 on a certain range of the inner surface of the thin tube 1. Therefore, a certain range of the inner surface of the thin tube 1 can be easily surface-modified.

Next, an eighth example of the third invention of the first embodiment will be described with reference to FIG.

In the eighth embodiment, a linear drive motor 16 is attached in place of the ultrasonic linear motor 123 that moves the mirror rotation drive motor 23 of the seventh embodiment in the axial direction, and the inner surface of the thin tube 1 is modified within a certain range. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as quality work.

In FIG. 24, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the semitransparent rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23. Linear drive motor 16
The rotary drive motor 23 is moved in the axial direction by the laser beam 4 emitted from the optical fiber 2 by the ultrasonic linear motor 17
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 126 that adjusts the focal length and irradiates a fixed range on the inner surface of the thin tube 1.

The thin tube inner surface laser repairing device 126 is composed of the tip structure portion 127, the cylindrical laser irradiation window 6, and the optical system coupling structure portion 76.

The eighth embodiment of the third invention differs from the seventh embodiment of the third invention in the following points.

In the eighth embodiment, the tip structure 127 is composed of the outer cylinder 98, the end plug 99, the rotary drive motor 23, the linear drive motor 16 and the like. Semi-transparent rotating mirror 5 and connection structure 24 provided inside a cylindrical laser irradiation window 6
Are simultaneously rotated by the rotary drive motor 23, and the connecting structure 24 is rotatably coupled to the slip ring 95. The rotary drive motor 23 is coupled to the end plug 99 via the linear drive motor 16.

The eighth embodiment has substantially the same operation and effect as the seventh embodiment.

Next, with reference to FIG. 25, a ninth example of the third invention of the first embodiment will be described.

In the ninth embodiment, an ultrasonic linear motor 129 for axially moving the tip portion beyond the combined condenser lens 3 of the second embodiment of the third invention is added to make the inner surface of the thin tube 1 constant. The present invention relates to a thin tube inner surface laser repairing device and method for performing inspection and maintenance such as surface modification work in a range.

In FIG. 25, power and control signals are sent to the rotary drive motor 23 through the slip ring 95 and the connection structure 24, and the semitransparent rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23. Ultrasonic linear motor 1
At 29, the tip end is moved in the axial direction from the combination condenser lens 3, and the laser light 4 emitted from the optical fiber 2 is irradiated on a certain range on the inner surface of the thin tube 1 by adjusting the focal length with the ultrasonic linear motor 17. It is a conceptual diagram of a thin tube inner surface laser repairing device 128. The thin tube inner surface laser repairing device 128 includes a tip structure portion 97, a cylindrical laser irradiation window 6, and an optical system coupling structure portion 1.
30.

The ninth embodiment differs from the second embodiment in the following points.

In the ninth embodiment, the optical system coupling structure section 130.
Is an outer cylinder 85, a connecting structure 66 such as a cable, the optical fiber 2, an optical fiber emitting end structure 67, the ultrasonic linear motor 1
29, the ultrasonic linear motor 17, and the combination condenser lens 3, and the contact terminal 9 and the spring 10 are attached to the outer surface of the outer cylinder 85. The laser irradiation window 6 and the outer cylinder 85 are connected to each other, and the outer cylinder 85 and the connection structure 66 are connected to each other.

The ninth embodiment has substantially the same operation as that of the second embodiment, but the ultrasonic linear motor 129 moves the semitransparent rotary mirror 5 in the axial direction so that the laser beam 4 is kept constant on the inner surface of the thin tube 1. The area of irradiation is different.

According to the ninth embodiment, substantially the same effect as that of the second embodiment can be expected, and the rotary mirror 5 can be moved in the axial direction to irradiate the laser beam 4 on a certain range of the inner surface of the thin tube 1. Therefore, a certain range of the inner surface of the thin tube 1 can be easily surface-modified.

Next, with reference to FIG. 26, a first example of the fourth invention of the first embodiment will be described.

In the first embodiment, the laser irradiation nozzle 26 containing the combination condenser lens 3 and the reflecting mirror 28 is rotated by the ultrasonic rotation motor 31, and the visible light pulsed laser light 4 emitted from the optical fiber 2 is emitted. The present invention relates to a thin tube inner surface laser repairing device 54 that collects light by the combination condenser lens 3, reflects it by the reflecting mirror 28, passes through the transparent laser irradiation window 27, and irradiates the inner surface of the thin tube 1. The laser repair device 54 for the inner surface of the thin tube is moved in the axial direction by the loading / unloading device 15 to perform inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 1.

In FIG. 26, the laser irradiation nozzle 26 incorporating the combined condenser lens 3 and the reflecting mirror 28 is rotated by the ultrasonic rotation motor 31, and the visible light pulsed laser light 4 emitted from the optical fiber 2 is directed to the thin tube 1. It is a conceptual diagram of a thin tube inner surface laser repairing device for irradiating the inner surface.

The thin-tube inner surface laser repairing device 54 comprises a laser irradiation nozzle 26 and an optical system coupling structure 106.

The laser irradiation nozzle section 26 includes an outer cylinder 107,
It is composed of a reflecting mirror 28, a combination condenser lens 3 and the like.
The outer cylinder 107 is coupled to the ultrasonic rotary motor 31 of the optical system coupling structure 106.

The contact terminal 9 and the spring 1 are provided on the outer surface of the outer cylinder 107.
0 is attached, and the contact terminal 9 is used as a reference for calculating the focal length in a state where the contact terminal 9 contacts the inner surface of the thin tube 1, and the spring 10 is attached so that the contact terminal 9 contacts the inner surface of the thin tube 1. . Three or more contact terminals 9 and springs 10 are attached symmetrically in a cross section.

The optical system coupling structure portion 106 includes a connection structure 108 such as a cable, the optical fiber 2, the ultrasonic rotary motor 31.
It is composed of

The first embodiment of the fourth invention has substantially the same operation and effect as the first embodiment of the first invention. Further, in the first embodiment of the fourth invention, the reflecting mirror 28 attached to the tip of the laser irradiation nozzle 26 is rotated by the ultrasonic rotation motor 31, emitted from the optical fiber 2, and condensed by the combination condenser lens 3. The generated laser light 4 is transmitted through the laser irradiation window 27 and is irradiated on the inner surface of the thin tube 1 to perform the surface modification work.

Next, with reference to FIG. 27, a second example of the fourth invention of the first embodiment will be described.

The second embodiment is different from the first embodiment of the fourth invention in that the combination condenser lens unit 3 has an ultrasonic linear motor 9 in it.
3 is attached to adjust the focal length.

FIG. 27 shows a visible light pulse laser emitted from the optical fiber 2 by rotating the laser irradiation nozzle 26 incorporating the ultrasonic linear motor 93, the combination condenser lens 3 and the reflecting mirror 28 by the ultrasonic rotating motor 31. Light 4 to thin tube 1
It is a conceptual diagram of the thin tube inner surface laser repairing device 55 for irradiating the inner surface of the.

The thin tube inner surface laser repairing device 55 is composed of the laser irradiation nozzle 26 and the optical system coupling structure 106.

The second embodiment differs from the first embodiment in the following points.

In the second embodiment, the laser irradiation nozzle 26 includes an outer cylinder 109, a reflecting mirror 28 and an ultrasonic linear motor 9.
3, a combination condenser lens 3 and the like. Outer cylinder 10
9 is an ultrasonic rotary motor 31 of the optical system coupling structure 106.
Is combined with

The second embodiment has substantially the same operation as the first embodiment. Further, the laser light 4 emitted from the optical fiber 2 is converged by the combination collective lens 3 for adjusting the focal length by the ultrasonic linear motor 93, reflected by the reflecting mirror 28, transmitted through the laser irradiation window 27 and transmitted through the thin tube 1. Irradiate the inner surface to perform surface modification work.

According to the second embodiment, substantially the same effect as that of the first embodiment can be expected. In addition, the ultrasonic linear motor 93
Since the focal length of the combination condenser lens 3 is adjusted to irradiate the laser beam 4 on the inner surface of the thin tube 1, even if the inner diameter of the thin tube 1 is different from the designed value, it is possible to easily set the optimum irradiation conditions, so that a high quality surface modification is possible. You can do quality work.

Next, with reference to FIG. 28, a third example of the fourth invention of the first embodiment will be described.

The third embodiment is different from the first embodiment of the fourth invention in that the axial length of the laser irradiation nozzle 26 can be changed by the ultrasonic linear motor 32.

In FIG. 28, the laser irradiation nozzle 26 incorporating the ultrasonic linear motor 32, the combined condenser lens 3 and the reflecting mirror 28 is rotated by the ultrasonic rotary motor 31, and the length of the ultrasonic linear motor 32 in the axial direction is increased. Change the optical fiber 2
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 56 that irradiates the inner surface of the thin tube 1 with the visible light pulsed laser light 4 emitted further.

The thin tube inner surface laser repairing device 56 is composed of the laser irradiation nozzle 26 and the optical system coupling structure 106.

The third embodiment differs from the first embodiment in the following points.

In the third embodiment, the laser irradiation nozzle 26 includes the outer cylinder 110, the reflecting mirror 28, and the ultrasonic linear motor 3.
2, a combination condenser lens 3 and the like.

The third embodiment has substantially the same operation as the first embodiment. Further, the laser beam 4 emitted from the optical fiber 2 is converged by the combination condenser lens 3 and is reflected by the reflecting mirror 28 moved in the axial direction by the ultrasonic linear motor 32,
The laser beam is passed through the laser irradiation window 27 to irradiate the inner surface of the thin tube 1 in a certain range in the axial direction and the circumferential direction to perform the surface modification work.

According to the third embodiment, the same effect as that of the first embodiment can be expected. Further, the setting work of the axial device for moving the irradiation position by the ultrasonic linear motor 32 in the axial direction to irradiate the laser light onto a certain range of the inner surface of the thin tube 1 becomes easy, and the work efficiency can be improved. .

Next, with reference to FIG. 29, a fourth example of the fourth invention of the first embodiment will be described.

The fourth embodiment differs from the third embodiment in that an ultrasonic linear motor 93 is attached to the combined condenser lens unit 3 to adjust the focus.

In FIG. 29, the ultrasonic irradiation linear motor 93, the ultrasonic linear motor 32, the laser irradiation nozzle 26 incorporating the combined condenser lens 3 and the reflecting mirror 28 is rotated by the ultrasonic rotation motor 31, and the ultrasonic linear motor 32 is rotated. 4 is a conceptual diagram of a thin tube inner surface laser repairing device 57 that changes the length in the axial direction with and irradiates the inner surface of the thin tube 1 with the visible light pulsed laser light 4 emitted from the optical fiber 2.

The thin tube inner surface laser repairing device 57 is composed of the laser irradiation nozzle 26 and the optical system coupling structure 106.

The fourth embodiment differs from the first embodiment in the following points.

The laser irradiation nozzle 26 includes an outer cylinder 111, a reflecting mirror 28, an ultrasonic linear motor 32 for adjusting the length of the laser irradiation nozzle 26, and an ultrasonic linear motor 9 for focus adjustment.
3, a combination condenser lens 3 and the like.

The fourth embodiment has substantially the same operation as the third embodiment. Further, the laser beam 4 emitted from the optical fiber 2 is converged by the combination condenser lens 3 for adjusting the focal length by the ultrasonic linear motor 93 and reflected by the reflecting mirror 28,
The laser beam is passed through the laser irradiation window 27 to irradiate the inner surface of the thin tube 1 for surface modification work.

According to the fourth embodiment of the fourth invention, the same effect as that of the third embodiment of the fourth invention can be expected. Further, since the ultrasonic linear motor 93 adjusts the focal length of the combined condenser lens 3 to irradiate the inner surface of the thin tube 1 with the laser beam, the optimum irradiation condition can be easily set even when the inner diameter of the thin tube 1 is different from the designed value. Therefore, high quality surface modification work can be performed.

Next, with reference to FIG. 30, a fifth embodiment of the fourth aspect of the invention will be described.

The fifth embodiment uses an electromagnetic rotary drive motor 25 instead of the ultrasonic rotary motor 31 of the first embodiment.

In FIG. 30, the laser irradiation nozzle 26 incorporating the combination condenser lens 3 and the reflecting mirror 28 is rotated by the electromagnetic rotary drive motor 25, and the visible light pulsed laser light 4 emitted from the optical fiber 2 is narrowed. It is a conceptual diagram of the thin tube inner surface laser repairing device 58 which irradiates the inner surface of 1.

The thin tube inner surface laser repairing device 58 is composed of the laser irradiation nozzle 26 and the optical system coupling structure 106.

The fifth embodiment differs from the first embodiment in the following points.

In the fifth embodiment, the laser irradiation nozzle portion 26 is composed of the outer cylinder 112, the reflecting mirror 28, the combination condenser lens 3 and the like. Outer cylinder 112 and optical system coupling structure 106
Are coupled via a bearing 113.

The optical system coupling structure section 106 is composed of a connection structure 108 such as a cable, the optical fiber 2, and an electromagnetic rotary drive motor 25.

The fifth embodiment can achieve substantially the same actions and effects as the first embodiment.

Next, with reference to FIG. 31, a first example of the fifth invention of the first embodiment will be described.

The first embodiment is the first embodiment of the first invention described above.
The solar cell 33 is attached to the tip structure portion in each of the first to sixth embodiments and the first to sixth embodiments of the second invention, and the reflected light of the pulsed laser light applied to the inner surface of the thin tube 1 is converted. The present invention relates to a laser repairing device 59 for the inner surface of a thin tube adapted to charge a storage battery.

FIG. 31 shows a case where a solar cell 33 is applied to the first embodiment of the fifth invention, in which the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by the storage battery 8 charged by the solar cell 33. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 59 that rotates the laser beam and irradiates the inner surface of the thin tube 1 with the laser light 4 emitted from the optical fiber 2.

The capillary inner surface laser repairing device 59 is composed of a tip structure portion 60, a laser irradiation window 6, and an optical system coupling structure portion 61.

The first embodiment of the fifth invention differs from the first embodiment of the first invention in the following points.

In the first embodiment of the fifth invention, the tip structure portion 60 is composed of a transparent outer cylinder 62, a solar cell 33, an end plug 63, a storage battery 8, a rotary drive motor 7, and the like. Outer cylinder 6
A solar cell 33 is installed inside 2 and is electrically coupled to the storage battery 8. As the solar cell 33, one having a high conversion efficiency for the laser light centered on blue is selected.

The first embodiment of the fifth invention has substantially the same operation as that of the first embodiment of the first invention, but is reflected by the semitransparent rotary mirror 5 to irradiate the inner surface of the thin tube 1. The pulsed laser light centered on blue color is reflected by the inner surface of the thin tube 1 and transmitted through the transparent outer tube 62 to enter the solar cell 33 to generate electric power to charge the storage battery 8.

According to the first embodiment of the fifth invention, an effect similar to that of the first embodiment of the first invention can be expected, and
By converting the irradiated laser light 4 and charging the storage battery 8, it is possible to use the battery for a long time.

Next, with reference to FIGS. 32 and 33, a first example of the sixth invention in the first embodiment will be described.

The first embodiment of the sixth invention is the tip structure portion of the fourth embodiment of the first invention, the ninth embodiment of the third invention, and the third and fourth embodiments of the fourth invention. The present invention relates to a thin tube inner surface laser repairing device 132 using a bellows seal 131 structure for sealing a portion that expands and contracts in the axial direction.

FIG. 32 shows a structure in which a semitransparent rotary mirror 5 rotated by a rotary drive motor 7 driven by a storage battery 8 and a laser light 4 emitted from an optical fiber 2 are adjusted in focal length by an ultrasonic linear motor 17. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 132 that irradiates the inner surface of the thin tube 1 by expanding and contracting the bellows seal 131 while expanding and contracting the bellows seal 131 with the ultrasonic linear motor 120 in the axial direction.

The thin tube inner surface laser repairing device 132 is composed of the tip structure portion 60, the cylindrical laser irradiation window 6, and the optical system coupling structure portion 133.

The embodiment shown in FIG. 32 differs from the fourth embodiment of the first invention in the following points.

The optical system coupling structure portion 133 includes the connection structure 66 such as a cable, the optical fiber 2, and the optical fiber emitting end structure 6.
7, ultrasonic linear motor 17, ultrasonic linear motor 12
0, a combination condenser lens 3, a bellows seal 131 and the like. The outer cylinder 65 and the optical fiber emission end structure 67 are
They are joined by a bellows seal 131.

In FIG. 33, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the semitransparent rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23. Ultrasonic linear motor 1
At 29, the tip end portion of the combined condensing lens 3 is moved in the axial direction while expanding and contracting the bellows seal 131, and the optical fiber 2
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 134 for irradiating a predetermined range on the inner surface of the thin tube 1 by adjusting the focal length of the laser beam 4 emitted from the ultrasonic linear motor 17.

The thin tube inner surface laser repairing device 134 is composed of the tip structure portion 60, the cylindrical laser irradiation window 6, and the optical system coupling structure portion 135.

The embodiment of FIG. 33 differs from the fourth embodiment of the first invention in the following points.

The optical system coupling structure portion 135 includes the connection structure 66 such as a cable, the optical fiber 2, and the optical fiber emitting end structure 6.
7, ultrasonic linear motor 17, ultrasonic linear motor 12
9, a combination condenser lens 3, a bellows seal 131 and the like. The outer cylinder 85 and the optical fiber emitting end structure 67 are
They are joined by a bellows seal 131.

The first embodiment of the sixth invention is substantially equivalent to the fourth embodiment of the first invention, the ninth embodiment of the third invention, and the third and fourth embodiments of the fourth invention. Has action and effect.

Next, with reference to FIGS. 34 and 35, a first example of the seventh invention of the first embodiment will be described.

The first embodiment of the seventh invention is a thin tube in which the laser irradiation window 27 in the fourth and fifth embodiments of the fourth invention is removed and a seal window 136 structure is used in front of the combination condenser lens 3. The present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 1 by the inner surface laser repairing device.

In FIG. 34, the ultrasonic linear motor 93, the ultrasonic linear motor 32, the combined condenser lens 3, the seal window 136 in front of it, and the laser irradiation nozzle 26 incorporating the reflecting mirror 28 are replaced by the ultrasonic rotary motor 31. The optical fiber 2 is rotated by changing the axial length with the ultrasonic linear motor 32.
It is a conceptual diagram of a thin tube inner surface laser repairing device 138 which irradiates the inner surface of the thin tube 1 with the visible light pulsed laser light 4 emitted from the above.

The capillary inner surface laser repairing device 138 is composed of the tip structure portion 137 and the optical system coupling structure portion 106.

The embodiment of FIG. 34 differs from the fourth embodiment of the fourth invention in the following points.

The tip structure 137 includes an outer cylinder 111, a reflecting mirror 28, an ultrasonic linear motor 32 for adjusting the length of the laser irradiation nozzle 26, an ultrasonic linear motor 93 for focus adjustment,
The combination condenser lens 3 and the seal window 136 are included.

In FIG. 35, the visible light emitted from the optical fiber 2 is caused by rotating the laser irradiation nozzle 26 incorporating the combined condenser lens 3, the seal window 136 in front of it, and the reflecting mirror 28 by the electromagnetic rotary motor 25. It is a conceptual diagram of a thin tube inner surface laser repairing device 139 that irradiates the inner surface of the thin tube 1 with the pulsed laser light 4.

The thin tube inner surface laser repairing device 139 is composed of the tip structure portion 140 and the optical system coupling structure portion 106.

The embodiment of FIG. 35 differs from the fifth embodiment of the fourth invention in the following points.

The tip structure portion 139 is composed of the outer cylinder 112, the reflecting mirror 28, the combined condenser lens 3, the seal window 136 and the like.

The first embodiment of the seventh invention has substantially the same actions and effects as the fourth and fifth embodiments of the fourth invention.

Next, a first example of the eighth invention in the first embodiment of the present invention will be described.

The first embodiment of the eighth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. The material of the spring 10 in the embodiment and the first to fifth embodiments of the fourth invention is a shape memory alloy.

In the first embodiment of the eighth aspect of the invention, the spring 10 has a linear shape and is in close contact with the outer cylinder at room temperature, and is energized and heated to form a curved structure as shown in FIG. A shape memory alloy that remembers that is used.

In the first embodiment of the eighth aspect of the invention, when the thin tube inner surface laser repairing device is inserted into the thin tube 1 and pushed to a predetermined position, the spring 10 is in a normal temperature state, so that the spring 10 has a linear shape and is in close contact with the outer cylinder. Therefore, the resistance force against the insertion is small. The thin tube inner surface laser repair device is the thin tube 1
When it is installed at a predetermined position in order to modify the surface, it is energized and heated to form a curved structure so that the contact terminal 9 has the thin tube 1
The laser irradiation distance can be set to a predetermined value by contacting the inner surface of the.

According to the first embodiment of the eighth invention, the work of inserting the thin tube inner surface laser repairing device into the thin tube 1 in the above-described first to twenty-seventh embodiments is facilitated, and the laser beam irradiation is performed. Then, when performing the surface modification work, the laser irradiation distance can be easily set to a predetermined value.

Next, referring to FIGS. 9, 10, and 14,
A first example of the ninth invention in the first exemplary embodiment of the present invention will be described.

The first embodiment of the ninth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. In the embodiment and the first to fifth embodiments of the fourth invention, a nozzle capable of ejecting a water jet having a circumferential component is attached to the cylindrical connection structure of the optical system coupling structure portion. .

Hereinafter, description will be made with reference to FIGS. 9, 10, and 14.

The end of the hose 35 included in the composite cable 12 is connected to the connection structure 81, and the plurality of water jet nozzles 34 penetrate the connection structure 81 from the surface connecting the hose 35 to the side surface of the connection structure 81. On the side surface, holes are formed so as to be inclined with respect to the side surface so that a velocity component of the water jet is generated in the circumferential direction. Further, the elastic seal structure 36 is attached to the side surface of the connection structure 81 over the entire circumference, and is configured to be in contact with the inner surface of the thin tube 1.

The first embodiment of the ninth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth of the third invention. This embodiment has substantially the same operation as that of the first and fifth embodiments of the fourth invention, except for the following points. That is, in the first embodiment of the ninth invention,
When the surface of the thin tube 1 is irradiated with the pulsed laser light 4 centered on blue color, a water jet is jetted from the nozzle of the cylindrical connection structure of the optical system coupling structure part at the same time or earlier, and the water is jetted around the inner surface of the thin tube laser repair device. Form a swirling flow. By this flow, bubbles generated when the pulsed laser light is irradiated are washed away to prevent scattering and absorption of the laser light by the bubbles.

According to the first embodiment of the ninth invention, since there is a swirling flow around the thin tube inner surface laser repairing device, deviation of the thin tube inner surface laser repairing device due to the flow can be prevented, and laser irradiation conditions can be set accurately. High quality repair work is possible. Since bubbles generated during laser irradiation due to the water flow can be eliminated from the place where the laser light passes, scattering and absorption of the laser light can be prevented, and laser irradiation conditions can be set with high precision, so high-quality repair work can be performed.

Next, with reference to FIG. 36, a second embodiment of the ninth invention of the first embodiment of the present invention will be described.

The ninth embodiment of the second invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. In the embodiment and the first to fifth embodiments of the fourth invention, the thin tube inner surface laser repairing device is equipped with a device for allowing water to flow through the thin tube 1 as well.

FIG. 36 is a system conceptual diagram of flowing water through the thin tube 1 (instrumentation tube 69). A winding device 1 that winds the composite cable 12 by installing the loading / unloading device 15 of the laser repair device for the inner surface of the thin tube in the device 71 that inserts the detector 70 into the instrumentation pipe 69.
It is connected to 19. Join the hose 143 to the access device 15 so that water flows around the composite cable 12,
The water is supplied to the thin tube 1 by the pump 141 through the flow rate adjusting device 142.
Flow around the composite cable 12 of. The visible light pulse laser oscillator 116 centered on blue and the visible light laser oscillator 115 centered on red and the semitransparent mirror 117 are coupled by a laser transmission system, and the combined laser light is introduced into the optical fiber 118, The other end of the optical fiber 118 is
It is connected to the winding device 119.

The second embodiment of the ninth invention can achieve substantially the same actions and effects as the first embodiment.

Next, a third example of the ninth aspect of the first embodiment of the present invention will be described.

Although not shown in the drawings, the third embodiment of the ninth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the third invention. In the first to ninth embodiments of the present invention and the first to fifth embodiments of the fourth invention, a swirl velocity component generating structure is attached to the periphery of the thin tube inner surface laser repair device.

The third embodiment of the ninth invention has substantially the same actions and effects as the first embodiment.

Next, a first example of the tenth invention of the first embodiment of the present invention will be described.

Although not shown in the drawings, the first embodiment of the tenth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the third invention. The first to ninth embodiments of the present invention and the first to fifth embodiments of the fourth invention are characterized in that the thin tube inner surface laser repairing device is provided with a joint portion made of a shape memory alloy.

In the first embodiment of the tenth aspect of the invention, when the thin tube inner surface laser repair device is inserted into the thin tube 1 from the entrance / exit device section, the shape is set when the thin tube inner surface laser repair device passes through the bent portion of the thin tube 1. The joint part made of memory alloy is heated with electricity to simulate the bending of the thin tube, the heating state is released after passing through the bending part, the thin tube inner surface laser repair device is straightened, and the insertion work is continued, When the position is reached, laser repair work is performed.

According to the first embodiment of the tenth aspect of the invention, since the shape of the bent thin tube 1 can be changed by using the joint portion made of the shape memory alloy so that it can easily pass through the bent portion of the thin tube 1. The inner surface repair work can be performed, the work applicable range can be widened, and the operation rate of the device can be increased, so that the device manufacturing cost can be reduced.

Next, with reference to FIG. 37, a first example of the eleventh invention in the first embodiment of the present invention will be described.

The first embodiment of the eleventh invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. The ultrasonic detecting device 144 is provided in the inlet / outlet device 15 of the thin-tube inner surface laser repairing device in the embodiment and the first to fifth embodiments of the fourth invention.

FIG. 37 is a conceptual diagram of a system for monitoring the laser repair status of the thin tube 1 by the ultrasonic detecting device 144 installed in the access device 15.

Device 7 for inserting detector 70 into instrumentation tube 69
An inlet / outlet device 15 of the laser repairing device for the inner surface of the thin tube is installed at 1, and is connected to a winding device 119 for winding the composite cable 12. A hose 143 is joined to the access device 15 so that water flows around the composite cable 12, and the pump 14
1, the water is caused to flow around the composite cable 12 of the thin tube 1 via the flow rate adjusting device 142. An ultrasonic sensor 145 is installed in the access device 15, and an ultrasonic detection device 144 is installed for transmitting ultrasonic signal processing and system control signals. Visible light pulsed laser oscillator 11 centered on blue
6 and visible light laser oscillator 115 centered on red
The semitransparent mirror 117 is coupled by a laser transmission system, the combined laser light is introduced into the optical fiber 118, and the other end of the optical fiber 118 is coupled to the winding device 119.

In the first embodiment of the eleventh invention, the insertion position of the thin tube inner surface laser repair device is determined from the insertion length when the thin tube inner surface laser repair device is inserted into the thin tube 1 from the entrance / exit device section. The ultrasonic wave generated when the visible pulse laser light is incident on the optical fiber to irradiate the surface of the thin tube 1 is detected, and the detection delay of the sound wave from the laser pulse irradiation is calculated to calculate the distance. Detection of abnormalities during surface modification work by monitoring the ultrasonic waves generated while irradiating the inner surface of the thin tube 1 with a visible light pulsed laser centered on blue, and whether the irradiation conditions are as designed Make a decision.

According to the first embodiment of the eleventh invention, the insertion position of the laser repairing device for the inner surface of the thin tube can be easily detected, and the setting work can be carried out in a short time. It is possible to easily set work conditions, easily detect abnormalities during work, and perform high-quality repair work.

Next, with reference to FIG. 38, a first example of the twelfth invention of the first embodiment of the present invention will be described.

The first embodiment of the twelfth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. An ultrasonic wave detecting device 144 and a pulse laser time division device 146 are provided in the access device 15 of the thin tube inner surface laser repairing device in the embodiment and the first to fifth embodiments of the fourth invention.

FIG. 38 shows a system in which a pulse laser beam is time-divided into a thin tube inner surface laser repairing device and introduced into a plurality of optical fibers to modify the inner surface of a plurality of instrument tubes 69 (narrow tube 1). It is a conceptual diagram.

Device 7 for inserting detector 70 into instrumentation tube 69
An inlet / outlet device 15 of the laser repairing device for the inner surface of the thin tube is installed at 1, and is connected to a winding device 119 for winding the composite cable 12. A hose 143 is joined to the access device 15 so that water flows around the composite cable 12, and the pump 14
1, the water is caused to flow around the composite cable 12 of the thin tube 1 via the flow rate adjusting device 142. An ultrasonic sensor 145 is installed in the access device 15, and an ultrasonic detection device 144 is installed for transmitting ultrasonic signal processing and system control signals.

A visible light pulse laser oscillator 116 centered on blue, a visible light laser oscillator 115 centered on red, and a semitransparent mirror 117 are coupled by a laser transmission system, and the combined laser light is pulsed laser time division. Device 1
It is guided to 46 and is distributed to a plurality of optical fibers 118 by a mirror that rotates in synchronization with the pulse laser. Each optical fiber 118 is connected via a winding device 119 to a thin tube inner surface laser repairing device inserted in each instrumentation tube 69 (thin tube 1).

According to the first embodiment of the twelfth invention, since the pulse laser time division device 146 is provided, the repetition frequency of the visible light laser oscillation device 115 is the rotation frequency of the rotary drive motor 7 in FIG. Even when it is considerably higher than the above, it becomes possible to match the effective repetition frequency of the visible light laser oscillation device 115 to the rotation frequency of the rotary drive motor 7 or the like in FIG. As a result,
It is possible to irradiate each instrumentation tube 69 (capillary tube 1) so as to match the rotation frequency of the rotary drive motor 7 without wasting the irradiation energy of the visible light laser oscillation device 115.

Next, with reference to FIG. 39 to FIG. 41, the first working example of the thirteenth invention in the first embodiment of the present invention will be explained.

The first embodiment of the thirteenth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. The present invention relates to a thin tube inner surface laser repairing device in which the semitransparent rotating mirror 5 of the embodiment and the reflecting mirror 28 of the first to fifth embodiments of the fourth invention are replaced with a rotating concave mirror 147 and a concave mirror 148.

In FIG. 39, the rotary concave mirror 147 rotated by the rotary drive motor 7 driven by the storage battery 8 and the laser beam 4 emitted from the optical fiber 2 are supplied to the ultrasonic linear motor 1.
7 is a conceptual view of a thin tube inner surface laser repairing device 149 that irradiates the inner surface of the thin tube 1 by expanding / contracting a structural part or the like for adjusting the focal length in 7 with an ultrasonic linear motor 120 in the axial direction.

The thin tube inner surface laser repairing device 149 comprises a tip structure portion 150, a cylindrical laser irradiation window 6, and an optical system coupling structure portion 121.

The embodiment shown in FIG. 39 is the fourth embodiment of the first invention.
Different from the embodiment in the following points, the tip structure portion 150 is composed of an outer cylinder 62, an end plug 63, a storage battery 8, a rotary drive motor 7 rotating concave mirror 147, and the like.

In FIG. 40, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the rotary concave mirror 147 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23 to generate ultrasonic waves. Linear motor 12
At 9 the tip end is moved in the axial direction from the combination condenser lens 3, and the laser light 4 emitted from the optical fiber 2 is irradiated onto a certain range of the inner surface of the thin tube 1 by adjusting the focal length with the ultrasonic linear motor 17. It is a conceptual diagram of a thin tube inner surface laser repairing device 151.

The capillary inner surface laser repairing device 151 is composed of the tip structure portion 152, the cylindrical laser irradiation window 6, and the optical system coupling structure portion 130.

The embodiment shown in FIG. 40 is the ninth embodiment of the third invention.
Different from the embodiment in the following points, the tip structure portion 152 includes an outer cylinder 98, an end plug 99, a connection structure 24, and a rotary drive motor 2.
3, a rotary concave mirror 147 and the like.

41. In FIG. 41, the laser irradiation nozzle 26 incorporating the ultrasonic linear motor 93, the ultrasonic linear motor 32, the combined condenser lens 3, and the concave mirror 148 is rotated by the ultrasonic rotary motor 31, and the ultrasonic linear motor 32 is rotated. The concept of the thin tube inner surface laser repairing device 153 in which the axial length is changed with and the laser light 4 emitted from the optical fiber 2 is irradiated on a certain range of the inner surface of the thin tube 1 by adjusting the focal length with the ultrasonic linear motor 93. It is a figure.

The capillary inner surface laser repairing device 153 is composed of the tip structure portion 154 and the optical system coupling structure portion 106.

The embodiment shown in FIG. 41 is the fourth embodiment of the fourth invention.
Different from the embodiment in the following points, the tip structure portion 154 includes an outer cylinder 111, a concave mirror 148, an ultrasonic linear motor 32 for adjusting the lengths of the laser irradiation nozzle 26, an ultrasonic linear motor 93 for focus adjustment, and a combination assembly. It is composed of an optical lens 3 and the like.

The first embodiment of the thirteenth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. The operation and effect are substantially the same as those of the embodiment and the first to fifth embodiments of the fourth invention.

Next, with reference to FIG. 42 to FIG. 44, the first working example of the fourteenth invention in the first embodiment of the present invention will be explained.

In the embodiment shown in FIG. 42, the cylindrical laser irradiation window 6 of the first to twenty-second embodiments and the laser irradiation window 27 of the twenty-third to twenty-seventh embodiments are provided with a ring-shaped cylindrical lens 155 and a cylinder. The present invention relates to a laser repairing device for an inner surface of a thin tube which is replaced with the lens 156.

FIG. 42 shows a rotary mirror 5 and an optical fiber 2 which are rotated by a rotary drive motor 7 driven by a storage battery 8.
The laser beam 4 emitted from the laser beam is made into parallel rays by the combination condenser lens 3, the focal length of the focused light linearized by the cylindrical lens 157 is adjusted by the ultrasonic linear motor 17, and the point is formed by the ring cylindrical lens 155. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 158 that irradiates the inner surface of the thin tube 1 by expanding and contracting a structural part or the like to be focused on the axial direction by the ultrasonic linear motor 120.

The capillary inner surface laser repairing device 158 is composed of the tip structure portion 60, the ring-shaped cylindrical lens 155, and the optical system coupling structure portion 121.

The embodiment shown in FIG. 42 is the fourth embodiment of the first invention.
Unlike the embodiment, the cylindrical laser irradiation window 6 is replaced by the ring-shaped cylindrical lens 155.

In FIG. 43, power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the rotary mirror 5 and the connection structure 24 are simultaneously rotated by the rotary drive motor 23 to generate ultrasonic waves. The linear motor 129 moves the tip end portion from the combined condenser lens 3 in the axial direction, converts the laser light 4 emitted from the optical fiber 2 into parallel rays by the combined condenser lens 3, and forms a linear shape by the cylindrical lens 157. Adjust the focal length of the focused light with the ultrasonic linear motor 17,
Capillary inner surface laser repairing device 15 which focuses the light into a fixed area on the inner surface of the thin tube 1 by focusing it in a spot shape by a ring-shaped cylindrical lens 155.
It is a conceptual diagram of 9.

The capillary inner surface laser repairing device 159 comprises a tip structure portion 97, a ring-shaped cylindrical lens 155, and an optical system coupling structure portion 130.

The embodiment shown in FIG. 43 is the ninth embodiment of the third invention.
Unlike the embodiment, the cylindrical laser irradiation window 6 is replaced with a ring-shaped cylindrical lens 155.

In FIG. 44, the ultrasonic linear motor 93, the ultrasonic linear motor 32, the combined condenser lens 3, and the laser irradiation nozzle 26 incorporating the reflecting mirror 28 are rotated by the ultrasonic rotary motor 31. The laser beam 4 emitted from the optical fiber 2 is changed in length in the axial direction by 32.
Are made into parallel rays by the combination condenser lens 3, and the cylindrical lens 15
Concept of the thin tube inner surface laser repairing device 160 in which the focal length of the focused light linearized in 7 is adjusted by the ultrasonic linear motor 93, focused by the cylindrical lens 156 in a point shape, and irradiated on a certain range of the inner surface of the thin tube 1. It is a figure.

The capillary inner surface laser repairing device 160 is composed of the laser irradiation nozzle portion 26 and the optical system coupling structure portion 106.

The first embodiment of the fourteenth invention is the first to seventh embodiments of the first invention, the first to sixth embodiments of the second invention, and the first to ninth embodiments of the third invention. The operation and effect are substantially the same as those of the embodiment and the first to fifth embodiments of the fourth invention.

This is the end of the description of the first embodiment of the present invention.

Next, a second embodiment of the present invention will be described below. The second embodiment of the present invention is classified into seven inventions of the first invention to the seventh invention, and each invention will be described with reference to some embodiments and modified examples.

First, with reference to FIGS. 45 and 46, a first example of the first invention of the second embodiment of the present invention will be described.

The first embodiment of the first invention is the optical fiber 20.
The visible light pulsed laser light 204 emitted from 2 is focused by the combined condenser lens 203, and is reflected by the reflecting mirror 228.
One end of the optical fiber 202 is inserted into the hollow shaft 206 of the hollow shaft electromagnetic rotary motor 207 that rotates the laser irradiation nozzle portion 226 by the thin tube inner surface laser repair device 213 that irradiates the inner surface of the optical fiber 202 with the fixing bracket 210. The hollow shaft electromagnetic rotary motor 20 is fixed to the electromagnetic rotary motor 207.
7. Control cable and power cable and optical fiber 202
While pulling out the composite cable 212 constituted by the inside of the thin tube inner surface laser repairing device 213 in the axial direction of the thin tube by moving the thin tube inner surface laser repairing device 213, the inner surface of the thin tube 201 may be subjected to surface modification work within a certain range. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance.

FIG. 45 is a system conceptual diagram of the operation of the present invention. FIG. 7 is a system conceptual diagram in which a pulse laser beam is time-divided into a thin tube inner surface laser repairing device 213 and introduced into a plurality of optical fibers to modify the surface of the inner surface of a plurality of instrumentation tubes 69 (narrow tubes 201).

The device 271 for inserting the detector 270 into the instrumentation pipe 269 is provided with the withdrawing device 215 of the laser repair device 213 for the inner surface of the thin tube, and is connected to the winding device 319 for winding the composite cable 212. A hose 343 is attached to the access device 215 so that water flows around the composite cable 212.
And the water is caused to flow around the composite cable 212 of the thin tube 201 by the pump 341 via the flow rate controller 342. An ultrasonic sensor 345 is installed in the access device 215, and an ultrasonic detection device 344 is installed to transmit ultrasonic signal processing and system control signals. A visible light pulse laser oscillator 316 centered on blue, a visible light laser oscillator 315 centered on red, and a semitransparent mirror 317 are coupled by a laser transmission system, and the combined laser light is pulsed laser time division device 346. And is distributed to the plurality of optical fibers 318 by a mirror that rotates in synchronization with the pulse laser. Each optical fiber 318 is connected to the winding device 3
It is connected to the thin tube inner surface laser repair device inserted in each instrumentation tube 269 (narrow tube 201) via 19.

In FIG. 46, the laser irradiation nozzle 226, which has the combined condenser lens 203, the reflecting mirror 228, etc. built therein and the laser light irradiation distance setting contact terminal 209 is attached to the periphery, is rotated by the hollow shaft electromagnetic rotation motor 207. , The laser light 2 emitted from the optical fiber 202 inserted in the hollow shaft 206
4 is a conceptual diagram of a thin tube inner surface laser repairing device 213 that irradiates 04 on the inner surface of the thin tube 201 via a combination condenser lens 203 and a reflecting mirror 228.

The thin tube inner surface laser repairing device 213 is composed of a laser irradiation nozzle 226 and a rotation driving part 261.

The laser irradiation nozzle 226 part is the outer cylinder 26.
2. Combination condenser lens 203, end plug 263, reflecting mirror 22
8, contact terminals 209 and the like. An internal gear 265 of a speed reducer 264 is attached to the inner surface of the outer cylinder 262.
A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262. The outer cylinder 262 has a circular hole 6
2a is formed, and the outer cylinder 26 is inserted through the hole 62a.
The inside and the outside of 2 are communicated with each other, and the condensed laser light is applied to the inner surface of the thin tube 201 through the hole 62a.

The rotary drive unit 261 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

Laser irradiation nozzle 226 and rotation drive unit 2
61 is a key 26 attached to the laser irradiation nozzle 226.
8 and the keyway 267 of the rotary drive unit 261 are freely rotatably coupled in the circumferential direction, and the rotary drive force of the hollow shaft electromagnetic rotary motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, compound gear). Are combined as described. In addition, the seal structure 260 is configured to seal even during rotation. The seal structure 258 also seals between the optical fiber 202 and the connection structure 266.

The operation of the first embodiment of the first invention will be described below.

At a place where a device 271 for selecting a fixed number of instrumentation pipes 269 from a plurality of instrumentation pipes 269 welded to the pressure vessel 211 and inserting the detector 270 is installed, instead of the device 271 An in-and-out device 215 is installed in order to in and out the thin-tube inner surface laser repairing device 213.

Composite cable 21 including optical fiber 202
In order to put the thin tube inner surface laser repairing device 213 attached to the tip of 2 into the predetermined instrumentation tube 269 (thin tube 201), the insertion / extraction device 215 is attached to the end of the predetermined instrumentation tube 269 (thin tube 201). Narrow tube inner surface laser repair device 2
13 is attached, and the access device 215 is operated to push the composite cable 212 into the instrumentation pipe 269 (capillary pipe 201).
The insertion work is stopped when the thin tube inner surface laser repairing device 213 comes to a position where the inner surface of the instrumentation tube 269 (the thin tube 201) is inserted a predetermined distance or more from the planned surface modification location. For the identification of the insertion position, an approximate value is obtained from the length of the inserted composite cable 212, and a visible light pulsed laser beam is incident on the optical fiber 202, and ultrasonic waves generated when the surface of the thin tube 201 is irradiated with the ultrasonic sensor 345. The position of the insertion is detected, the irradiation position is obtained from the difference between the irradiation time of the laser pulse and the detection time of the sound wave, and the insertion position is accurately identified.

A laser beam for working having a high energy density of a pulsed laser beam centered on blue which is little attenuated in water oscillated by the pulsed laser device 316, and a laser device 11
The laser light for controlling the continuous laser light centered on the red laser light oscillated at 5 is synthesized by using the semitransparent mirror 317, and the light diameter is set to about 0.5 mm by using the condensing optical system. The laser light introduced and synthesized in the
It is introduced into the optical fiber 12 of the composite cable 212 via 19.

The hollow shaft electromagnetic rotary motor 207 is driven to rotate the laser irradiation nozzle 226. After a lapse of a fixed time after starting the rotation, the pulse laser device 316 is oscillated, and the optical fiber of the thin tube inner surface laser repair device 213 is passed through the semitransparent mirror 317, the optical fiber 318, the winding device 319, and the optical fiber 202. Guide to the exit end. A pulsed laser beam centered on blue is emitted from the optical fiber emission end, condensed by the combination condenser lens 203, irradiated onto the reflecting mirror 228, and reflected and focused to the surface of the thin tube 201. At the same time when the surface of the instrumentation tube 269 (capillary tube 201) is started to be irradiated with the pulsed laser beam centered on blue, the access device 215 is operated to pull out the composite cable 212 including the optical fiber 202 at a predetermined speed. The rotation speed N of the laser irradiation nozzle 226 and the drawing speed V of the thin-tube inner surface laser repairing device 213 are controlled so as to satisfy the relationships of the above equations (1) to (4).

To monitor the working conditions, ultrasonic waves generated when the surface of the thin tube 201 is irradiated with the visible light pulsed laser light are detected by the ultrasonic sensor 345, and the ultrasonic waves generated under the normal irradiation conditions measured in advance are detected. Perform while comparing with the sound wave waveform.

When the work is carried out until the pull-out amount of the composite cable 212 reaches a predetermined length, the oscillation of the pulse laser device 316 centered on blue is stopped.

The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), the thin tube inner surface laser repair device 213 attached to the tip of the instrument tube 269 (narrow tube 2).
01). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the first embodiment of the first invention will be described.

By using the thin tube inner surface laser repairing device 213 of the present invention, the inspection and maintenance such as the surface modification work of the inner surface of the plurality of instrumentation pipes 269 (narrow pipe 201) welded to the pressure vessel 211 can be performed remotely or underwater. By doing so, the work can be performed in a short working period, and the life of the device can be extended. Further, when applied to a nuclear power plant, since the underwater work is performed remotely, it is possible to reduce the exposure of the worker and perform the work.

Next, with reference to FIG. 47, a second example of the first invention of the second embodiment of the present invention will be described.

In the second embodiment, the linear driving device 216 is installed at the tip of the laser irradiation nozzle section 226 in the first embodiment, and the reflecting mirror 228 is moved so that it can move in the axial direction. The present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work on the inner surface of the thin tube 201 while adjusting (for small tubes having different inner diameters, and for cases where the inner diameters are not constant).

FIG. 47 shows a laser irradiation nozzle 272 in which a combination condenser lens 203, a reflecting mirror 228, etc. are built in, a linear driving device 216 is installed at the tip end, and a laser light irradiation distance setting contact terminal 209 is installed in the periphery. The section is rotated by a hollow shaft electromagnetic rotary motor 207, and the laser light 204 emitted from the optical fiber 202 inserted in the hollow shaft 206 is combined with the condenser lens 203 and the reflecting mirror 228 to adjust the focal length, and the thin tube 201 is adjusted. It is a conceptual diagram of the thin tube inner surface laser repairing device 237 which irradiates the inner surface of the.

The thin tube inner surface laser repairing device 237 is composed of a laser irradiation nozzle 272 part and a rotation driving part 276.

The laser irradiation nozzle 272 has an outer cylinder 26.
2, combination condenser lens 203, linear drive device 216,
The reflector 228, the contact terminal 209, and the like are included. Outer cylinder 2
An internal gear 265 of a speed reducer 264 is attached to the inner surface of 62. The state-of-the-art linear drive device 216 includes an electromagnetic rotary motor 217, a worm gear 218, and a fixing bracket 22.
0, a guide rail 219. Fixture 2
An internal gear is provided at the center of 20, and the fixing bracket 220 moves in the axial direction when the worm gear 218 is rotated by the electromagnetic rotary motor 217. The fixing member 220 moves along the guide rail 219, and at the same time, also moves the reflecting mirror 228 in the axial direction. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262.

The rotary drive unit 276 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

Laser irradiation nozzle 272 and rotation drive unit 27
6 is a key 268 attached to the laser irradiation nozzle 272 part
And the key groove 267 of the rotation driving unit 276 are rotatably coupled in the circumferential direction, and the rotation driving force of the hollow shaft electromagnetic rotation motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, combined gear). Are joined together. Further, the power and the signal are transmitted to the electromagnetic rotary motor 217 via the slip ring 221. Seal structure 2
It is structured so that it is sealed even when rotating at 60. The seal structure 2 is also provided between the optical fiber 202 and the connection structure 266.
Seal at 58.

The operation of the second embodiment of the first invention will be described below.

The second embodiment has the same operation as the first embodiment, but differs in the following points.

In the second embodiment, at the same time that the surface of the thin tube 201 is irradiated with the pulsed laser light centered on blue color, the linear driving device 216 also works to make the reflecting mirror 228 movable in the axial direction. Ultrasonic waves generated when the surface of the thin tube 201 is irradiated with the visible light pulsed laser light are detected by the ultrasonic sensor 345, and control is performed to move the reflecting mirror 228 in the axial direction so that the detection amount becomes maximum.

When the work is carried out until the pull-out amount of the composite cable 212 reaches a predetermined length, the oscillation of the pulse laser device 316 centered on blue is stopped.

The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), and the thin tube inner surface laser repairing device 237 attached to the tip of the instrument tube 269 (narrow tube 2).
01). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the second embodiment of the first invention are shown below.

In the second embodiment, the linear driving device 216 is used to move the semi-reflecting mirror 228 in the axial direction to adjust the focal length of the irradiation laser light, thereby modifying the surface of the thin tube whose inner diameter is different in the axial direction. This makes it easier to perform work and surface modification work on thin tubes that do not have a constant radius.

Next, referring to FIG. 48, the first invention of the first invention will be described.
A modified example will be described.

The first modified example of the first invention is a slip ring 22 for transmitting power and signals to the linear drive device 216 of the laser irradiation nozzle 272 in the second embodiment of the first invention.
The thin tube 20 which transmits a signal by laser light instead of 1 and supplies power by a storage battery 208.
1 relates to a thin tube inner surface laser repairing device for performing inspection and maintenance such as surface modification work on a certain range of the inner surface.

In FIG. 48, a combination condenser lens 203, a semitransparent mirror 205, etc. are built in, and the linear driving device 2 is provided at the tip.
22 is installed, and the contact terminal 209 for setting the laser light irradiation distance is set.
The laser irradiation nozzle portion 277 attached to the periphery is rotated by the hollow shaft electromagnetic rotation motor 207, and the laser beam 204 emitted from the optical fiber 202 inserted in the hollow shaft 206 is rotated.
The focal length is adjusted via the semi-transparent mirror 205 that is moved in the axial direction by the combination condensing lens 203 and the linear drive device 222 driven by the storage battery 208 (the focus position is adjusted to the inner surface position of the thin tube). 3 is a conceptual diagram of a thin tube inner surface laser repairing device 238 that irradiates the inner surface of the thin tube 201.

The thin-tube inner surface laser repairing device 238 is composed of a laser irradiation nozzle 277 part and a rotation driving part 261.

The laser irradiation nozzle 277 part is the outer cylinder 26.
2, combination condenser lens 203, linear drive device 222,
Semi-transparent mirror 205, storage battery 208, light control device 21
4, the contact terminal 209 and the like. An internal gear 265 of the speed reducer 264 is attached to the inner surface of the outer cylinder 262. The most advanced linear drive device 222 includes an electromagnetic rotary motor 223, a worm gear 224, a fixing bracket 220, and a guide rail 219. An internal gear is provided in the center of the fixing bracket 220, and when the storage battery 208 drives the electromagnetic rotary motor 223 to rotate the worm gear 224, the fixing bracket 220 moves in the axial direction. The fixing member 220 moves along the guide rail 219, and simultaneously moves the semitransparent mirror 205 in the axial direction. The drive control of the electromagnetic rotation motor 223 is performed by using continuous-wave laser light for control centered on the red laser light. The red laser light emitted from the optical fiber 202 is
The light is transmitted through the semitransparent mirror 205 and guided to the optical waveguide 225 provided inside the worm gear 224, and the light control device 214 connected to the tip thereof is driven. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262.

The rotary drive unit 261 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

Laser irradiation nozzle 277 part and rotation drive part 2
61 is a key 26 attached to the laser irradiation nozzle 277.
8 and the key groove 267 of the rotary drive unit 261 are rotatably coupled in the circumferential direction, and the rotary drive force of the hollow shaft electromagnetic rotary motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, compound gear). Are combined as described.

The seal structure 260 is such that it is sealed even during rotation. Optical fiber 202 and connection structure 26
A seal structure 258 also seals between 6 and the like.

The operation of the first modification of the first invention will be described below.

The first modification has the same operation as that of the second embodiment of the first invention, but differs in the following points. The drive control of the electromagnetic rotary motor 223 of the linear drive device 222 attached to the tip of the laser irradiation nozzle 277 is performed using a continuous wave red laser beam. The red laser light emitted from the optical fiber 202 is transmitted through the semitransparent mirror 205, guided to the optical waveguide provided inside the worm gear 224, guided to the light control device 214 connected to the tip of the worm gear 224, and linearly driven. The drive control of 222 is performed and the semitransparent mirror 205 is moved in the axial direction to adjust the focal length of the working irradiation laser.

The first modification of the first invention can be expected to have substantially the same effects as those of the second embodiment of the first invention.

Next, with reference to FIG. 49, a third embodiment of the first invention will be described.

In the third embodiment of the first invention, the combined condenser lens 203 part of the laser irradiation nozzle 272 part of the second embodiment of the first invention is expanded and contracted by the ultrasonic linear motor 320, and the inner surface of the thin tube 201 is expanded. A laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as surface modification work within a certain range.

FIG. 49 shows a laser irradiation nozzle 283 in which a combination condenser lens 203, a reflecting mirror 228, etc. are built in, a linear driving device 216 is installed at the tip end, and a laser light irradiation distance setting contact terminal 209 is installed in the periphery. The hollow shaft electromagnetic rotary motor 207 is rotated to adjust the focal length of the laser beam 204 emitted from the optical fiber 202 inserted in the hollow shaft 206 through the combination condenser lens 203 and the reflecting mirror 228. It is a conceptual diagram of a thin tube inner surface laser repairing device 240 which irradiates the inner surface of the thin tube 201 while expanding / contracting the condenser lens 3 part and changing the irradiation position in the axial direction.

The thin tube inner surface laser repairing device 240 is composed of a laser irradiation nozzle 283 and a rotary drive unit 276.

The laser irradiation nozzle 283 has the outer cylinder 26.
2, combination condenser lens 203, linear drive device 216,
Reflecting mirror 228, ultrasonic linear motor 320, contact terminal 2
09 and the like. A part of the outer cylinder 262 constitutes the ultrasonic linear motor 320, and the internal gear 265 of the speed reducer 264 is attached to the inner surface of the end thereof. The most advanced linear drive device 216 includes an electromagnetic rotary motor 217, a worm gear 218, a fixing bracket 220, and a guide rail 21.
It is composed of nine. An internal gear is provided at the center of the fixing bracket 220, and the fixing bracket 220 is configured to move in the axial direction when the worm gear 218 is rotated by the electromagnetic rotation motor 217. The fixing member 220 moves along the guide rail 219, and at the same time, the reflecting mirror 228 fixed to the fixing member 220 also moves in the axial direction. When the ultrasonic linear motor 320 is driven to expand and contract the outer cylinder 262, the axial position of the reflecting mirror 228 fixed to the outer cylinder 262 changes, and the irradiation position of the laser light moves in the axial direction. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262.

The rotary drive unit 276 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

Laser irradiation nozzle 283 part and rotation drive part 2
76 is a key 26 attached to the laser irradiation nozzle 283.
8 and the key groove 267 of the rotary drive unit 276 are rotatably coupled in the circumferential direction, and the rotary drive force of the hollow shaft electromagnetic rotary motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, compound gear). Are combined as described. Further, the power and the signal are transmitted to the electromagnetic rotary motor 217 via the slip ring 221. The seal structure 260 is structured so as to be sealed even during rotation. The seal structure 258 also seals between the optical fiber 202 and the connection structure 266.

The operation of the third embodiment of the first invention will be described below.

The operation is the same as that of the second embodiment of the first invention, but the following points are different.

When the surface of the thin tube 201 begins to be irradiated with the pulsed laser light centered on blue, the ultrasonic linear motor 3
20 to drive at a predetermined speed (laser irradiation nozzle 283
Is moved by an irradiation spot diameter distance as an example during one rotation), the length of the combined condenser lens 203 in the axial direction is expanded and contracted, the reflecting mirror 228 is moved in the axial direction, and the irradiation point is moved in the axial direction. To do. When the movement of the irradiation point in the axial direction reaches a predetermined length, the oscillation of the pulse laser oscillating device 316 centered on blue is stopped, and the entrance / exit device 215 is operated to cause the composite cable 212 including the optical fiber 202 to reflect above. The mirror 228 is pulled out in a length equivalent to that moved in the axial direction, and the capillary inner surface laser repairing device 240 is pulled out (during this pulling work, the ultrasonic linear motor 320 moves the axial length of the condenser lens 203 in the axial direction). To the original length).
Subsequently, the surface of the inner surface of the thin tube 201 is modified by irradiating a pulsed laser beam centered on blue.

The effects of the third embodiment of the first invention are shown below.

The same effect as that of the second embodiment of the first invention can be expected. The ultrasonic linear motor 320 is used to expand or contract the axial length of the combined condenser lens 203, move the reflecting mirror 228 in the axial direction, and move the irradiation point in the axial direction to move the irradiation point in the axial direction to a certain range. The surface can be modified over the entire surface, and the work can be easily performed.

Next, a second modification of the first invention will be described with reference to FIG.

In this second modification, instead of transmitting the power and the signal to the linear driving device 216 of the laser irradiation nozzle 283 in the third embodiment of the first invention through the slip ring 221, the signal is transmitted. The present invention relates to a thin tube inner surface laser repairing apparatus for performing inspection / maintenance such as surface modification work for a certain range of the inner surface of the thin tube 201 in which power is supplied by a storage battery 208.

A second modification of the first invention will be described below with reference to the drawings.

FIG. 50 shows a laser irradiation nozzle section in which a combination condenser lens 203, a reflecting mirror 228 and the like are built in, a linear driving device 222 is installed at the tip, and a laser light irradiation distance setting contact terminal 209 is attached to the periphery. The 277 part is rotated by the hollow shaft electromagnetic rotary motor 207, and the laser beam 204 emitted from the optical fiber 202 inserted into the hollow shaft 206 is axially moved by the linear lens drive 222 driven by the combination condenser lens 203 and the storage battery 208. The focal length is adjusted via the semitransparent mirror 205 which is moved to
03 inner surface laser repair device 2 for irradiating the inner surface of the thin tube 201 while expanding and contracting the length of 03 to change the irradiation position in the axial direction.
It is a conceptual diagram of 41.

The thin tube inner surface laser repairing device 241 is composed of a laser irradiation nozzle 286 part and a rotation driving part 261.

The laser irradiation nozzle 286 part is the outer cylinder 26.
2. Ultrasonic linear motor 320, combination condenser lens 20
3, linear drive device 222, semi-transparent mirror 205, storage battery 208, light control device 214, contact terminal 209, and the like. A part of the outer cylinder 262 is an ultrasonic linear motor 32.
0, and the internal gear 265 of the speed reducer 264 is attached to the inner surface of the end thereof. The most advanced linear drive device 222 is an electromagnetic rotary motor 223, a worm gear 2
24, fixing brackets 220, and guide rails 219. An internal gear is provided in the center of the fixing bracket 220, and when the storage battery 208 drives the electromagnetic rotary motor 223 to rotate the worm gear 224, the fixing bracket 220 moves in the axial direction. The fixing bracket 220 is
It moves along the guide rail 219, and at the same time, also moves the semitransparent mirror 205 in the axial direction. Ultrasonic linear motor 3
When 20 is driven to expand and contract the outer cylinder 262, the position of the semitransparent mirror 205 fixed to the outer cylinder 262 in the axial direction changes, and the irradiation position of the laser light moves in the axial direction. The drive control of the electromagnetic rotation motor 223 is performed by using continuous-wave laser light for control centered on the red laser light. The red laser light emitted from the optical fiber 202 passes through the semitransparent mirror 205, is guided to the optical waveguide 225 provided inside the worm gear 224, and drives the light control device 214 connected to the tip thereof. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262.

The rotary drive unit 261 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

Laser irradiation nozzle 286 and rotation drive unit 2
61 is a key 26 attached to the laser irradiation nozzle 286.
8 and the key groove 267 of the rotary drive unit 261 are rotatably coupled in the circumferential direction, and the rotary drive force of the hollow shaft electromagnetic rotary motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, compound gear). Are combined as described.

The seal structure 260 is so structured as to seal even during rotation. Optical fiber 202 and connection structure 26
A seal structure 258 also seals between 6 and the like.

The operation of the second modification of the first invention will be described below.

The operation is similar to that of the third embodiment of the first invention, but the following points are different. The drive control of the electromagnetic rotary motor 223 of the linear drive device 222 mounted at the tip of the laser irradiation nozzle 286 is performed by using continuous wave red laser light. The red laser light emitted from the optical fiber 202 passes through the semitransparent mirror 205 and the worm gear 2
24 is guided to an optical waveguide 225 provided inside 24, guided to a light control device 214 connected to the tip of the optical waveguide 225, and driving control of a linear drive device 222 is performed, and the semitransparent mirror 205 is moved in the axial direction for working. The focal length of the irradiation laser is adjusted.

The effects of the second modification of the first invention are shown below.

The same effect as that of the third embodiment of the first invention can be expected.

Next, with reference to FIGS. 51 and 52, a first example of the second invention of the second embodiment of the present invention will be described.

The first embodiment of the second invention is a combination of a tip structure 229 composed of an electromagnetic rotary motor 227 with a contact terminal 209 attached to the periphery thereof, a connection structure 266 of a composite cable 212 including an optical fiber 202, and a combination thereof. A rotary laser irradiation cylinder 231 including a reflecting mirror 228, a fixing bracket 220, etc. is attached between the rear structure 230 composed of the optical lens 203 and the rear structure 230, and power / control signals for power from the rear structure 230 to the front structure 229 are attached. The configuration is such that it is supplied through the slip ring 221, and the reflecting mirror 228 is rotated together with the rotating laser irradiation cylinder 231 by the electromagnetic rotation motor 227 through the reduction gear, and the optical fiber 202 is scanned while the laser irradiation point is circumferentially scanned.
The visible light pulsed laser light 204 emitted from the device is focused by the combination condenser lens 203, irradiated onto the inner surface of the thin tube 201 by the reflecting mirror 228, and the composite cable 212 is moved to the thin tube axis by the in-out device 215 of the thin tube inner surface laser repair device 242. While pulling out in the direction, the laser repair device 242 for the inner surface of the thin tube 201 is moved to inspect / inspect the surface of the inner surface of the thin tube 201 within a certain range.
The present invention relates to a laser repair device for a thin tube inner surface that performs maintenance.

The first embodiment of the second invention will be described below with reference to the drawings.

FIG. 51 shows a tip end structure 22 composed of an electromagnetic rotary motor 227 around which contact terminals 209 are attached.
9. A rotating laser irradiation cylinder 231 including a reflecting mirror 228, a fixing metal fitting 220 and the like is attached between the connection structure 266 of the composite cable 212 including the optical fiber 202 and the rear structure 230 composed of the combined condenser lens 203, Rear structure 23
The power supply / control signal for power from 0 to the tip structure 229 is supplied via the slip ring 221, and the rotary laser irradiation cylinder 231 is driven by the electromagnetic rotary motor 227 via the speed reducer.
The reflecting mirror 228 is rotated together with this, and the visible light pulsed laser light 204 emitted from the optical fiber 202 is focused by the combination condenser lens 203 while scanning the laser irradiation point in the circumferential direction. Irradiating the inner surface, and moving the thin tube inner surface laser repairing device 242 while pulling out the composite cable 212 in the thin tube axial direction by the loading / unloading device 215 of the thin tube inner surface laser repairing device 242 to perform a surface modification work on a certain range of the inner surface of the thin tube 201. It is a conceptual diagram of the thin tube inner surface laser repairing device 242 to perform.

The thin tube inner surface laser repairing device 242 includes a tip structure 229, a rear structure 230, and a rotary laser irradiation cylinder 231.
It is composed of

The tip structure 229 is used for the electromagnetic rotary motor 22.
7, the speed reducer 264, the peripheral contact terminals 209, and the like. The rotational driving force of the electromagnetic rotary motor 227 is reduced by the speed reducer 264.
Rotating laser irradiation cylinder 23 via (planetary gear, combined gear)
1 is coupled to be transmitted.

The speed reducer 2 is provided on the inner surface of the rotary laser irradiation cylinder 231.
Sixty-four internal gears 265 and a fixing bracket 220 are attached. A reflecting mirror 228 is fixed to the fixing fitting 220.

The rear structure 230 is the optical fiber connection structure 2
66, a combination condenser lens 203 and the like. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. Rotating laser irradiation cylinder 231 and rear structure 230
Are rotatably connected in the circumferential direction by a key 268 attached to the rotary laser irradiation cylinder 231 and a key groove 267 of the rear structure 230. A slip ring 221 for supplying power power / control signals from the rear structure 230 to the front structure 229 includes a combination condenser lens 203 and an optical fiber 20.
It is attached to the outer surface of the outer cylinder between the two emission ends. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

FIG. 52 differs from FIG. 51 in the following points. FIG.
2 is a thin tube inner surface laser repairing device in which a key groove 267 is attached to the tip of the outer cylinder of the combination condenser lens 203, and a key 268 attached to the laser irradiation cylinder 232 is coupled to rotate freely in the circumferential direction. It is a conceptual diagram of 243.

The operation of the first embodiment of the second invention will be described below.

At a place where a device 271 for selecting a fixed number of instrumentation pipes 269 from a plurality of instrumentation pipes 269 welded to the pressure vessel 211 and inserting the detector 270 is installed, instead of the device 270. An in-and-out device 215 is installed to insert and remove the thin-tube inner surface laser repairing device 242 (or 243).

Composite cable 21 including optical fiber 202
2 laser repair device 242 (2)
43) is inserted into a predetermined instrumentation tube 269 (narrow tube 201), an insertion / removal device 215 is attached to the end of the predetermined instrumentation tube 269 (narrow tube 201), and the thin tube inner surface laser repair device 242 (243) is attached to the in / out device 215. Attaching and removing device 21
5, the composite cable 212 is pushed into the instrumentation tube 269 (narrow tube 201), and the thin tube inner surface laser repairing device is inserted at a position inserted at a predetermined distance or more from the planned surface modification site on the inner surface of the instrumentation tube 269 (narrow tube 201). When 242 (243) comes, the insertion work is stopped. To identify the insertion position, an approximate value is obtained from the length of the inserted composite cable 212, the visible light pulse laser light is incident on the optical fiber 202, and the thin tube 201 is inserted.
Ultrasonic waves generated when the surface of the (instrumentation pipe 269) is irradiated are detected by the ultrasonic sensor 345, the irradiation position is obtained from the difference between the irradiation time of the laser pulse and the detection time of the sound wave, and the insertion position is accurately identified. .

[0433] A laser beam for working having a high energy density of a pulsed laser beam centered on blue, which is oscillated by the pulsed laser device 316 and has little attenuation in water, and a laser device 31.
The laser light for controlling the continuous laser light centered on the red laser light oscillated in 5 is synthesized by using the semitransparent mirror 317, and the light diameter is adjusted to about 0.5 mm by using the condensing optical system. The laser light introduced and synthesized in the
Optical fiber 212 of composite cable 212 via 19
Introduce to.

[0434] The electromagnetic rotary motor 227 is driven to rotate the rotary laser irradiation section 231 (232) through the speed reducer,
At the same time, the reflecting mirror 228 is rotated. After a certain period of time when the rotation is stabilized, the laser light 204 from the pulse laser device 316 is irradiated with the semitransparent mirror 317, the optical fiber 318, and the winding device 31.
9. It is guided to the optical fiber emitting end of the thin tube inner surface laser repairing device 242 (243) via the optical fiber 202. A pulsed laser beam centered on blue is emitted from the emission end of the optical fiber, condensed by the combination condenser lens 203, and reflected by the reflecting mirror 22.
Irradiation is performed on the surface of the thin tube 201 by irradiating the surface of the thin tube 201 and reflecting it. At the same time when the surface of the instrumentation tube 269 (capillary tube 201) is started to be irradiated with the pulsed laser beam centered on blue, the access device 215 is operated to pull out the composite cable 212 including the optical fiber 202 at a predetermined speed. The rotation speed N of the rotary laser irradiation unit 231 (232) and the drawing speed V of the thin tube inner surface laser repairing device 242 (243) are the same as in the first embodiment of the first invention. Further, the work condition monitoring and the operation until the work is completed are similar to those of the first embodiment of the first invention.

The effects of the first embodiment of the second invention are shown below.

[0436] The thin tube inner surface laser repairing device 242 of the present invention
By using (243), inspection / maintenance such as surface modification work on the inner surface of the plurality of instrumentation pipes 269 (narrow pipes 201) welded to the pressure vessel 211 is performed in a short work period by performing remote inspection / maintenance in water. It is possible to achieve long life of the equipment, and when applied to a nuclear power plant, since the underwater work is performed remotely, it is possible to perform work while reducing the exposure of the worker. The same effect as that of the first embodiment can be expected.

Next, with reference to FIGS. 53 and 54, a second example of the second invention of the second embodiment will be described.

In the second embodiment of the second invention, a linear driving device 216 is installed on the tip end structure 229 in the first embodiment of the second invention, and the reflecting mirror 228 is made movable in the axial direction. The present invention relates to a thin tube inner surface laser repairing device that performs inspection / maintenance such as surface modification work on the inner surface of the thin tube 201 while adjusting the focal length of light (corresponding to thin tubes having different inner diameters and dealing with cases where the inner diameters are not constant).

A second embodiment of the second invention will be described below with reference to the drawings.

FIG. 53 shows an electromagnetic rotary motor 235 for rotating the reflecting mirror 228 and an electromagnetic rotary motor 236 for axial movement.
A reflecting mirror 228, a fixing bracket 220, etc. are built in between a tip structure 234 composed of the like and the like, a connection structure 266 of the composite cable 212 including the optical fiber 202 and a rear structure 230 composed of the combined condenser lens 203. The rotating laser irradiation cylinder 231 is attached, and the rear structure 230 to the tip structure 234 are attached.
Power and control signals to the electromagnetic rotary motor 2 via a speed reducer.
35, the reflecting mirror 228 is rotated together with the rotating laser irradiation cylinder 231, and the electromagnetic rotating motor 236 moves the reflecting mirror 228 through the worm gear 218 in the axial direction to adjust the focus and scan the laser irradiation point in the circumferential direction. Visible light pulsed laser light 204 emitted from the optical fiber 202 while
Are focused by the combination condenser lens 203, and the inner surface of the thin tube 201 is irradiated by the reflecting mirror 228, and the thin tube inner surface laser repairing device 24
4 is a conceptual diagram of the thin tube inner surface laser repairing device 244 that moves the thin tube inner surface laser repairing device 244 while pulling out the composite cable 212 in the thin tube loading / unloading device 215 to perform a surface modification work on a certain range of the inner surface of the thin tube 201. Is.

The thin tube inner surface laser repairing device 244 includes a tip structure 234, a rear structure 230, and a rotary laser irradiation cylinder 231.
It is composed of

The tip structure 234 is composed of an electromagnetic rotary motor 235 for rotating the reflecting mirror 228, an electromagnetic rotary motor 236 for axial movement, a speed reducer 264, contact terminals 209 in the periphery, and the like. The rotary driving force of the electromagnetic rotary motor 235 is coupled so as to be transmitted to the rotary laser irradiation cylinder 231 via the speed reducer 264 (planetary gear, combined gear). The rotational driving force of the electromagnetic rotary motor 235 is generated by the worm gear 21.
8. The reflecting mirror 228 is coupled via the internal gear of the fixing member 220 so as to move in the axial direction relative to the rotary laser irradiation cylinder 231.

The speed reducer 2 is provided on the inner surface of the rotating laser irradiation cylinder 231.
Sixty-four internal gears 265 and a guide rail 219 are attached. A fixing bracket 220 is slidably attached to the guide rail 219, and a reflecting mirror 228 is fixed to the fixing bracket 220. The rear structure 230 includes an optical fiber connection structure 266, a combination condenser lens 203, and the like. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. The rotary laser irradiation cylinder 231 and the rear structure 230 are rotatably coupled in the circumferential direction by a key 268 attached to the rotary laser irradiation cylinder 231 and a key groove 267 of the rear structure 230. A slip ring 221 for supplying power power / control signals from the rear structure 230 to the front structure 234 is attached to the outer surface of the outer cylinder between the combination condenser lens 203 and the emission end of the optical fiber 202. . A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

FIG. 54 differs from FIG. 53 in the following points. FIG.
No. 4 is a thin tube inner surface laser repairing device in which a key groove 267 is attached to the tip of the outer cylinder of the combination condenser lens 203, and a key 268 attached to the laser irradiation cylinder 232 is differently coupled to rotate freely in the circumferential direction. It is a conceptual diagram of 245.

The operation of the second embodiment of the second invention will be described below.

The operation is similar to that of the first embodiment of the second invention, but the following points are different.

The pulsed laser light centered on blue is the thin tube 2.
Electromagnetic rotary motor 2 at the same time when the surface of 01 starts to be irradiated
36 is also operated so that the reflecting mirror 228 can be moved in the axial direction. Ultrasonic waves generated when the surface of the thin tube 201 is irradiated with the visible light pulsed laser light are detected by the ultrasonic sensor 345, and control is performed to move the reflecting mirror 228 in the axial direction so that the detection amount becomes maximum.

When the work is carried out until the pull-out amount of the composite cable 212 reaches a predetermined length, the oscillation of the pulse laser device 316 centered on blue is stopped.

The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), and the thin tube inner surface laser repair device 244 (245) attached to the tip of the instrument tube 26.
9 (capillary tube 201). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the second embodiment of the second invention are shown below.

The same effect as that of the first embodiment of the second invention can be expected. Reflecting mirror 228 using electromagnetic rotary motor 236
By moving the lens in the axial direction to adjust the focal length of the irradiation laser light, it becomes possible to easily perform surface modification work on thin tubes with different inner diameters in the axial direction, and surface modification work on thin tubes that do not have a constant radius. .

Next, with reference to FIG. 55, a third example of the second invention of the second embodiment will be described.

In the third embodiment of the second invention, the ultrasonic linear motor 273 is attached to the combined condenser lens 203 of the rear structure 230 in the second embodiment of the second invention, and its length is changed to rotate. The present invention relates to a thin tube inner surface laser repairing apparatus for performing inspection and maintenance such as surface modification work of the inner surface of the thin tube 201 by moving the laser irradiation cylinder 232 in the axial direction and moving the reflecting mirror 228 mounted therein in the axial direction.

A third embodiment of the second invention will be described below with reference to the drawings.

FIG. 55 is a conceptual diagram of a thin tube inner surface laser repairing device 247 for performing a surface modification work on the inner surface of the thin tube 201 within a certain range. The thin tube inner surface laser repairing device 247 includes a tip structure 234, a rear structure 275, and a rotating laser irradiation cylinder 232.
It is composed of

The front end structure 234 is composed of an electromagnetic rotary motor 235 of the hollow shaft for rotating the reflecting mirror 228, an electromagnetic rotary motor 236 for moving the reflecting mirror 228 in the axial direction, and the like, and the rear structure 275 includes the optical fiber 202. Including composite cable 21
The second connection structure 266, the combination condenser lens 203, and the ultrasonic linear motor 273 are included.

A rotary laser irradiation cylinder 232 having a reflecting mirror 228, a fixing metal fitting 220 and the like built therein is attached between the front end structure 234 and the rear part structure 275. Power and control signals for power from the rear structure 275 to the front structure 234 are supplied via the slip ring 221.

The electromagnetic rotary motor 23 is driven through the speed reducer 264.
At 5, the reflecting mirror 228 is rotated together with the rotating laser irradiation cylinder 232. The reflecting mirror 228 is rotated in the axial direction by the electromagnetic rotary motor 236 via the worm gear 218.
2, while moving the laser irradiation point in the circumferential direction while adjusting the focus, the ultrasonic linear motor 2
73 is driven to change the length of the combined condenser lens 203. The reflecting mirror 22 fixed in the rotating laser irradiation cylinder 232.
8 is moved in the axial direction to scan the laser irradiation point in the axial direction, the visible light pulsed laser light 204 emitted from the optical fiber 202 is focused by the combination condenser lens 203, and the inner surface of the thin tube 201 is reflected by the reflecting mirror 228. To the composite cable 2 by irradiating the inner surface of the thin tube with the laser repairing device 247 in and out 215.
While pulling out 12 in the axial direction of the thin tube, the laser repairing device 247 for the inner surface of the thin tube is moved to perform the surface modification work on the inner surface of the thin tube 201 within a certain range.

The tip structure 234 is composed of an electromagnetic rotary motor 235 of the hollow shaft for rotating the reflecting mirror 228, an electromagnetic rotary motor 236 for axial movement of the reflecting mirror 228, a speed reducer 264, peripheral contact terminals 209 and the like. It The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is coupled so as to be transmitted to the rotary laser irradiation cylinder 232 via the speed reducer 264 (planetary gear, combined gear). The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is coupled via the worm gear 218 and the internal gear of the fixing bracket 220 so as to move the reflecting mirror 228 axially relative to the rotary laser irradiation cylinder 232.

The rotating laser irradiation cylinder 232 has a reflecting mirror 22.
8, fixing metal fittings 220 and the like are incorporated. The internal gear 265 of the speed reducer 264 and the guide rail 219 are attached to the inner surface of the rotary laser irradiation cylinder 232. Guide rail 219
The fixing bracket 220 is attached to the so that
A reflecting mirror 228 is fixed to the fixing fitting 220.

The rear structure 275 is the optical fiber connection structure 2
66, combination condenser lens 203, ultrasonic linear motor 2
It is composed of 73 etc. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. The rotary laser irradiation cylinder 232 and the rear structure 275 are the same as the rotary laser irradiation cylinder 23.
2 and the key groove 26 of the rear structure 275.
7 and 7 are connected to rotate freely in the circumferential direction. Rear structure 2
A slip ring 221 for supplying power / control signals for power from 75 to the tip structure 234 is attached to the outer surface of the outer cylinder between the combination condenser lens 203 and the emission end of the optical fiber 202. The ultrasonic linear motor 273 is driven so that the length of the combined condenser lens 203 can be expanded and contracted in the axial direction.

The operation of the third embodiment of the second invention will be described below.

The operation is similar to that of the second embodiment of the second invention, but the following points are different.

The pulsed laser light centered on blue is the thin tube 2
At the same time that the surface of 01 is irradiated, the ultrasonic linear motor 273 also works to move the reflecting mirror 228 in the axial direction by a predetermined length. When the movement is completed, the oscillation of the pulse laser device 316 is stopped. Subsequently, the composite cable 212 is pulled to bring the entire laser repair device 247 for the inner surface of the thin tube to the ultrasonic linear motor 2
73 is operated to pull out the reflecting mirror 228 within the range in the axial direction, while the ultrasonic linear motor 273 is operated to move the reflecting mirror 228 to the original relative position in the axial direction.
The same operation is repeated thereafter, and when the work is performed until the extraction amount of the composite cable 212 reaches a predetermined length,
The oscillation of the pulse laser device 316 centered on blue is stopped.

The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), and the thin tube inner surface laser repair device 247 attached to the tip of the instrument tube 269 (narrow tube 2).
01). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the third embodiment of the second invention are shown below.

The same effect as that of the second embodiment of the second invention can be expected. Since the ultrasonic mirror linear motor 273 is operated to move the reflecting mirror 228 in the axial direction and the irradiation laser beam can be scanned in the axial direction by a predetermined distance, the entrance / exit device 215 is actuated to operate the composite cable 212 including the optical fiber 202 into the thin tube 201.
The position of the work for pulling out from the (instrumentation pipe 269) is easily set, and the surface modification work of the thin tube can be easily performed.

Next, with reference to FIG. 56, a fourth example of the second invention according to the second embodiment will be described.

In the fourth embodiment of the second invention, a linear driving device 216 is installed in the tip end structure 234 in the second embodiment of the second invention so that the reflecting mirror 228 can be moved in the axial direction. While adjusting the focal length of the light (corresponding to thin tubes having different inner diameters, corresponding to the case where the inner diameters are not constant), a part of the combined condenser lens 203 is installed in the rear structure 274 and the remaining combined condensers are collected. The lens 203 is installed in the rotary laser irradiation cylinder 278, an ultrasonic linear motor 273 that changes the length of the combined condenser lens 203 is provided in the rotary laser irradiation cylinder 278, and the ultrasonic linear motor 273 is driven to set the reflecting mirror 228 as an axis. The present invention relates to a thin tube inner surface laser repairing device that is moved in a predetermined direction to inspect and maintain the surface of the inner surface of the thin tube 201.

A fourth embodiment of the second invention will be described below with reference to the drawings.

FIG. 56 is a conceptual diagram of the thin-tube inner surface laser repairing device 246. In the thin tube inner surface laser repairing device 246, the hollow shaft electromagnetic rotary motor 23 for rotating the reflecting mirror 228.
5, the tip end structure 234 including an electromagnetic rotary motor 236 for moving the reflecting mirror 228 in the axial direction, the optical fiber 2
The rear structure 274 including the connection structure 266 of the composite cable 212 including 02 and a part of the combined condenser lens 203.
And a rotary laser irradiation cylinder 278 incorporating the remaining combination condenser lens 203, the reflecting mirror 228, the fixing bracket 220, etc., of which the length can be changed by the ultrasonic linear motor 273,
Power for power from the rear structure 274 to the front structure 234
The control signal is supplied via the slip ring 221. The electromagnetic rotary motor 235 rotates the reflecting mirror 228 together with the rotary laser irradiation cylinder 278 via the reduction gear, and the electromagnetic mirror motor 236 reflects it via the worm gear 218. Mirror 2
28 is moved in the axial direction relative to the rotating laser irradiation cylinder 278 to adjust the focus and scan the laser irradiation point in the circumferential direction, while driving the ultrasonic linear motor 273 to increase the length of the combined condenser lens 203. While changing the length of the rotary laser irradiation cylinder 278 and moving the reflecting mirror 228 in the axial direction to scan the laser irradiation point in the axial direction, the visible light pulsed laser light 204 emitted from the optical fiber 202 is changed. The combined condensing lens 203 converges the light, and the reflecting mirror 228 irradiates the inner surface of the thin tube 201, and the thin tube inner surface laser repair device 246.
While pulling out the composite cable 212 in the axial direction of the thin tube with the loading / unloading device 215, the inner surface of the thin tube 201 is modified by moving the laser repairing device 246 of the inner surface of the thin tube 201.

The capillary inner surface laser repairing device 246 includes a tip structure 234, a rear structure 274, and a rotary laser irradiation cylinder 278.
It is composed of

The tip structure 234 includes a hollow shaft electromagnetic rotary motor 235 for rotating the reflecting mirror 228, an electromagnetic rotary motor 236 for axial movement, a speed reducer 264, and peripheral contact terminals 20.
It is composed of 9 etc. The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is coupled so as to be transmitted to the rotary laser irradiation cylinder 231 via the speed reducer 264 (planetary gear, combined gear). The rotational driving force of the hollow shaft electromagnetic rotary motor 235 is
The reflecting mirror 228 is coupled via the worm gear 218 and the internal gear of the fixing bracket 220 so as to move in the axial direction relative to the rotating laser irradiation cylinder 278.

The rotating laser irradiation cylinder 278 has a reflecting mirror 22.
8. A part of the combined condenser lens 203 is built in, and the length is expanded and contracted by the ultrasonic linear motor 273. The internal gear 265 of the speed reducer 264 and the guide rail 219 are attached to the inner surface of the rotary laser irradiation cylinder 278. A fixing bracket 220 is slidably attached to the guide rail 219, and the reflecting mirror 22 is attached to the fixing bracket 220.
8 is fixed. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The rear structure 274 is the optical fiber connection structure 2
66, a part of the combination condenser lens 203, and the like. A key groove 267 is provided on the outer cylinder of the combination condenser lens 203.
Is attached. The rotary laser irradiation cylinder 278 and the rear structure 274 are the keys 2 attached to the rotary laser irradiation cylinder 278.
68 and the key groove 267 of the rear structure 274 are rotatably coupled in the circumferential direction. A slip ring 221 for supplying power electric power / control signals from the rear structure 274 to the front structure 234 is attached to the outer surface of the outer cylinder between the combination condenser lens 203 and the emission end of the optical fiber 202. .

The operation of the fourth embodiment of the second invention will be described below.

The operation is the same as that of the third embodiment of the second invention, but the following points are different.

[0478] The pulsed laser light centered on blue light is emitted from the thin tube 2.
At the same time that the surface of 01 is irradiated, the ultrasonic linear motor 273 also works to move the reflecting mirror 228 in the axial direction by a predetermined length. When the movement is completed, the oscillation of the pulse laser device 316 is stopped. Subsequently, the composite cable 212 is pulled to bring the entire laser repair device 246 for the inner surface of the thin tube into the ultrasonic linear motor 2.
73 is operated to pull out the reflecting mirror 228 within the range in the axial direction, while the ultrasonic linear motor 273 is operated to move the reflecting mirror 228 to the original relative position in the axial direction.
The same operation is repeated thereafter, and when the work is performed until the extraction amount of the composite cable 212 reaches a predetermined length,
The oscillation of the pulse laser device 316 centered on blue is stopped.

The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), the thin tube inner surface laser repairing device 246 attached to the tip of the instrument tube 269 (narrow tube 2).
01). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the fourth embodiment of the second invention are shown below.

The same effect as that of the second embodiment of the second invention can be expected. Further, since the ultrasonic linear motor 273 is operated to move the reflecting mirror 228 in the axial direction and the irradiation laser beam can be scanned for a fixed distance in the axial direction, the entrance / exit device 215 is operated to operate the composite cable 212 including the optical fiber 202 in the thin tube 2.
01 (instrumentation pipe 269) makes it easy to set the position of the work, and the surface modification work of the thin tube can be performed easily.

Next, with reference to FIG. 57, a first example of the third invention of the second embodiment will be described.

The first embodiment of the third invention is the storage battery 20.
8, between the light control device 214, the tip structure 279 composed of the hollow shaft electromagnetic rotary motor 235, the connection structure 266 of the composite cable 212 including the optical fiber 202, and the rear structure 280 composed of the combination condenser lens 203. A rotary laser irradiation cylinder 281 having a semitransparent mirror 205, a fixing bracket 220 and the like built therein is attached, and the semitransparent mirror 205 is rotated together with the rotary laser irradiation cylinder 281 by an electromagnetic rotary motor 235 through a speed reducer 264 to perform laser irradiation. While scanning the points in the circumferential direction, the visible light pulsed laser light 204 emitted from the optical fiber 202 is converged by the combination condenser lens 203, and is irradiated onto the inner surface of the thin tube 201 by the semitransparent mirror 205, and the thin tube inner surface laser repairing device 248. While pulling out the composite cable 212 in the axial direction of the thin tube with the device 215 for pulling in and out, the laser repairing device 248 for the inner surface of the thin tube The moved by about capillary inner surface laser repair apparatus for performing inspection and maintenance of such surface modification work a range of the inner surface of the capillary 201.

The first embodiment of the third invention will be described below with reference to the drawings.

FIG. 57 shows a storage battery 208 and a light control device 21.
4, a tip structure 279 composed of a hollow shaft electromagnetic rotary motor 235, and a composite cable 212 including the optical fiber 202
A rotary laser irradiation cylinder 281 including a semitransparent mirror 205, a fixing metal fitting 220, etc. is mounted between the connection structure 266 of FIG. 1 and the rear structure 280 composed of the combination condenser lens 203, and an electromagnetic rotary motor is provided via a speed reducer 264. At 235, the semitransparent mirror 205 is rotated together with the rotary laser irradiation cylinder 281, and the visible light pulsed laser light 204 emitted from the optical fiber 202 is focused by the combination condenser lens 203 while scanning the laser irradiation point in the circumferential direction. , Semi-transparent mirror 205
To irradiate the inner surface of the thin tube 201, and pulling out the composite cable 212 in the axial direction of the thin tube with the loading / unloading device 215 of the thin tube inner surface laser repairing apparatus 248.
FIG. 8 is a conceptual diagram of a thin tube inner surface laser repairing device 248 that moves the surface of the thin tube 201 to perform a surface modification work on a certain range of the inner surface of the thin tube 201.

The thin tube inner surface laser repairing device 248 includes a tip structure 279, a rear structure 280, and a rotary laser irradiation cylinder 281.
It is composed of

The tip structure 279 includes a storage battery 208, a light control device 214, a hollow shaft electromagnetic rotary motor 235, and a speed reducer 2.
64 and the peripheral contact terminals 209 and the like. The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is coupled so as to be transmitted to the rotary laser irradiation cylinder 281 via the speed reducer 264 (planetary gear, combined gear). The power of the hollow shaft electromagnetic rotary motor 235 is supplied from the storage battery 208. The control is performed by the hollow shaft electromagnetic rotary motor 23.
5, the optical waveguide 2 mounted inside the hollow shaft 206.
The control laser light having a wavelength other than the blue pulse laser light, which has passed through the semitransparent mirror 205, is guided to the optical system 25.
Remote control.

The speed reducer 2 is attached to the inner surface of the rotary laser irradiation cylinder 281.
Sixty-four internal gears 265 and a fixing bracket 220 are attached. A semi-transparent mirror 205 is fixed to the fixing fitting 220. The rear structure 280 is the optical fiber connection structure 26.
6, a combination condenser lens 203 and the like. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. Rotating laser irradiation cylinder 281 and rear structure 280
Are rotatably coupled in the circumferential direction by a key 268 attached to the rotary laser irradiation cylinder 281 and a key groove 267 of the rear structure 280. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the first embodiment of the third invention will be described below.

At a place where a device 271 for selecting a fixed number of the instrumentation pipes 269 from a plurality of instrumentation pipes 269 welded to the pressure vessel 211 and inserting the detector 270 is installed, instead of the device 270. An in-and-out device 215 is installed to in and out the thin-tube inner surface laser repairing device 248.

Composite cable 21 including optical fiber 202
In order to put the thin tube inner surface laser repairing device 248 attached to the tip of No. 2 into the predetermined instrumentation tube 269 (thin tube 201), the inlet / outlet device 215 is attached to the end of the predetermined instrumentation tube 269 (thin tube 201), and the inlet / outlet device 215 Narrow tube inner surface laser repair device 2
48 is attached, and the access device 215 is operated to push the composite cable 212 into the instrumentation pipe 269 (capillary pipe 201),
When the thin tube inner surface laser repairing device 248 comes to a position where the inner surface of the instrumentation tube 269 (the thin tube 201) is inserted a predetermined distance or more from the planned surface modification location, the insertion work is stopped. To identify the insertion position, an approximate value is obtained from the length of the inserted composite cable 212, and a visible light pulsed laser beam is incident on the optical fiber 202 and ultrasonic waves generated when the surface of the thin tube 201 (instrumentation tube 269) is irradiated. Is detected by the ultrasonic sensor 345,
The insertion position is obtained from the difference between the laser pulse irradiation time and the sound wave detection time, and the insertion position is accurately identified.

A laser beam for working with a high energy density of a pulsed laser beam centered on blue which is little attenuated in water and oscillated by the pulsed laser device 316, and a laser device 31.
The laser light for controlling the continuous laser light centered on the red laser light oscillated in 5 is synthesized by using the semitransparent mirror 317, and the light diameter is adjusted to about 0.5 mm by using the condensing optical system. The laser light introduced and synthesized in the
It is introduced into the optical fiber 12 of the composite cable 212 via 19.

Laser light for controlling continuous laser light centered on the red laser light oscillated by the laser device 315 is introduced into the optical fiber 212, transmitted through the semitransparent mirror 205, and injected into the optical waveguide 225. Lead to the controller 214,
The device is activated to drive the electromagnetic rotary motor 235 to rotate the rotary laser irradiation unit 281 via the speed reducer, and at the same time rotate the semitransparent mirror 205. After a certain period of time when the rotation is stabilized, the laser light 204 from the pulse laser device 316 is irradiated with the semitransparent mirror 317, the optical fiber 318, and the winding device 31.
9. Guide the light through the optical fiber 202 to the optical fiber emitting end of the thin tube inner surface laser repair device 248.

[0494] A pulsed laser beam centered on blue is emitted from the emission end of the optical fiber, condensed by the combination condenser lens 203, irradiated on the semitransparent mirror 205, and reflected to cause the thin tube 20.
Irradiate to focus on the surface of 1. At the same time when the surface of the instrumentation tube 269 (capillary tube 201) is started to be irradiated with the pulsed laser beam centered on blue, the access device 215 is operated to pull out the composite cable 212 including the optical fiber 202 at a predetermined speed. The rotation speed N of the rotary laser irradiation unit 281 and the drawing speed V of the thin tube inner surface laser repairing device 248 are the same as those in the first embodiment of the first invention. Further, the work condition monitoring and the operation until the work is completed are similar to those of the first embodiment of the first invention.

The effects of the first embodiment of the third invention are shown below.

By using the thin tube inner surface laser repairing device 248 of the present invention, the inspection and maintenance such as the surface modification work of the inner surface of the plurality of instrumentation tubes 269 (narrow tubes 201) welded to the pressure vessel 211 can be performed remotely or underwater. By doing so, it can be done in a short work period, the life of the equipment can be extended, and when it is applied to a nuclear power plant, it will perform remote underwater work, so it can reduce the exposure of workers and perform work. For example, the same effect as that of the first embodiment of the first invention can be expected.

Next, with reference to FIG. 58, a first modification example of the third invention of the second embodiment of the present invention will be described.

The first modified example of the third invention is the first embodiment of the third invention, in which a key groove 267 is attached to the tip of the outer cylinder of the combined condenser lens 203 and is attached to the rotary laser irradiation cylinder 285. The present invention relates to a capillary inner surface laser repairing device which is different in that it is rotatably coupled in the circumferential direction with a key 268.

A first modification of the third invention will be described below with reference to the drawings.

58 differs from FIG. 57 in the following points. FIG.
No. 8 is a thin tube inner surface laser repair in which a key groove 267 is attached to the tip of the outer cylinder of the combination condenser lens 203, and the key groove 267 attached to the rotary laser irradiation cylinder 285 is rotatably coupled in the circumferential direction. It is a conceptual diagram of the apparatus 249.

The operation of the first modification of the third invention will be described below.

The present invention has almost the same operation as that of the first embodiment of the third invention.

The effects of the first modification of the third invention are shown below.

The present invention can be expected to have substantially the same effects as the first embodiment of the third invention.

Next, with reference to FIG. 59, a second example of the third invention of the second embodiment will be described.

In the second embodiment of the third invention, a linear driving device 216 is installed on the tip end structure 279 in the first embodiment of the third invention so that the semitransparent mirror 205 can be moved in the axial direction. While adjusting the focal length of light (corresponding to thin tubes with different inner diameters, and dealing with cases where the inner diameters are not constant), inspections such as surface modification work on the inner surface of the thin tube 201 are performed.
The present invention relates to a laser repair device for a thin tube inner surface that performs maintenance.

A second embodiment of the third invention will be described below with reference to the drawings.

FIG. 59 shows a storage battery 208 and a light control device 21.
4. Semi-transparent between the tip structure 288 composed of the hollow shaft electromagnetic rotary motors 235 and 287, the connection structure 266 of the composite cable 212 including the optical fiber 202, and the rear structure 289 composed of the combined condenser lens 203. Mirror 20
5. Rotating laser irradiation cylinder 29 with a built-in fixing bracket 220, etc.
0 is attached to the electromagnetic rotary motor 23 via the speed reducer 264.
5, the semitransparent mirror 20 together with the rotating laser irradiation cylinder 290
5, while rotating the laser irradiation point in the circumferential direction, the worm gear 224 is rotated by the electromagnetic rotation motor 287 to move the semitransparent mirror 205 in the axial direction relative to the rotating laser irradiation cylinder 290. The visible light pulsed laser light 204 emitted from the above is converged by the combination condenser lens 203, and the thin tube 201 is made by the semitransparent mirror 205.
The inner surface of the thin tube 201 is irradiated with the laser beam, and the in-apparatus 215 of the inner surface laser repair apparatus 250 of the thin tube moves the thin tube inner surface laser repair apparatus 250 while pulling out the composite cable 212 in the axial direction of the thin tube to modify the inner surface of the thin tube 201 within a certain range. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 250 for performing the above.

The thin tube inner surface laser repairing device 250 includes a tip structure 288, a rear structure 289, and a rotary laser irradiation cylinder 290.
It is composed of

The tip structure 288 includes a storage battery 208, a light control device 214, hollow shaft electromagnetic rotary motors 235, 287, and
It is composed of a speed reducer 264, peripheral contact terminals 209, and the like.
The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is the speed reducer 26.
Rotating laser irradiation cylinder 2 via 4 (planetary gear, combined gear)
90 is coupled so as to be transmitted to 90. The power of the hollow shaft electromagnetic rotary motor 235 is supplied from the storage battery 208. Further, the control is performed by guiding the control laser light having a wavelength other than the blue pulse laser light, which has passed through the semitransparent mirror 205, to the optical waveguide 225 mounted inside the hollow shaft 206 of the hollow shaft electromagnetic rotary motor 235, and controlling the light. 214 is remotely controlled. The rotary driving force of the hollow shaft electromagnetic rotary motor 287 rotates the worm gear 224 to move the fixing bracket 220 in the axial direction along the guide rail 219 via the internal gear of the fixing bracket 220 and is fixed to the fixing bracket 220. The semitransparent mirror 205 is moved in the axial direction relative to the rotary laser irradiation cylinder 290.

The rear structure 289 is the optical fiber connection structure 2
66, a combination condenser lens 203 and the like. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. Rotating laser irradiation cylinder 290 and rear structure 289
Are rotatably coupled in the circumferential direction by a key 268 attached to the rotary laser irradiation tube 290 and a key groove 267 of the rear structure 289. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the second embodiment of the third invention will be described below. The operation is similar to that of the first embodiment of the third invention, but the following points are different.

[0513] The pulsed laser light centered on blue color is emitted from the thin tube 2.
Electromagnetic rotary motor 2 at the same time when the surface of 01 starts to be irradiated
87 also makes the semitransparent mirror 205 movable in the axial direction. The ultrasonic sensor 345 detects ultrasonic waves generated when the surface of the thin tube 201 is irradiated with the visible light pulsed laser light.
The semi-transparent mirror 20 so that the detection amount becomes maximum.
Control for moving 5 in the axial direction is performed. Composite cable 2
When the work is performed until the extraction amount of 12 reaches a predetermined length, the pulse laser device 316 centered on blue color
Stop the oscillation of. The insertion / removal device 215 is operated to pull out the composite cable 212 including the optical fiber 202 from the thin tube 201 (instrumentation tube 269), and the thin tube inner surface laser repair device 250 attached to the tip thereof is attached to the instrumentation tube 269 (narrow tube 201). Take out more. When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the second embodiment of the third invention are shown below.

The same effect as that of the first embodiment of the third invention can be expected. The semi-transparent mirror 205 is moved in the axial direction by using the electromagnetic rotation motor 287 to adjust the focal length of the irradiation laser light to modify the surface of the thin tube whose inner diameter is different in the axial direction. The modification work can be performed easily.

Next, with reference to FIG. 60, a second modification of the third invention of the second embodiment will be described.

The second modified example of the third invention is the second embodiment of the third invention, in which a key groove 267 is attached to the tip of the outer cylinder of the combined condenser lens 203 and is attached to the rotary laser irradiation cylinder 292. The present invention relates to a capillary inner surface laser repairing device which is different in that it is rotatably coupled in the circumferential direction with a key 268.

A second modification of the third invention will be described below with reference to the drawings.

FIG. 60 differs from FIG. 59 in the following points. FIG.
0 is a thin tube inner surface laser repair in which a key groove 267 is attached to the tip of the outer cylinder of the combined condenser lens 203, and the key groove 267 attached to the rotating laser irradiation cylinder 292 is rotatably coupled in the circumferential direction. It is a conceptual diagram of the apparatus 251.

The operation of the second modification of the third invention will be described below.

The present invention has the same operation as the second embodiment of the third invention.

The effects of the second modification of the third invention are shown below.

The present invention can be expected to have the same effects as the second embodiment of the third invention.

Next, with reference to FIG. 61, a third example of the third invention of the second embodiment will be described.

The third embodiment of the third invention is a semi-transparent mirror 20 in which an ultrasonic linear motor 273 whose length can be expanded and contracted is incorporated in the rear structure 291 of the second modification of the third invention.
The present invention relates to a thin tube inner surface laser repairing device for inspecting and maintaining the surface reforming work of the inner surface of the thin tube 201 by allowing 5 to move in the axial direction.

The third embodiment of the third invention will be described below with reference to the drawings.

FIG. 61 is different from FIG. 60 in the following points, and an ultrasonic linear motor 273 is incorporated in the outer cylinder so that the length of the combined condenser lens 203 can be expanded and contracted. FIG. 252 is a conceptual diagram of 252.

The operation of the third embodiment of the third invention will be described below.

The operation is similar to that of the second modification of the third invention, but the following points are different.

[0530] The pulsed laser light centered on blue light is emitted from the thin tube 2.
At the same time when the surface of No. 01 is irradiated, the ultrasonic linear motor 273 also works to move the semitransparent mirror 205 by a predetermined length in the axial direction. When the movement is completed, the pulse laser device 3
Stop the oscillation of 16. Subsequently, the composite cable 212 is pulled out, and the entire thin tube inner surface laser repairing device 252 is pulled out within a range in which the ultrasonic linear motor 273 is actuated to move the semitransparent mirror 205 in the axial direction. In the meantime, the ultrasonic linear motor 273 is operated to return the semitransparent mirror 205 to the original relative position in the axial direction. The same operation is repeated thereafter, and when the work is performed until the extraction amount of the composite cable 212 reaches a predetermined length, the oscillation of the pulse laser device 316 centered on blue is stopped.

[0531] The optical fiber 2 is operated by operating the access device 215.
The composite cable 212 including 02 is connected to the thin tube 201 (the instrumentation tube 2
69), and the thin tube inner surface laser repair device 252 attached to the tip of the instrument tube 269 (narrow tube 2).
01). When this work is completed, the instrumentation pipe 269 (narrow pipe 201) is inserted again, and the above work is repeated.

The effects of the third embodiment of the third invention are shown below.

An effect similar to that of the second modification of the third invention can be expected. Since the semi-transparent mirror 205 is moved in the axial direction by operating the ultrasonic linear motor 273 and the irradiation laser beam can be scanned for a fixed distance in the axial direction, the entrance / exit device 215 is operated to operate the composite cable 212 including the optical fiber 202 in the thin tube 2.
01 (instrumentation pipe 269) makes it easy to set the position of the work, and the surface modification work of the thin tube can be performed easily.

Next, with reference to FIG. 62, a third modification of the third invention of the second embodiment will be described.

A third modification of the third invention relates to a thin tube inner surface laser repairing device characterized in that the electromagnetic rotary motor 287 of the third embodiment of the third invention is replaced with an ultrasonic linear motor 294.

A third modification of the third invention will be described below with reference to the drawings.

FIG. 62 is different from FIG. 61 in the following points, and is a conceptual diagram of a thin tube inner surface laser repairing device 253 in which the electromagnetic rotary motor 287 is an ultrasonic linear motor 294.

The operation of the third modification of the third invention will be described below.

The present invention has the same operation as that of the third embodiment of the third invention.

The effects of the third modification of the third invention are shown below.

The present invention can be expected to have the same effects as those of the third embodiment of the third invention.

Next, with reference to FIG. 63, a first example of the fourth invention of the second embodiment will be described.

The first embodiment of the fourth invention is the storage battery 20.
8, a hollow shaft electromagnetic rotary motor 296, a tip structure 298 including a connection structure 301 and the like, a connection structure 266 of a composite cable 212 including the optical fiber 202, a rotary drive unit 261 including a hollow shaft electromagnetic rotary motor 207, and the like. And the tip structure 298 are connected to each other, the light control device 214, the hollow shaft electromagnetic rotary motor 302, the semitransparent mirror 205, and the fixing bracket 22.
0, a rotary laser irradiation cylinder 304 having a combination condenser lens 203 having a variable length incorporated therein, and the like.
The rotary laser irradiation cylinder 30 is driven by the electromagnetic rotary motor 7 via 64.
4, the semi-transparent mirror 205 is rotated, and while the laser irradiation point is circumferentially scanned, the semi-transparent mirror 205 is relatively moved in the axial direction of the rotating laser irradiation cylinder 304 by the electromagnetic rotation motor 302 via the worm gear 224. A visible light pulse laser emitted from the optical fiber 202 while scanning the semitransparent mirror 205 in the axial direction by changing the interval of the combined condenser lens 203 by the electromagnetic rotary motor 296 via the worm gear 299 while adjusting the focal length. Light 2
04 is converged by the combination condenser lens 203, reflected by the semitransparent mirror 205 and irradiated on the inner surface of the thin tube 201, and the combined cable 212 is pulled out in the axial direction of the thin tube by the entrance / exit device 215 of the laser repair device 254 for the inner surface of the thin tube. The present invention relates to a thin tube inner surface laser repairing device that moves and moves the inner surface laser repairing device 254 to perform inspection / maintenance such as surface modification work on a certain range of the inner surface of the thin tube 201.

The first embodiment of the fourth invention will be described below with reference to the drawings.

FIG. 63 is a composite cable 212 including a storage battery 208, a hollow shaft electromagnetic rotary motor 296, a tip structure 298 including a connection structure 301, and an optical fiber 202.
Connection structure 266, a hollow shaft electromagnetic rotary motor 207, and the like, and a light control device 214 that connects the rotary drive unit 261 and the tip end structure 298, the hollow shaft electromagnetic rotary motor 302, the semitransparent mirror 205, the fixing bracket 220, and the length. It is composed of a rotating laser irradiation cylinder 304 and the like having a combination condenser lens 203 and the like capable of changing the height, and a semitransparent mirror 205 is rotated together with the rotating laser irradiation cylinder 304 by an electromagnetic rotation motor 207 via a speed reducer 264, While scanning the laser irradiation point in the circumferential direction, the semitransparent mirror 205 is rotated by the electromagnetic rotation motor 302 via the worm gear 224.
Of the optical fiber 202 while scanning the semi-transparent mirror 205 in the axial direction by changing the interval of the combined condenser lens 203 by the electromagnetic rotary motor 296 via the worm gear 299 while adjusting the focal length by relatively moving in the axial direction of the optical fiber 202. The emitted visible light pulsed laser light 204 is focused by the combination condenser lens 203, reflected by the semi-transparent mirror 205 and irradiated on the inner surface of the thin tube 201, and the thin tube inner surface laser repairing device 25.
4 inside and out device 215 pulling out the composite cable 212 in the axial direction of the thin tube, and moving the thin tube inner surface laser repairing device 254 to inspect and maintain the inner surface of the thin tube 201 such as surface modification work. It is a conceptual diagram of a device.

The thin tube inner surface laser repairing device 254 includes a tip end structure 298, a rotation driving part 261, and a rotation laser irradiation cylinder 30.
It consists of 4 parts.

The tip structure 298 is composed of a storage battery 208, a hollow shaft electromagnetic rotary motor 296, peripheral contact terminals 209, a connection structure 301 and the like.

The rotary driving force of the hollow shaft electromagnetic rotary motor 296 moves the connecting structure 301 in the axial direction via the worm gear 299 and the internal gear of the connecting structure 301 to move the connecting structure 3
The rotary laser irradiation cylinder 304 portion fixed to 01 is expanded and contracted, and the transparent mirror 205 mounted inside the rotary laser irradiation cylinder 304 is relatively moved in the axial direction. The power of the hollow shaft electromagnetic rotary motor 296 is supplied from the storage battery 208 via the hollow shaft. In addition, the control is performed by a laser other than the blue pulsed laser light that has passed through the semitransparent mirror 205 in the optical waveguide 225 mounted inside the hollow shaft 206 of the hollow shaft electromagnetic rotary motor 302 installed in the rotary laser irradiation cylinder 304. A control laser beam having a wavelength is guided, and the light control device 214 is remotely controlled to be performed via the hollow shaft of the hollow shaft electromagnetic rotary motor 296.

The rotary laser irradiation cylinder 304 is used for the light control device 2
14, a hollow shaft electromagnetic rotary motor 302, a speed reducer 264, a fixing bracket 220, a guide rail 219, a combination condenser lens 203 whose length can be changed, and the like are attached. A semi-transparent mirror 205 is fixed to the fixing fitting 220. The rotary driving force of the hollow shaft electromagnetic rotary motor 302 is fixed to the fixing bracket 22.
Fixing fixture 220 through guide gear 2 via 0 internal gear
Then, the semitransparent mirror 205 fixed to the fixing member is moved in the axial direction.

[0550] The rotary laser irradiation cylinder 304 is coupled so as to be transmitted. The power of the hollow shaft electromagnetic rotary motor 302 is supplied from the storage battery 208 of the tip structure 298. In addition, the control is performed by guiding the control laser light having a wavelength other than the blue pulse laser light that has passed through the semitransparent mirror 205 to the optical waveguide 225 mounted inside the hollow shaft 206 of the hollow shaft electromagnetic rotary motor 302, and controlling the light. 214 is remotely controlled.

The rotary drive unit 261 is composed of an optical fiber connection structure 266, a hollow shaft electromagnetic rotary motor 207, a speed reducer 264 and the like. A key groove 267 is attached to the outer cylinder of the hollow shaft electromagnetic rotary motor 207. The rotary laser irradiation cylinder 304 and the rotation driving unit 261 are the same as the rotary laser irradiation cylinder 30.
The key 268 attached to the No. 4 and the keyway 2 of the rotary drive unit 261.
It is connected to 67 in a freely rotatable manner in the circumferential direction. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the first embodiment of the fourth invention will be described below.

According to the present invention, instead of using the ultrasonic linear motor 320 to change the length of the combined condenser lens 203 in the second modification of the first invention, an electromagnetic wave is applied to the tip of the laser irradiation nozzle section 286. Rotation motor 296, storage battery 2
A tip portion structure 298 composed of 08 or the like is attached, and the rotary laser irradiation cylinder 304 corresponding to the laser irradiation nozzle portion 86 is rotated and expanded / contracted with the rotary drive unit 261.

[0554] The contact terminal 20 attached to the rotation drive unit 261 of the capillary inner surface laser repairing apparatus 254 and the tip end structure 298.
9 is fixed inside the thin tube 201, the hollow shaft electromagnetic rotary motor 207 is driven to rotate the rotary laser irradiation cylinder 304, and at the same time, the semitransparent mirror 205 is rotated to output the visible light pulse emitted from the optical fiber 202. The laser light 204 focused by the combination condenser lens 203 of the laser light 204 is reflected to irradiate the inner surface of the thin tube 201. The hollow shaft electromagnetic rotary motor 302 is rotationally driven to apply a rotational force to the worm gear 2.
24 through the internal gear of the fixing bracket 220 through the fixing bracket 22
0, the fixing metal fitting 220 is moved along the guide rail 219, and the semi-transparent mirror 2 fixed to the fixing metal fitting 2
Reference numeral 05 is also moved in the axial direction to adjust the focal length of the laser beam 204 emitted from the fiber 2 which is reflected by the optical thin tube 201 to be irradiated. The hollow shaft electromagnetic rotary motor 296 is rotationally driven to axially move the connection structure 301 via the worm gear 299 and the internal gear of the connection structure 301, and the rotary laser irradiation cylinder 304 portion fixed to the connection structure 301 is expanded and contracted. Then, the transparent mirror 205 mounted inside the rotating laser irradiation cylinder 304 is relatively moved in the axial direction, and the laser beam 204 emitted from the fiber 2 which is reflected by the optical capillary 201 and irradiated is scanned in the axial direction. Hereinafter, the operation is similar to that of the second modification of the first invention.

The effects of the first embodiment of the fourth invention are shown below.

By using the thin tube inner surface laser repairing device 254 of the present invention, inspection / maintenance such as surface modification work on the inner surface of a plurality of instrumentation tubes 269 (narrow tubes 201) welded to the pressure vessel 211 can be performed remotely or underwater. By doing so, it can be done in a short work period, the life of the equipment can be extended, and when it is applied to a nuclear power plant, it will perform remote underwater work, so it can reduce the exposure of workers and perform work. For example, the same effect as the second modification of the first invention can be expected.

Next, with reference to FIG. 64, a second example of the fourth invention of the second embodiment will be described.

FIG. 64 shows a hollow shaft electromagnetic rotary motor 296,
Tip structure 305 including contact terminals 209 and the like, hollow shaft electromagnetic rotary motors 235 and 236, intermediate structure 303 including connection structure 301 and the like, connection structure 266 of composite cable 212 including optical fiber 202, and length Between the rear structure 306 and the intermediate structure 303, which are composed of the combined condensing lens 203 that expands and contracts, the reflecting mirror 228 and the fixing bracket 22.
A rotary laser irradiation cylinder 232 having 0 or the like built therein is attached, a reflecting mirror 228 is rotated together with the rotary laser irradiation cylinder 232 by an electromagnetic rotary motor 235 through a speed reducer 264, and a laser irradiation point is circumferentially scanned, Electromagnetic rotary motor 236
The worm gear 299 is rotated by the hollow shaft electromagnetic rotary motor 296 while rotating the worm gear 218 to move the reflecting mirror 228 in the axial direction relative to the rotary laser irradiation cylinder 232.
Is rotated to move the connection structure 301 in the axial direction, and the length of the combined condenser lens 203 of the rear structure 306 is expanded / contracted via the intermediate structure 303 and the rotating laser irradiation cylinder 232, and the reflecting mirror 228 is axially moved. And the visible light pulsed laser light 204 emitted from the optical fiber 202 while moving the laser irradiation point in the axial direction.
3 and irradiates the inner surface of the thin tube 201 with the reflecting mirror 228, and the in-out device 215 of the thin tube inner surface laser repairing device 253.
6 is a conceptual diagram of a thin tube inner surface laser repairing device 253 that moves the thin tube inner surface laser repairing device 253 while pulling out the composite cable 212 in the thin tube axial direction to perform a surface modification work on the inner surface of the thin tube 201 within a certain range.

The thin tube inner surface laser repairing device 253 is composed of a tip end structure 305, an intermediate part structure 303, a rear part structure 306, and a rotary laser irradiation cylinder 232 part.

The tip structure 305 comprises a hollow shaft electromagnetic rotary motor 296, peripheral contact terminals 209 and the like. The shaft of the hollow shaft electromagnetic rotary motor 296 is coupled to the worm gear 299, and the worm gear 299 has the intermediate portion structure 3
When the hollow shaft electromagnetic rotary motor 296 is rotationally driven, the worm gear 299 rotates and the connection structure 301 moves in the axial direction.
At the same time as the connection structure 301 moves in the axial direction, the intermediate structure 303 and the rotary laser irradiation cylinder 232 also move in the axial direction, and the length of the combined condenser lens 203 is expanded or contracted. When the rotary laser irradiation cylinder 232 moves in the axial direction, the reflecting mirror 228 fixed inside also moves in the axial direction.

The intermediate structure 303 is composed of hollow shaft electromagnetic rotary motors 235 and 236, a connecting structure 301 and the like. The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is reduced by the speed reducer 264.
Rotating laser irradiation cylinder 23 via (planetary gear, combined gear)
2 are coupled so as to be transmitted. The power / control signal of the hollow shaft electromagnetic rotary motor 235 is transmitted from the rear structure 306 through the slip ring 221. The rotary driving force of the hollow shaft electromagnetic rotary motor 236 causes the worm gear 218 to rotate.
Is rotated to move the fixing bracket 220 in the axial direction along the guide rail 219 via the internal gear of the fixing bracket 220, and the reflecting mirror 228 fixed to the fixing bracket 220 is rotated in the axial direction with the laser irradiation tube 232. Move relatively.

The rear structure 306 is the optical fiber connection structure 2
66, a combination condenser lens 203 whose length can be changed, and the like. A key groove 267 is attached to the tip of the outer cylinder of the combined condenser lens 203. The rotary laser irradiation barrel 232 and the rear structure 306 are rotatably coupled in the circumferential direction by a key 268 attached to the rotary laser irradiation barrel 232 and a key groove 267 of the rear structure 306. A slip ring 221 is attached to the tip of the outer cylinder of the combined condenser lens 203. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the second embodiment of the fourth invention will be described below.

The present invention has the same operation as the third embodiment of the second invention, but differs in the following points. The hollow shaft electromagnetic rotary motor 296 is rotationally driven to rotate the worm gear 299 to move the connecting structure 301 in the axial direction. Connection structure 3
01 moves in the axial direction and at the same time, the intermediate structure 303,
The rotary laser irradiation cylinder 232 also moves in the axial direction, and the rear structure 3
The length of the combined condenser lens 203 expands and contracts with the contact terminal 209 of 06 fixed to the inner surface of the thin tube 201. When the rotary laser irradiation cylinder 232 moves in the axial direction, the reflecting mirror 228 fixed inside also moves in the axial direction, and the visible light pulsed laser light 204 emitted from the optical fiber 202 is scanned in the axial direction. While irradiating the inner surface of the thin tube 201.

The effects of the second embodiment of the fourth invention are shown below.

The present invention can be expected to have the same effects as the third embodiment of the second invention.

Next, with reference to FIG. 65, a third example of the fourth invention of the second embodiment will be described.

In the third embodiment of the fourth invention, a tip structure 288 is provided in the middle portion instead of the ultrasonic linear motor 273 which can be expanded and contracted in length attached to the rear structure 291 in the third embodiment of the third invention. As the structure 307, a tip structure 298 newly composed of a storage battery 208, an electromagnetic rotary motor 296 and the like is newly attached, and the electromagnetic rotary motor 296 is rotated to be half-turned through the internal gear of the connection structure 301 of the intermediate structure 307. The present invention relates to a thin tube inner surface laser repairing device that allows the transparent mirror 205 to move in the axial direction and performs inspection and maintenance such as surface modification work on the inner surface of the thin tube 201.

The third embodiment of the fourth invention will be described below with reference to the drawings.

FIG. 65 shows a hollow shaft electromagnetic rotary motor 296,
A tip structure 298 including a storage battery 208 and a contact terminal 209, a hollow shaft electromagnetic rotary motor 235 and 287, an intermediate structure 307 including a connection structure 301, and a connection structure 266 of a composite cable 212 including an optical fiber 202. A rotary laser irradiation cylinder 292 having a semitransparent mirror 205, a fixing metal fitting 220 and the like built therein is mounted between a rear structure 308 and an intermediate structure 307, which are composed of a combination condenser lens 203 whose length expands and contracts, and a speed reducer 264. The semi-transparent mirror 205 is rotated together with the rotary laser irradiation cylinder 292 by the electromagnetic rotary motor 235 through the laser, and the worm gear 224 is rotated by the electromagnetic rotary motor 287 while scanning the laser irradiation point in the circumferential direction. The rotating laser irradiation cylinder 292
The hollow structure electromagnetic rotary motor 296 rotates the worm gear 299 to move the connection structure 301 in the axial direction while moving the connection structure 301 in the axial direction relative to the rear structure via the intermediate structure 307 and the rotary laser irradiation cylinder 292. The length of the combination condenser lens 203 of 308 is expanded and contracted, and the semi-transparent mirror 205
Is moved in the axial direction, and the visible light pulsed laser light 204 emitted from the optical fiber 202 is focused by the combination condenser lens 203 while scanning the laser irradiation point in the axial direction, and the visible light pulsed laser light 204 is focused on the inner surface of the thin tube 201 by the semitransparent mirror 205. Irradiate and move the thin tube inner surface laser repair device 256 while pulling out the composite cable 212 in the thin tube axial direction by the loading / unloading device 215 of the thin tube inner surface laser repair device 256 to perform a surface modification work on the inner surface of the thin tube 201 within a certain range. Internal laser repair device 25
It is a conceptual diagram of 6.

The capillary inner surface laser repairing device 256 comprises a tip structure 298, an intermediate structure 307, a rear structure 308, and a rotary laser irradiation cylinder 292.

The tip structure 298 is composed of a hollow shaft electromagnetic rotary motor 296, a storage battery 208, peripheral contact terminals 209, and the like. The shaft of the hollow shaft electromagnetic rotary motor 296 is coupled to the worm gear 299,
Is coupled to the internal gear of the connecting structure 301 of the intermediate structure 307, and when the hollow shaft electromagnetic rotary motor 296 is rotationally driven, the worm gear 299 rotates and the connecting structure 301 moves in the axial direction.

At the same time when the connecting structure 301 moves in the axial direction, the intermediate structure 307 and the rotary laser irradiation cylinder 292 also move in the axial direction, and the length of the combined condenser lens 203 is expanded or contracted. When the rotary laser irradiation cylinder 292 moves in the axial direction, the semitransparent mirror 205 fixed inside also moves in the axial direction. The power of the hollow shaft electromagnetic rotary motor 296 is supplied from the storage battery 208 via the hollow shaft. Further, the control is performed by a hollow shaft electromagnetic rotary motor 235 installed in the rotary laser irradiation cylinder 292,
The control laser light having a wavelength other than the blue pulse laser light, which has passed through the semitransparent mirror 205, is guided to the optical waveguide 225 mounted inside the hollow shaft 206 of the optical control device 2.
14 is remotely controlled via the hollow shaft of the hollow shaft electromagnetic rotary motor 296.

The intermediate portion structure 307 includes hollow shaft electromagnetic rotary motors 235 and 287, a connecting structure 301, and a light control device 214.
Etc. The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is coupled so as to be transmitted to the rotary laser irradiation cylinder 292 via the speed reducer 264 (planetary gear, combined gear). The power of the hollow shaft electromagnetic rotary motor 235 is supplied from the storage battery 208 of the tip structure 298 via the hollow shaft. In addition, the control is performed by the semitransparent mirror 2
The control laser light having a wavelength other than the blue pulse laser light that has passed through 05 is guided to the optical waveguide 225, and the light control device 214 is remotely controlled. The rotary driving force of the hollow shaft electromagnetic rotary motor 287 rotates the worm gear 224 and causes the fixing bracket 2 to rotate.
The fixing bracket 220 is moved in the axial direction along the guide rail 219 via the internal gear 20 and the semitransparent mirror 205 fixed to the fixing bracket 220 is moved in the axial direction relative to the rotating laser irradiation tube 292. .

The rear structure 308 is the optical fiber connection structure 2
66, a combination condenser lens 203 whose length can be changed, and the like. A key groove 267 is attached to the tip of the outer cylinder of the combined condenser lens 203. The rotary laser irradiation barrel 232 and the rear structure 306 are rotatably coupled in the circumferential direction by a key 268 attached to the rotary laser irradiation barrel 232 and a key groove 267 of the rear structure 306. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the third embodiment of the fourth invention will be described below.

The present invention has the same operation as that of the third embodiment of the third invention.

The effects of the third embodiment of the fourth invention are shown below.

The present invention can be expected to have the same effects as those of the third embodiment of the third invention.

Next, with reference to FIG. 66, a first example of the fifth invention of the second embodiment will be described.

In the first embodiment of the fifth invention, the electromagnetic rotary motor 309 for rotating the CCD camera 310 with the side-view optical device is attached to the tip of the laser irradiation nozzle 272 of the third embodiment of the first invention. The present invention relates to a laser repairing device for an inner surface of a thin tube 201 for performing inspection and maintenance such as surface modification work on the inner surface of the thin tube 201.

The first embodiment of the fifth invention will be described below with reference to the drawings.

FIG. 66 shows an electromagnetic rotary motor 309 and a CCD.
A tip structure 313 composed of a camera 310, a side-view optical device 312, etc., a hollow shaft electromagnetic rotary motor 207, a rear structure 314 composed of a fixing member 210 of a composite cable 212 including an optical fiber 202, and this tip structure. 313 and the rear structure 314, a reflecting mirror 228, and a combination condenser lens 20.
3 is a conceptual diagram of a thin tube inner surface laser repairing device 257 that is connected by a rotating laser irradiation cylinder 321 that incorporates 3 and an ultrasonic linear motor 320 that expands and contracts the same.

The thin tube inner surface laser repairing device 257 includes a tip end structure 313, a rotary laser irradiation cylinder 321 part, and a rear part structure 31.
It is composed of 4 etc.

The tip structure 313 is the electromagnetic rotary motor 30.
9, a CCD camera 310, a side imaging optical device 312, a contact terminal 209, and the like. The side-view optical device 312 is a CC
The CCD camera 310 is fixed in front of the D camera 310.
Are coupled to an electromagnetic rotary motor 309. The side rotation optical device 312 is driven by driving the electromagnetic rotation motor 309.
Rotate the mirror to display an image of the entire circumference of the inner surface of the thin tube 201.
It is configured to be taken in through 11. Also, CCD
A lighting device is incorporated in the camera unit. Power to the electromagnetic rotary motor 309 and power / signal to the CCD camera 310 are transmitted via the slip ring 221 attached to the rotary laser irradiation cylinder 321.

The rotary laser irradiation cylinder 321 is provided with the reflecting mirror 22.
8. A combination condenser lens 203 and an ultrasonic linear motor 320 for expanding and contracting the condenser lens 203 are included.

The electromagnetic rotary motor 217 is fixed to the rotary laser irradiation cylinder 321, and the worm gear 218 and the fixing bracket 2 are attached.
An internal gear provided at the center of the guide rail 219, the guide rail 219, and the fixing bracket 220 moves the reflecting mirror 228 fixed to the fixing bracket 220 in the axial direction. When the ultrasonic linear motor 320 is driven to expand and contract the rotary laser irradiation cylinder 321, the axial position of the reflecting mirror 228 fixed to the rotary laser irradiation cylinder 321 changes,
The irradiation position of the laser light moves in the axial direction.

The rear structure 314 is composed of a hollow shaft electromagnetic rotary motor 207, a fixing member 210 for the composite cable 212 including the optical fiber 202, and the like. A contact terminal 209 and a key groove 267 are provided on the outer surface of the hollow shaft electromagnetic rotary motor 207. Rotating laser irradiation cylinder 321 and rear structure 31
Reference numeral 4 denotes a key 268 attached to the rotary laser irradiation cylinder 321 and a key groove 267 of the hollow shaft electromagnetic rotary motor 207 so as to be freely rotatable in the circumferential direction. Also, slip ring 2
The power and the signal are transmitted to the electromagnetic rotary motor 217 via 21.

The operation of the first embodiment of the fifth invention will be described below.

The operation is similar to that of the third embodiment of the first invention, but the following points are different. Capillary inner surface laser repair device 257
When inserting into the thin tube 201 to modify the surface of the welded portion, when the target welded portion is approached, the electromagnetic rotation motor 309 is driven to rotate the CCD camera 310 and the side-viewing optical device 312 at the same time. Insert while observing the entire circumference. When the target is confirmed, the insertion of the predetermined length is continued. Hereinafter, the inner surface of the thin tube 201 is repaired while pulling out the laser repairing device 257 for the inner surface of the thin tube. Further, the electromagnetic rotation motor 309 is driven to drive the CCD camera 31.
0 and the side-viewing optical device 312 are simultaneously rotated to observe the surface state of the place where the repair work is performed in parallel.

The effects of the first embodiment of the fifth invention are shown below.

The same effect as that of the third embodiment of the first invention can be expected. By observing the work part before the repair work and the work part after the work with the CCD camera 310 and the side-view optical device 312, it is possible to compensate for the high quality of the repair work.

Next, with reference to FIG. 67, a second example of the fifth invention of the second embodiment will be described.

In the second embodiment of the fifth invention, an electromagnetic rotary motor 309 for rotating the CCD camera 310 with the side imaging optical device 312 is provided at the tip of the laser irradiation nozzle 286 of the second modification of the first invention. The present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work on a certain range of the inner surface of the attached thin tube 201.

The second embodiment of the fifth invention will be described below with reference to the drawings.

FIG. 67 shows an electromagnetic rotary motor 309 and a CCD.
A tip structure 322 including a camera 310, a side-view optical device 312, a storage battery 208, a light control device 214, etc., a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, and an optical fiber 2.
The rear structure 314 including the fixing bracket 210 of the composite cable 212 including 02, the tip structure 322 and the rear structure 314 are the semi-transparent mirror 205, the electromagnetic linear motor 323, the combined condenser lens 203, and the expandable / contractible lens. It is a conceptual diagram of a thin tube inner surface laser repairing device 325 which is connected by a rotary laser irradiation cylinder 324 having a built-in ultrasonic linear motor 320 and the like.

The thin tube inner surface laser repairing device 325 comprises a tip structure 322, a rotary laser irradiation cylinder 324, and a rear structure 31.
It is composed of 4 etc.

The tip structure 322 is used for the electromagnetic rotary motor 30.
9, CCD camera 310, side imaging optical device 312, storage battery 208, light control device 214, contact terminal 209, and the like. The side-view optical device 312 is fixed in front of the CCD camera 310, and the CCD camera 310 is coupled to an electromagnetic rotary motor 309. By driving the electromagnetic rotation motor 309, the side-viewing optical device 312 is rotated to rotate the side tube optical device 312.
The image of the entire circumference of the inner surface of 1 is taken in via the reflecting mirror 311. An illumination device is incorporated in the CCD camera section. The power to the electromagnetic rotary motor 309 and the power to the CCD camera 310 are supplied from the storage battery 208, and the control signal / measurement signal is converted into electricity / light by the light control device 214, and the optical waveguide 225 and the semitransparent mirror 205 are used. , Combination condenser lens 203, optical fiber 202
Is transmitted by transmitting a laser beam that is not blue.

The rotary laser irradiation cylinder 324 is composed of a semi-transparent mirror 205, a combination condenser lens 203, an ultrasonic linear motor 320 for expanding and contracting the condenser lens 203, an electromagnetic linear motor 323, and the like. The electromagnetic linear motor 323 is fixed to the rotary laser irradiation cylinder 324, and is configured to move the semitransparent mirror 205 fixed to the fixing bracket 220 with the slide shaft 326, the fixing bracket 220, the guide rail 219, etc. in the axial direction. ing. When the ultrasonic linear motor 320 is driven to expand and contract the rotating laser irradiation cylinder 324, the position of the semitransparent mirror 205 fixed to the rotating laser irradiation cylinder 324 in the axial direction changes, and the irradiation position of the laser light is in the axial direction. Move to.

The rear structure 314 is composed of a hollow shaft electromagnetic rotary motor 207, a fixing member 210 for the composite cable 212 including the optical fiber 202, and the like. A contact terminal 209 and a key groove 267 are provided on the outer surface of the hollow shaft electromagnetic rotary motor 207. Rotating laser irradiation cylinder 324 and rear structure 31
Reference numeral 4 denotes a key 268 attached to the rotary laser irradiation cylinder 321 and a key groove 267 of the hollow shaft electromagnetic rotary motor 207 so as to be freely rotatable in the circumferential direction.

The operation of the second embodiment of the fifth invention will be described below.

The operation is similar to that of the second modification of the first invention, but the following points are different. Capillary inner surface laser repair device 325
When inserting into the thin tube 201 to modify the surface of the welded portion, when the target welded portion is approached, the electromagnetic rotation motor 309 is driven to rotate the CCD camera 310 and the side-viewing optical device 312 at the same time. Insert while observing the entire circumference. When the target is confirmed, the insertion of the predetermined length is continued. Thereafter, the inner surface of the thin tube 201 is repaired while pulling out the laser repairing device 325 for the inner surface of the thin tube. Further, the electromagnetic rotation motor 309 is driven to drive the CCD camera 31.
0 and the side-viewing optical device 312 are simultaneously rotated to observe the surface state of the place where the repair work is performed in parallel.

The effects of the second embodiment of the fifth invention are shown below.

The same effects as those of the second modification of the first invention can be expected. By observing the work part before the repair work and the work part after the work with the CCD camera 310 and the side-view optical device 312, it is possible to compensate for the high quality of the repair work.

Next, with reference to FIG. 68, a third example of the fifth invention of the second embodiment will be described.

In the third embodiment of the fifth invention, a CC with a side-view optical device is attached to the tip end structure 298 of the first embodiment of the fourth invention.
The present invention relates to a thin tube inner surface laser repairing device for performing inspection and maintenance such as surface modification work on a certain range of the inner surface of a thin tube 201 to which an electromagnetic rotation motor 309 for rotating a D camera 310 is attached.

A third embodiment of the fifth invention will be described below with reference to the drawings.

FIG. 68 shows an electromagnetic rotary motor 309 and a CCD.
A distal end structure 127 including a camera 310, a side-view optical device 312, a storage battery 208, an electromagnetic linear motor 328, a light control device 214, a hollow shaft electromagnetic rotary motor 207,
Composite cable 2 including speed reducer 264 and optical fiber 202
A rear structure 314 including twelve fixing brackets 210,
The tip structure 327 and the rear structure 314 are connected by a semitransparent mirror 205, an electromagnetic linear motor 323, and a rotary laser irradiation cylinder 329 that incorporates a combination condenser lens 203 that expands and contracts in the axial direction. It is a conceptual diagram.

The thin tube inner surface laser repairing device 330 comprises a tip structure 327, a rotary laser irradiation cylinder 329, and a rear structure 31.
It is composed of 4 etc.

The tip structure 327 is used for the electromagnetic rotary motor 30.
9, CCD camera 310, side imaging optical device 312, storage battery 208, electromagnetic linear motor 328, light control device 21
4, the contact terminal 209 and the like. Side-view optical device 31
2 is fixed in front of the CCD camera 310, and the CCD camera 310 is coupled to the electromagnetic rotary motor 309. By driving the electromagnetic rotation motor 309, the side imaging optical device 312 is rotated to capture an image of the entire circumference of the inner surface of the thin tube 201 via the reflecting mirror 311.
An illumination device is incorporated in the CCD camera section. Power to electromagnetic rotary motor 309, CCD camera 31
The power to 0 is provided by the storage battery 208. Further, for control / measurement, light / electric conversion is performed by the light control device 214, and the cable piping 331, the optical waveguide 300, the semitransparent mirror 205, the combination condenser lens 203, and the optical fiber 202.
Is transmitted by transmitting a laser beam other than blue or a signal current. When the electromagnetic linear motor 328 is driven to expand and contract the rotating laser irradiation cylinder 329, the position of the semitransparent mirror 205 fixed to the rotating laser irradiation cylinder 329 in the axial direction changes, and the irradiation position of the laser light is in the axial direction. Move to.

The rotary laser irradiation cylinder 329 is composed of a semi-transparent mirror 205, an axially expanding / contracting combination condenser lens 203, an electromagnetic linear motor 323, and the like. The electromagnetic linear motor 323 is fixed to the rotary laser irradiation cylinder 329,
Slide shaft 326, fixing bracket 220, guide rail 21
Semi-transparent mirror 2 fixed to fixing bracket 220 with 9 or the like
05 is moved in the axial direction.

The rear structure 314 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, a fixing member 210 for the composite cable 212 including the optical fiber 202, and the like. A contact terminal 209 and a key groove 267 are provided on the outer surface of the hollow shaft electromagnetic rotary motor 207. Rotating laser irradiation cylinder 329
The rear structure 314 includes the key 268 attached to the rotary laser irradiation cylinder 321 and the key groove 2 of the hollow shaft electromagnetic rotary motor 207.
It is connected to 67 in a freely rotatable manner in the circumferential direction.

The operation of the third embodiment of the fifth invention will be described below.

The operation is similar to that of the first embodiment of the fourth invention, but the following points are different. Capillary inner surface laser repair device 330
When inserting into the thin tube 201 to modify the surface of the welded portion, when the target welded portion is approached, the electromagnetic rotation motor 309 is driven to rotate the CCD camera 310 and the side-viewing optical device 312 at the same time. Insert while observing the entire circumference. When the target is confirmed, the insertion of the predetermined length is continued. Hereinafter, the inner surface of the thin tube 201 is repaired while pulling out the laser repairing device 330 for the inner surface of the thin tube. Further, the electromagnetic rotation motor 309 is driven to drive the CCD camera 31.
0 and the side-viewing optical device 312 are simultaneously rotated to observe the surface state of the place where the repair work is performed in parallel.

The effects of the third embodiment of the fifth invention are shown below.

The same effect as that of the first embodiment of the fourth invention can be expected. By observing the work part before the repair work and the work part after the work with the CCD camera 310 and the side-view optical device 312, it is possible to compensate for the high quality of the repair work.

Next, with reference to FIG. 69, a first example of the sixth invention in the second embodiment will be described. In FIG. 69, the left end of FIG. 69 (b) is located at the right end of FIG. 69 (a).

In the first embodiment of the sixth invention, the hollow shaft electromagnetic rotary motor 296 of the tip end structure 298 of the first embodiment of the fourth invention is made into a manually assembled gear structure 333, and the rotary laser irradiation cylinder 304 is provided. A laser irradiation nozzle part 336 having a built-in hollow shaft electromagnetic rotary motor 302 as a gear structure 334 is directly connected to a rotor part of a hollow shaft electromagnetic rotary motor 335 and rotated to perform surface modification work on a certain range of the inner surface of the thin tube 201. It relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as.

The first embodiment of the sixth invention will be described below with reference to the drawings.

FIG. 69 shows a reflecting mirror 337 and a condenser lens 33.
8, collimating beam lens 339, assembled gear structure 333, 3
Laser irradiation nozzle unit 3 including an outer cylinder 340 and the like.
36 is directly connected to the rotor portion of the hollow shaft electromagnetic rotary motor 335, and the hollow shaft 347 is connected to the core 349 of the optical fiber 348.
It is a conceptual diagram of the thin tube inner surface laser repair device 284 which inserted and fixed.

[0621] The laser irradiation nozzle section 336 includes a reflecting mirror 33.
7, a condensing lens 338, a collimating lens 339, assembled gear structures 333 and 334, an outer cylinder 340, and the like.

The outer cylinder 340 is the hollow shaft electromagnetic rotary motor 33.
5 is fixed to the end plate structure 350, and the spacer 3 is provided inside the end plate structure 350.
51, the collimating beam lens 339, and the pressing inner cylinder 352 are inserted, and the collimating lens 339 is inserted by the positioning pin 353.
The distance between the end plate structure 350 and the end plate structure 350 is fixed to a predetermined value. Also,
Axial movement inner cylinder 354 coupled to the condenser lens 338
Is inserted inside. End plate 35 with a hole in the center
5 is fixed to the end of the outer cylinder 340. A housing structure 356 for mounting the assembled gear structures 333 and 334 is attached to the end plate 355. An end plate structure 357 is attached to the axially moving inner cylinder 354, and a hollow slide shaft 358 is attached to the center thereof. The hollow slide shaft 358 penetrates through a hole in the center of the end plate 355, and the end plate 355 of the internal partition wall 359 of the housing structure 356.
It is configured to be inserted into a hole opened coaxially with the hole at the center of. Hollow slide shaft 35 inside housing structure 356
A gear 360 is attached to the gear 8, and the gear 360 and the worm gear 361 mesh with each other. Inner cylinder for axial movement 35
4, a reflecting mirror 337 is inserted, and the reflecting mirror 337 and the slide shaft 362 are connected. Slide shaft 362
Penetrates through the hollow slide shaft 358 and the housing structure 3
The end plate 363 of 56 is inserted into a hole formed in the end plate 363. A gear 364 is attached to the slide shaft 362, and the gear 364 and the worm gear 365 mesh with each other. Worm gears 361 and 365 are formed on a part of the shafts 369 and 370, and knobs 367 and 368 for rotating with a driver are attached to the head. Outer cylinder 340
A groove 371 is formed on the entire circumference of the groove 371, and a linear spring 366 is attached thereto. Outer cylinder 340, inner cylinder for axial movement 35
4, holes 372 and 373 of laser irradiation windows are opened. Also, drain holes 374, 375, 376, 3
77 is open.

Hollow shaft electromagnetic rotary motor 335 is
47, bearing 378, permanent magnet rotor 379, stator 381, coil 380, end plate structures 350, 38
2, a cable 383, an outer cylinder 384 and the like.
Fix the mounting bracket 385 to the outer ring of the bearing 378,
The mounting bracket 385 and the end plate structure 350 are joined together. A permanent magnet rotor 379 is also attached. The stator 381 and the coil 380 are attached to the outer cylinder 384, and the outer cylinder 384 and the end plate structure 382 are connected. The hollow shaft 347 is fixed to the inner ring of the bearing 378 and is connected to the end plate structure 382. The end plate structure 350 is coupled to the outer cylinder 340 of the laser irradiation nozzle portion 336. Further, the end plate structure 382 is coupled to the metal fitting 386 for fixing the optical fiber 348. The core 349 of the optical fiber 348 is inserted into the hollow shaft 347, and the tip position of the core 349 is set.

A groove 371 is formed around the entire circumference of the metal fitting 386 for fixing the optical fiber 348, and a linear spring 366 is attached thereto. The optical fiber 348 is pressed and fixed by the fixing screw 387 of the fixing metal member 386.

The operation of the first embodiment of the sixth invention will be described below.

The operation is similar to that of the first embodiment of the fourth invention, but the following points are different. Capillary inner surface laser repair device 284
Before inserting the screw into the thin tube 201 to modify the surface of the welded portion, turn the knobs 367 and 368 with a watch driver or the like to rotate the shaft 3
69, worm gear 361, gear 360, hollow slide shaft 358, end plate structure 355, inner cylinder 354 for axial movement,
The force is transmitted to the condenser lens 338 to move the condenser lens 338 in the axial direction, or the force is transmitted to the shaft 370, the worm gear 365, the gear 364, the slide shaft 362, and the reflecting mirror 337 to move the reflecting mirror 337 in the axial direction. Then, the laser beam 204 is adjusted so as to focus on the inner surface of the thin tube 201.

The effects of the first embodiment of the sixth invention are shown below.

The same effect as that of the first embodiment of the fourth invention can be expected. By adjusting in advance so that the laser beam 204 is focused on the inner surface of the thin tube 201, the work quality of surface modification can be improved.

Next, with reference to FIG. 70, a second example of the sixth invention according to the second embodiment will be described. 70, the left end of FIG. 70 (b) is located at the right end of FIG. 70 (a).

In the second embodiment of the sixth invention, the combined gear structures 333 and 334 of the first embodiment of the sixth invention are manually rotated to move the reflecting mirror 337 and the condenser lens 338 in the axial direction. Instead, the present invention relates to a thin tube inner surface laser repairing device for performing inspection / maintenance such as surface modification work of a certain range of the inner surface of the thin tube 201 with a thin tube inner surface laser repairing device 388 using solenoids 388 and 389.

The second embodiment of the sixth invention will be described below with reference to the drawings.

FIG. 70 shows a reflecting mirror 337 and a condenser lens 33.
8, collimating lens 339, solenoids 388, 38
9, axial movement devices 390, 391, outer cylinder 34
The laser irradiation nozzle portion 389 composed of 0 etc. is directly connected to the rotor portion of the hollow shaft electromagnetic rotary motor 335, and the hollow shaft 3
FIG. 37 is a conceptual diagram of a capillary inner surface laser repairing device 388 in which a core 349 of the optical fiber 348 is inserted and fixed to 47.

The laser irradiation nozzle portion 389 is formed by the reflecting mirror 33.
7, a condenser lens 338, a collimating lens 339, and an axial movement device 390 using solenoids 388 and 389,
391, an outer cylinder 340 and the like.

The outer cylinder 340 is the hollow shaft electromagnetic rotary motor 33.
5 is fixed to the end plate structure 350, and the spacer 3 is provided inside the end plate structure 350.
51, the collimating beam lens 339, and the pressing inner cylinder 352 are inserted, and the collimating lens 339 is inserted by the positioning pin 353.
The distance between the end plate structure 350 and the end plate structure 350 is fixed to a predetermined value. Also,
Axial movement inner cylinder 354 coupled to the condenser lens 338
Is inserted inside. End plate 39 with a hole in the center
2 is fixed to the end of the outer cylinder 340. A housing structure 393 for attaching the solenoid 389 is attached to the end plate 392. Inner cylinder for axial movement 35
4, an end plate structure 357 is attached, and a hollow slide shaft 358 is attached to the center thereof. The hollow slide shaft 358 is configured to pass through a hole in the center of the end plate 392 and be coupled to the end plate 395 of the housing structure 394. A solenoid 388 is provided on the end plate 396 of the housing structure 394.
Is attached, and the tip structure 397 of the solenoid 388 is
The slide shaft 398 is coupled to the slide shaft 398, and the slide shaft 398 is coupled to the reflecting mirror 337 penetrating the hollow slide shaft 358 and inserted into the axially moving inner cylinder 354. An end plate 399 is attached to the housing structure 393, and a solenoid 389 is attached to the end plate 399. The tip structure 400 of the solenoid 389 is the housing structure 3
It is connected to the end plate 396 of 94. In the outer cylinder 340,
A groove 371 is formed all around and a linear spring 366 is attached. Laser irradiation window holes 372 and 373 are formed in the outer cylinder 340 and the axial movement inner cylinder 354.
In addition, drain holes 374, 375, 376, 377,
401, 402, 403 are opened.

The hollow shaft electromagnetic rotary motor 335 is the hollow shaft 3
47, bearing 378, permanent magnet rotor 379, stator 381, coil 380, end plate structures 350, 38
2, a cable 383, an outer cylinder 384 and the like.
Fix the mounting bracket 385 to the outer ring of the bearing 378,
The mounting bracket 385 and the end plate structure 350 are joined together. A permanent magnet rotor 379 is also attached. The stator 381 and the coil 380 are attached to the outer cylinder 384, and the outer cylinder 384 and the end plate structure 382 are connected. The hollow shaft 347 is fixed to the inner ring of the bearing 378 and is connected to the end plate structure 382. The end plate structure 350 is coupled to the outer cylinder 340 of the laser irradiation nozzle portion 389. Further, the end plate structure 382 is coupled to the metal fitting 386 for fixing the optical fiber 348. The core 349 of the optical fiber 348 is inserted into the hollow shaft 347, and the tip position of the core 349 is set.

A groove 371 is formed on the entire circumference of the metal fitting 386 for fixing the optical fiber 348, and a linear spring 366 is attached thereto. The optical fiber 348 is pressed and fixed by the fixing screw 387 of the fixing metal member 386.

The operation of the second embodiment of the sixth invention will be described below.

The operation is similar to that of the first embodiment of the sixth invention, but the following points are different. Capillary inner surface laser repair device 388
When inserting into the thin tube 201 to modify the surface of the weld,
The solenoid 38 is arranged so that the detection value of ultrasonic waves generated when the inner surface of the thin tube 201 is irradiated with the laser beam 204 is maximized.
8 is operated to move the reflecting mirror 337 in the axial direction to adjust the focus. In addition, the solenoid 389 is activated and the reflecting mirror 3
37 and the condenser lens 338 are simultaneously moved in the axial direction to scan the irradiation position in the axial direction of the thin tube 201.

The effects of the second embodiment of the sixth invention are shown below.

The same effects as those of the first embodiment of the sixth invention can be expected. Since the focus can be adjusted during the surface modification work, when the inner diameter of the thin tube 201 changes from the designed value,
Even when there are irregularities due to welding, when the thin tube 201 is deformed, and the like, a predetermined surface modification work can be performed. In addition, since the laser beam can be scanned remotely and automatically within a certain distance in the axial direction, repair work within a certain distance in the axial direction can be easily performed, and work efficiency and work quality can be improved. Can be done.

Next, with reference to FIG. 71, a first modified example of the sixth invention in the second embodiment will be described. In FIG. 71, the left end of FIG. 71 (b) is located at the right end of FIG. 71 (a).

The first modification of the sixth invention is such that a fixing device 415 for fixing the inner surface of the thin tube is attached to the tip of the laser irradiation nozzle portion 389 of the second embodiment of the sixth invention, and the laser irradiation nozzle is mounted via a bearing 416. The thin-tube inner surface laser repairing device 418 that holds the portion 389 and serves as the rotating laser irradiation cylinder 417 is used to inspect the inner surface of the thin tube 201 for surface modification work within a certain range.
The present invention relates to a laser repair device for a thin tube inner surface that performs maintenance.

A first modification of the sixth invention will be described below with reference to the drawings.

FIG. 71 shows a contact terminal 209 for fixing to the periphery.
Tip part structure 42 composed of an outer cylinder 419 etc.
0, a reflecting mirror 337, a condenser lens 338, a collimating lens 339, axial direction moving devices 421 and 422 using solenoids 388 and 389, an outer cylinder 423 and the like, and a hollow laser electromagnetic rotation of a rotary laser irradiation cylinder 417. The optical fiber 348 is directly connected to the rotor portion of the motor 335, and the hollow shaft 347 is connected to the optical fiber 348.
It is a conceptual diagram of the thin-tube inner surface laser repairing device 418 in which the core 349 of FIG. Capillary inner surface laser repairing device 41
Reference numeral 8 includes a tip structure 420, a rotary laser irradiation cylinder 417, a metal fitting 386 for fixing the optical fiber 348, and the like.

In the tip end structure 420, the outer cylinder 419 is fixed to the outer ring of the bearing 416, the groove 371 is formed all around the outer surface, and the linear spring 366 is attached.

[0646] The rotating laser irradiation cylinder 417 is connected to the reflecting mirror 33.
7, an axial movement device 421 using a condenser lens 338, a collimating lens 339, solenoids 388, 389,
422, an outer cylinder 423 and the like.

The outer cylinder 423 is a hollow shaft electromagnetic rotary motor 33.
5 is fixed to the end plate structure 350, and the spacer 3 is provided inside the end plate structure 350.
51, the collimating beam lens 339, and the pressing inner cylinder 352 are inserted, and the collimating lens 339 is inserted by the positioning pin 353.
The distance between the end plate structure 350 and the end plate structure 350 is fixed to a predetermined value. Also,
Axial movement inner cylinder 354 coupled to the condenser lens 338
Is inserted inside. End plate 39 with a hole in the center
2 is fixed to the end of the outer cylinder 423. A housing structure 393 for attaching the solenoid 389 and a connecting tube 424 are connected to the end plate 392. Connection tube 424
Are fixed to the inner ring of the bearing 416. An end plate structure 357 is attached to the inner cylinder 354 for axial movement,
A hollow slide shaft 358 is attached to the center thereof. The hollow slide shaft 358 is configured to pass through a hole in the center of the end plate 392 and be coupled to the end plate 395 of the housing structure 394. A solenoid 388 is attached to an end plate 396 of the housing structure 394, a tip structure 397 of the solenoid 388 is coupled to a slide shaft 398, and the slide shaft 398 penetrates the hollow slide shaft 358 to inside the inner cylinder 354 for axial movement. Is coupled to the reflecting mirror 337 inserted in the. The housing structure 393 includes an end plate 399.
Is attached, and the solenoid 389 is attached to the end plate 399. The tip structure 400 of the solenoid 389 is
It is coupled to the end plate 396 of the housing structure 394.
A groove 371 is formed on the entire circumference of the outer cylinder 423, and a linear spring 366 is attached thereto. Laser irradiation window holes 372 and 373 are formed in the outer cylinder 423 and the axial movement inner cylinder 354. Also, drain holes 374, 375,
376, 377, 401, 402, 403 have been opened.

The hollow shaft electromagnetic rotary motor 335 is the hollow shaft 3
47, bearing 378, permanent magnet rotor 379, stator 381, coil 380, end plate structures 350, 38
2, a cable 383, an outer cylinder 384 and the like.
Fix the mounting bracket 385 to the outer ring of the bearing 378,
The mounting bracket 385 and the end plate structure 350 are joined together. A permanent magnet rotor 379 is also attached. The stator 381 and the coil 380 are attached to the outer cylinder 384, and the outer cylinder 384 and the end plate structure 382 are connected. The hollow shaft 347 is fixed to the inner ring of the bearing 378 and is connected to the end plate structure 382. The end plate structure 350 is coupled to the outer cylinder 423 of the rotary laser irradiation cylinder 417. Further, the end plate structure 382 is coupled to the metal fitting 386 for fixing the optical fiber 348. The core 349 of the optical fiber 348 is inserted into the hollow shaft 347, and the tip position of the core 349 is set.

A groove 371 is formed on the entire circumference of the metal fitting 386 for fixing the optical fiber 348, and a linear spring 366 is attached thereto. The optical fiber 348 is pressed and fixed by the fixing screw 387 of the fixing metal member 386.

The operation of the first modification of the sixth invention will be described below.

The operation is similar to that of the second embodiment of the sixth invention, but the following points are different. Capillary inner surface laser repair device 418
When inserting into the thin tube 201 to modify the surface of the weld,
Rotating laser irradiation cylinder 417 by hollow shaft electromagnetic rotation motor 335
The surface of the inner surface of the thin tube 201 is modified by rotating the reflecting mirror 337 incorporated therein.

The effects of the first modification of the sixth invention are shown below.

The same effect as that of the second embodiment of the sixth invention can be expected. Since the bearing structure is adopted at both ends of the rotary laser irradiation cylinder 417, the hollow shaft electromagnetic rotary motor 335 for rotating the reflecting mirror 337 incorporated in the rotary laser irradiation cylinder 417 at high speed becomes easy.

Next, with reference to FIG. 72, a second modification of the sixth invention in the second embodiment will be described.

In the second modified example of the sixth invention, instead of the combined gear structures 333 and 334 of the first embodiment of the sixth invention, screw / spring mechanisms 425 and 426 are used to form a reflecting mirror 337 and a condenser lens 338. Enabled to move in the axial direction.

The laser irradiation nozzle portion 427 is directly connected to the rotor portion of the hollow shaft electromagnetic rotary motor 335 and rotated to rotate the thin tube 2
The present invention relates to a thin tube inner surface laser repairing apparatus and method for performing inspection and maintenance such as surface modification work on the inner surface of 01.

A second modification of the sixth invention will be described below with reference to the drawings.

FIG. 72 shows a reflecting mirror 337 and a condenser lens 33.
8, collimating lens 339, screw / spring mechanism 425,
A laser irradiation nozzle portion 427 composed of 426, an outer cylinder 340 and the like is directly connected to a rotor portion of a hollow shaft electromagnetic rotary motor 335, and the hollow shaft 347 has a core 349 of an optical fiber 348.
FIG. 4 is a conceptual diagram of screw / spring mechanisms 425 and 426 of the thin-tube inner surface laser repairing device 428 in which is inserted and fixed.

The following points are different from the first embodiment of the sixth invention.

A screw 429 is provided at the center of the end plate 428, and the screw portion 426 of the screw / spring mechanism is fitted therein, and the end plate structure 357 connected to the axially moving inner cylinder 354 is freely rotatable. Are connected. Outer cylinder 340 and inner cylinder 3 for axial movement
A linear mechanism is provided (not shown) so that 54 does not rotate relatively. A spring 430 is attached to eliminate backlash. A screw 423 is provided on the head of the screw portion 426 of the screw / spring mechanism, and the screw portion 425 of the screw / spring mechanism is fitted therein and is rotatably coupled to the reflecting mirror 337. Reflecting mirror 337 and inner cylinder 35 for axial movement
A linear mechanism is provided (not shown) so that 4 does not rotate relatively. Spring 4 to eliminate backlash
32 is attached.

The operation of the second modification of the sixth invention will be described below.

The operation is similar to that of the first embodiment of the sixth invention.

The effects of the second modification of the sixth invention are shown below.

The same effects as those of the first embodiment of the sixth invention can be expected.

Next, with reference to FIG. 73, a third example of the sixth invention in the second embodiment will be described. In FIG. 73, the left end of FIG. 73 (b) is located at the right end of FIG. 73 (a).

The third embodiment of the sixth invention is a condenser lens 338 and a collimating lens 33 of the first embodiment of the sixth invention.
9. Instead of the optical fiber 348, the CCD camera 433 is put inside the outer cylinder 340, and the fixing bracket 434 of the CCD camera 433 is attached to the hollow shaft 347 of the hollow shaft electromagnetic rotary motor 335.
, The hollow shaft 347 is fixed to the inner ring of the bearing 378, and the outer cylinder 340 is connected to the mounting member 385 of the rotor 379 of the hollow shaft electromagnetic rotary motor 335.
5 is fixed to the outer ring of the bearing 378, the assembled reflecting mirror 435 and the battery type lighting device 436 are attached to the tip of the outer cylinder 340, and the outer cylinder 340 is rotated by the hollow shaft electromagnetic rotary motor 335 to inspect the inner surface of the thin tube 201. Regarding the device to perform.

A third embodiment of the sixth invention will be described below with reference to the drawings.

FIG. 73 is a side view optical mechanism 4 including a battery type lighting device 436, a combined reflecting mirror 435, an outer cylinder 340 and the like.
37 is a conceptual diagram of a thin tube inner surface inspection device 238 configured by directly connecting 37 to a rotor portion of a hollow shaft electromagnetic rotary motor 335, and connecting a fixing bracket 434 of a CCD camera 433 to the hollow shaft 347 thereof.

The side-view optical mechanism 437 is the battery-powered lighting device 4
36, a combined reflecting mirror 435, an outer cylinder 340, and the like.
The outer cylinder 340 is the rotor 3 of the hollow shaft electromagnetic rotary motor 335.
It is connected to the mounting bracket 385 of 79 and is fixed to the outer ring of the bearing 378 at the mounting bracket 385 portion. Outer tube 34
A battery-powered lighting device 436 is coupled to the tip of 0.
The battery-type lighting device 436 includes a storage battery, a light bulb (laser oscillator), and the like. The combined reflecting mirror 435 has two reflecting surfaces 439 and 440, and is arranged so as to illuminate the inner surface of the subdivision 1 from the opening portion 441 of the outer cylinder 340 and project an image of the inner surface. .

A CCD camera 433 is placed inside the outer cylinder 340, and the CCD camera 433 and the fixing metal fitting 434 are combined.
The fixing metal fitting 434 and the hollow shaft 347 of the hollow shaft electromagnetic rotary motor 335 are coupled to fix the hollow shaft 347 to the inner ring of the bearing 378. Cable 442 of CCD camera 433
Is configured to be taken out of the thin tube 201 through the fixing fitting 434 and the hole at the center of the hollow shaft 347.

The hollow shaft electromagnetic rotary motor 335 is the hollow shaft 3
47, bearing 378, permanent magnet rotor 379, stator 381, coil 380, end plate structures 350, 38
2, a cable 383, an outer cylinder 384 and the like.
Fix the mounting bracket 385 to the outer ring of the bearing 378,
The mounting bracket 385 and the end plate structure 350 are joined together. A permanent magnet rotor 379 is also attached. The stator 381 and the coil 380 are attached to the outer cylinder 384, and the outer cylinder 384 and the end plate structure 382 are connected. The hollow shaft 347 is fixed to the inner ring of the bearing 378 and is connected to the end plate structure 382. The end plate structure 350 is coupled to the outer cylinder 340 of the laser irradiation nozzle portion 336. Further, the end plate structure 382 is coupled to the metal fitting 386 for fixing the optical fiber 348. The core 349 of the optical fiber 348 is inserted into the hollow shaft 347, and the tip position of the core 349 is set.

The operation of the third embodiment of the sixth invention will be described below.

The thin pipe inner surface inspection device 438 is used when the surface condition around the weld is inspected before inserting the thin pipe 201 into the thin pipe 201 to modify the surface of the weld. At the same time when the insertion is started, the illumination of the battery-powered lighting device 436 is turned on, and the hollow shaft electromagnetic rotation motor 335 is driven to rotate the outer cylinder 384 and the assembled reflecting mirror 435. The CCD camera 433 is activated to display the image of the inner surface of the thin tube 201 reflected on the reflecting surface 439 of the combined reflecting mirror 435. The image capturing by the CCD camera 433 and the rotation of the combined reflecting mirror 435 by the hollow shaft electromagnetic rotation motor 335 are separately controlled so as to be synchronized. In addition, a system is separately prepared for synthesizing 360 ° images of the inner surface of the thin tube 201 and displaying them simultaneously. While monitoring and recording the 360 ° side image, the target weld is inserted and at the same time the inspection is performed.

The effects of the third embodiment of the sixth invention are shown below.

By using the thin tube inner surface inspection device 438, the condition of the inner surface of the thin tube 201 whose surface is to be modified can be made accurate, and the treatment method at the time of preventive maintenance can be accurately grasped. The work quality of surface modification can be improved.

Next, a third modified example of the sixth invention in the second embodiment of the present invention will be described.

The third modified example of the sixth invention is a lighting system 4 of the electric supply system using a slip ring 444 instead of the storage battery type lighting system 436 of the third embodiment of the sixth invention.
43 relates to an apparatus for inspecting an inner surface of a thin tube.

The third modification of the sixth invention has substantially the same operations and effects as the third embodiment of the sixth invention.

Next, with reference to FIG. 74, a first example of the seventh invention of the second embodiment will be described.

The first embodiment of the seventh invention is a thin tube inner surface laser repairing apparatus 4 in which a filter mechanism 404 is attached to the tip of the laser irradiation nozzle portion 226 of the first embodiment of the first invention.
05 is a control cable for the hollow shaft electromagnetic rotary motor 207 and a composite cable 212 composed of a power cable and the optical fiber 202 is pulled out in the axial direction of the thin tube by the loading / unloading device 215 of the laser repair device 405 for the inner surface of the thin tube. The present invention relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as surface modification work in a range.

The first embodiment of the seventh invention will be described below with reference to the drawings.

[0682] Fig. 74 shows a laser irradiation nozzle 226 portion having a combination condenser lens 203, a reflecting mirror 228, etc. built-in, and a laser light irradiation distance setting contact terminal 209 attached to the periphery, and a filter mechanism 404 attached to the tip thereof. At the same time by rotating the hollow shaft electromagnetic rotary motor 207,
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 405 that irradiates the inner surface of the thin tube 201 with the laser light 204 emitted from the optical fiber 202 inserted in the optical fiber through the combination condenser lens 203 and the reflecting mirror 228.

The thin tube inner surface laser repairing device 405 is composed of a filter mechanism 404, a laser irradiation nozzle 226, and a rotation driving part 261.

The filter mechanism 404 is the filter 40.
6, holding container 407, bellows 408, rod 409,
It is composed of a spring 410, a sealing band 411, a spring pin 412 and the like. The spring 410 and the seal band 411 are made of a shape memory alloy, and the spring 410 contracts when heated by energization, and the seal band 411 is memorized so as to spread in a cylinder so that the seal band 411 is in an expanded state at normal temperature or the cylinder contracts. Memorize the state. A water passage hole is opened in the holding container 407, and a filter 406 is packed therein. Rod 409
Connects the holding container 407 and the end plug 263, and
9, the spring 410 expands and contracts.

The laser irradiation nozzle 226 is the outer cylinder 26.
2, combination condenser lens 203, end plug 263, reflecting mirror 2
8, contact terminals 209 and the like. An internal gear 265 of the speed reducer 264 is attached to the inner surface of the outer cylinder 262. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder 262.

The rotary drive unit 261 is composed of a hollow shaft electromagnetic rotary motor 207, a speed reducer 264, an optical fiber 202, an optical fiber connection structure 266 and the like. A contact terminal 209 and a key groove 267 are formed on the outer surface of the hollow shaft electromagnetic rotary motor 207.
Is attached.

[0687] Laser irradiation nozzle 226 and rotation drive unit 2
61 is a key 26 attached to the laser irradiation nozzle 226.
8 and the keyway 267 of the rotary drive unit 261 are freely rotatably coupled in the circumferential direction, and the rotary drive force of the hollow shaft electromagnetic rotary motor 207 is transmitted to the outer cylinder 262 via the speed reducer 264 (planetary gear, compound gear). Are combined as described. In addition, the seal structure 260 is configured to seal even during rotation. The seal structure 258 also seals between the optical fiber 202 and the connection structure 266.

The operation of the first embodiment of the seventh invention will be described below.

The present invention has the same operation as the first embodiment of the first invention, but differs in the following points. When the inner surface of the thin tube 201 is irradiated with the laser beam 204, several layers of structural materials in the atomic layer are evaporated to become fine powder. This is pushed downstream by the water flow flowing around the narrow tube inner surface laser repairing device 405,
Bellows 408 and sealing band 4 of the filter mechanism 404
With the effect of 11, the flow containing the fine powder is provided in the hole 4 of the holding container 407
The powder is introduced into the holding container 407 from 13 and the fine powder is attached to the filter 406 to purify the flow and discharged from the holding container 407 through the hole 413.

The effects of the first embodiment of the seventh invention are shown below.

The present invention has the same effects as the first embodiment of the first invention. The filter mechanism 404 can remove the fine powder generated during laser irradiation, and can prevent the fine powder from reattaching to the thin tube 201 or the like and contaminating the surface.

Next, with reference to FIG. 75, a first modification of the seventh invention of the second embodiment will be described.

The first modification of the seventh invention is a thin tube inner surface laser repairing device 41 in which a filter mechanism 404 is attached to the tip of the tip structure 288 in the second embodiment of the third invention.
4 is a control cable for the hollow shaft electromagnetic rotary motor 207, a composite cable 212 composed of the power cable and the optical fiber 202 is pulled out in the axial direction of the thin tube by the loading / unloading device 215 of the thin tube inner surface laser repairing device 414 to keep the inner surface of the thin tube 201 constant. The present invention relates to a laser repair device for the inner surface of a thin tube that performs inspection and maintenance such as surface modification work in a range.

A first modification of the seventh invention will be described below with reference to the drawings.

FIG. 75 shows a storage battery 208 and a light control device 21.
4, a tip portion structure 288 composed of hollow shaft electromagnetic rotary motors 235 and 287, and a filter mechanism 404 attached to the tip thereof, and a composite cable 212 including the optical fiber 202.
Of the thin tube 201 in which the rotating laser irradiation cylinder 290 having the semitransparent mirror 205, the fixing metal fitting 220 and the like built therein is coupled between the rear structure 289 composed of the connection structure 266 of FIG. It is a conceptual diagram of a thin tube inner surface laser repairing device 414 that irradiates the inner surface.

The capillary inner surface laser repairing device 414 comprises a filter mechanism 404, a tip structure 288, a rear structure 289, and
It is composed of a rotating laser irradiation cylinder 290 and the like.

The filter mechanism 404 is the filter 40.
6, holding container 407, bellows 408, rod 409,
It is composed of a spring 410, a sealing band 411, a spring pin 412 and the like. The spring 410 and the seal band 411 are made of a shape memory alloy, and the spring 410 contracts when heated by energization, and the seal band 411 is memorized so as to spread in a cylinder so that the seal band 411 is in an expanded state at normal temperature or the cylinder contracts. Memorize the state. A water passage hole is opened in the holding container 407, and a filter 406 is packed therein. Rod 409
Connects the holding container 407 and the end plug 263, and
9, the spring 410 expands and contracts.

The tip structure 288 includes a storage battery 208, a light control device 214, hollow shaft electromagnetic rotary motors 235, 287, and
It is composed of a speed reducer 264, peripheral contact terminals 209, and the like.
The rotary driving force of the hollow shaft electromagnetic rotary motor 235 is the speed reducer 26.
Rotating laser irradiation cylinder 2 via 4 (planetary gear, combined gear)
90 is coupled so as to be transmitted to 90. The power of the hollow shaft electromagnetic rotary motor 235 is supplied from the storage battery 208. Further, the control is performed by guiding the control laser light having a wavelength other than the blue pulse laser light, which has passed through the semitransparent mirror 205, to the optical waveguide 225 mounted inside the hollow shaft 206 of the hollow shaft electromagnetic rotary motor 235, and controlling the light. 214 is remotely controlled. The rotary driving force of the hollow shaft electromagnetic rotary motor 287 rotates the worm gear 224 to move the fixing bracket 220 in the axial direction along the guide rail 219 via the internal gear of the fixing bracket 220 and is fixed to the fixing bracket 220. The semitransparent mirror 205 is moved in the axial direction relative to the rotary laser irradiation cylinder 290.

The rear structure 289 is composed of the connecting structure 266 of the optical fiber 202 and the composite cable 212 including the optical fiber 202, the combination condenser lens 203 and the like. A key groove 267 is attached to the outer cylinder of the combination condenser lens 203. A key 268 attached to the rotary laser irradiation cylinder 290 and a key groove 267 of the rear structure 289 are rotatably coupled in the circumferential direction. A seal structure 259 is attached between the combination condenser lens 203 and the outer cylinder.

The operation of the first modification of the seventh invention will be described below.

The operation is similar to that of the second embodiment of the third invention, but the following points are different. When the inner surface of the thin tube 201 is irradiated with the laser beam 204, several layers of structural materials in the atomic layer are evaporated to become fine powder. This is a thin tube inner surface laser repair device 405
The flow of water flowing in the periphery of the filter mechanism 404 pushes the flow downstream, and the effect of the bellows 408 and the sealing band 411 of the filter mechanism 404 guides the flow containing fine powder into the holding container 407 through the hole 413 of the holding container 407, and the fine flow to the filter 406. The powder is attached to clean the flow, and the powder is discharged from the holding container 407 through the hole 413.

The effects of the first modification of the seventh invention are shown below.

The same effects as those of the second embodiment of the third invention can be expected. The filter mechanism 404 can remove the fine powder generated during laser irradiation, and can prevent the fine powder from reattaching to the thin tube 201 or the like and contaminating the surface.

Next, a second modification of the seventh invention of the second embodiment of the present invention will be described.

The second modification of the seventh invention is a filter at the tip of the laser repairing device for the inner surface of the thin tube of the other embodiments except the first embodiment of the first invention and the second embodiment of the third invention. The present invention relates to a laser repair device for an inner surface of a thin tube with a machine attached.

The second modification of the seventh invention has substantially the same operation and effect as the first embodiment of the seventh invention.

Next, with reference to FIG. 76, a second example of the seventh invention of the second embodiment will be described.

The second embodiment of the seventh invention oscillates from a plurality of visible light pulse laser devices instead of the visible light pulse laser device centered on blue in the first embodiment of the first invention. Inner surface laser repair for inspection and maintenance such as surface modification work within a certain range of the inner surface of the thin tube 201 by using a synthesized one piece of pulsed laser light in synchronism with the rotation of the rotary reflecting mirror Regarding the device.

FIG. 76 is a conceptual diagram in which the oscillation of laser light from a plurality of pulse laser devices and the rotation of the rotary reflecting mirror are synchronized to be combined into one laser light. The synchronization device 44 controls the number of oscillation pulses of a plurality of pulse laser devices 316 to be constant, and the oscillation timing is sequentially delayed by one pulse divided by the number of pulse laser devices 316 to oscillate.
6, the pulsed laser light oscillated with a certain delay is directed to the direction of the pulsed laser light which is reflected by the reflecting surface of the rotary reflecting mirror 447 when the pulsed laser light is incident on the pulsed light synthesizing device 451 via the reflecting mirror 450. Thus, the drive device 448 rotates the rotary reflecting mirror 447. The direction in which the pulsed laser light is incident on the pulsed light synthesizing device 451 is set such that one rotation is equally distributed among the number of pulsed laser devices 316, and the pulsed laser light whose oscillation is sequentially delayed is incident in the rotating direction. The device 446 controls the oscillation of the pulsed laser device 316. The pulsed laser light incident on the pulsed light synthesizing device 451 is reflected in the same direction by the rotary reflecting mirror 447 to become one combined pulsed laser light 449. The number of pulses of the combined pulse laser beam 449 is twice the number of pulses of one pulse laser device 316 as the number of pulse laser devices 316 used.

The operation of the second embodiment of the seventh invention will be described below.

The operation is similar to that of the first embodiment of the first invention, except for the following points. 1 synthetic pulsed laser light 449
This is introduced into a single optical fiber 318, and the inner surface of one thin tube 201 is repaired by a thin tube inner surface laser repair device.

The effects of the second embodiment of the seventh invention are shown below. The same effect as the first embodiment of the first invention can be expected.

Next, with reference to FIG. 77, a third embodiment of the seventh invention in the second embodiment will be described.

In the third embodiment of the seventh invention, a plurality of visible light pulse laser devices are oscillated in place of the visible light pulse laser device centered on blue in the first embodiment of the first invention. And synchronizing the opening and closing of the reflector with the liquid crystal shutter mechanism 1
A thin tube 201 using a composite of two pulsed laser beams
The present invention relates to a thin tube inner surface laser repairing device for performing inspection and maintenance such as surface modification work on a certain range of the inner surface of the tube.

FIG. 77 is a conceptual diagram of synthesizing into one pulse laser beam in synchronization with oscillation of laser beams from a plurality of visible light pulse laser oscillators and opening / closing of a reflecting mirror with a liquid crystal shutter mechanism. The number of oscillation pulses of the plurality of pulse laser devices 316 is made constant, and the synchronization device 453 controls the oscillation timing by sequentially delaying one pulse by a time obtained by dividing one pulse by the number of pulse laser devices 316, and delaying the oscillation for a fixed time. The pulsed laser light oscillated by the light source is controlled by the synchronizing device 453 so that the liquid crystal shutter is closed when the light is applied to the reflecting mirror 452 with the liquid crystal shutter mechanism. The pulsed laser light is directed in a fixed direction. The pulsed laser light reflected by the reflecting mirror 452 with the liquid crystal shutter mechanism is allowed to pass because it is in an open state when it is irradiated to another reflecting mirror 452 with the liquid crystal shutter mechanism. Synchronizing device 453 synchronizes the opening / closing of reflecting mirror 452 with a liquid crystal shutter mechanism and the oscillation of pulse laser device 316 to form one combined pulse laser beam 449. The number of pulses of the combined pulse laser beam 449 is twice the number of pulses of one pulse laser device 316 as the number of pulse laser devices 316 used.

The operation of the third embodiment of the seventh invention will be described below.

The operation is similar to that of the first embodiment of the first invention, but the following points are different. 1 synthetic pulsed laser light 449
This is introduced into a single optical fiber 318, and the inner surface of one thin tube 201 is repaired by a thin tube inner surface laser repair device.

The effects of the third embodiment of the seventh invention are shown below. The same effect as the first embodiment of the first invention can be expected.

Next, with reference to FIG. 78, a fourth example of the seventh invention of the second embodiment will be described. 78 is a cross-sectional view as seen from AA in FIG. 69.

A fourth embodiment of the seventh invention is a linear memory spring made of a shape memory alloy for the fixing contact terminal of the thin tube inner surface laser repairing device in each embodiment or modification of each invention in the second embodiment. Thus, the present invention relates to a laser repairing device for an inner surface of a thin tube 201 for performing inspection and maintenance such as surface modification work on the inner surface of the thin tube 201.

The fourth embodiment of the seventh invention will be described below with reference to the drawings.

FIG. 78 shows a linear spring 45 made of shape memory alloy.
5 is heated and is in contact with the inner surface of the thin tube 201 (a)
FIG. 4 is a conceptual diagram showing a state (b) in which the contact is released by contracting at room temperature. The linear spring 455 made of shape memory alloy
It is fixed to the thin tube inner surface laser repairing device and the thin tube inner surface inspection device via the metal fitting 454. The linear spring 455 made of shape memory alloy is heated by passing an electric current therethrough, but the line for that purpose is not shown.

The operation of the fourth embodiment of the seventh invention will be described below.

The operation is the same as that of each of the above-described embodiments or modifications, but the following points are different. Capillary inner surface laser repair device,
When the thin tube inner surface inspection device is inserted into the thin tube 201 and the whole is moved in the axial direction, a linear spring 455 made of a shape memory alloy is used.
Is present at room temperature (see FIG. 78 (b)), and the thin tube 201
When it is inserted in a place where the inner surface of the tube is to be inspected and maintained, a current is passed through the linear spring 455 made of shape memory alloy to make it a heating state and the linear spring 455 made of shape memory alloy is formed on the inner surface of the thin tube 201.
Are contacted with each other (see FIG. 78 (a)), and are fixed around the rotation direction.

The effects of the fourth embodiment of the seventh invention are shown below.

The same effects as those of the above-mentioned embodiment can be expected. By expanding and contracting the linear spring 455 made of a shape memory alloy, the thin tube inner surface laser repairing device and the thin tube inner surface inspecting device can be easily inserted into the thin tube 201, and can be easily fixed at a predetermined place.

Next, with reference to FIGS. 79 and 80, a fifth example of the seventh invention of the second embodiment will be described.

In the fifth embodiment of the seventh invention, the fixing contact terminal of the thin tube inner surface laser repairing apparatus of each of the above-mentioned embodiments or modifications is made into a coil spring leaf 458 made of shape memory alloy and is attached to the inner surface of the thin tube 201. The present invention relates to a laser repair device for an inner surface of a thin tube that performs inspection and maintenance such as surface modification work within a certain range.

The fifth embodiment of the seventh invention will be described below with reference to the drawings.

FIG. 79 is a conceptual diagram showing the details of the metal fitting 459 part to which the shape memory alloy coiled leaf spring 458 attached to the hollow shaft electromagnetic rotary motor 335 is mounted.

FIG. 80 is an AA line in FIG. 79 (or FIG. 81).
FIG. 6 is a view as viewed from an arrow, showing a state in which a coil-shaped leaf spring 458 made of a shape memory alloy attached to a metal fitting 459 is heated and deployed, and a contracted state at room temperature.

The operation of the fifth embodiment of the seventh invention will be described below.

The operation is the same as that of each of the above-described embodiments and modifications, but the following points are different. When the thin tube inner surface laser repair device is inserted into the thin tube 201 and moved in the axial direction, the shape memory alloy coiled leaf spring 458 is kept at room temperature (see FIG. 8).
0 (b)), and when inserted into a place where the inner surface of the thin tube 201 is inspected and maintained, an electric current is passed through the coil-shaped leaf spring 258 made of a shape memory alloy so that the inner surface of the thin tube 201 is made of a shape memory alloy. The coiled leaf spring 458 is fixed in a contact state (see FIG. 80 (a)) with the rotation direction as the center.

The effects of the fifth embodiment of the seventh invention are shown below.

The same effects as those of the above-mentioned respective embodiments and modifications can be expected. Shape memory alloy coiled leaf spring 458
By expanding and contracting, the thin tube inner surface laser repairing device or the thin tube inner surface inspecting device can be easily inserted into the thin tube 201 and can be easily fixed at a predetermined place.

Next, with reference to FIG. 81, a third modification example of the seventh invention in the second embodiment will be described.

The third modified example of the seventh invention is a thin tube 201 using a plurality of shape memory alloy coiled leaf springs 458 of different winding directions attached to the fifth embodiment of the seventh invention. Inspection of surface modification work etc. within a certain range of the inner surface of
The present invention relates to a laser repair device for a thin tube inner surface that performs maintenance.

A third modification of the seventh invention will be described below with reference to the drawings.

FIG. 81 shows a metal fitting 459 to which a plurality of shape memory alloy coiled leaf springs 458 having different winding directions are mounted.
It is a conceptual diagram which shows the detail of the part which attached the hollow shaft electromagnetic rotation motor 335.

The third modification of the seventh invention has substantially the same actions and effects as the fifth embodiment of the seventh invention, and moreover, the rotation direction can be more reliably fixed.

Next, a sixth example of the seventh invention of the second embodiment of the present invention will be described.

The sixth embodiment of the seventh invention is shown in FIGS.
0, the hollow shaft electromagnetic rotary motor 335 of FIGS. 71 and 73.
Is a fixed hollow shaft 347 and a permanent magnet rotor 379 magnetized to a plurality of cylindrical poles that are rotatable with a gap.
A bearing that rotatably supports the permanent magnet rotor 379, and a coil 380 with a gap outside the permanent magnet rotor 379.
Is arranged by the stator 381.

A sixth embodiment of the seventh invention will be described below with reference to the drawings.

An example of an example of the hollow shaft electromagnetic rotary motor 335 will be described with reference to FIGS. 69, 70, 71 and 73. Ball bearing 37 on hollow shaft 347
Two 8 are provided at intervals in the axial direction, and the inner ring is fixed to the hollow shaft 347. A ring-shaped permanent magnet magnetized with two poles is fixed to the outer ring of the ball bearing 378 arranged with two intervals. A rotor yoke (mounting bracket 385) made of a magnetic material is provided inside the permanent magnet, and the rotor yoke (mounting bracket 385) is bonded and fixed to the outer ring of the ball bearing 378. The inside of this rotor yoke (mounting bracket 385) has a gap with the hollow shaft, and the permanent magnets are the ball bearings 3
78 allows rotation. Outside the permanent magnet, a coil formed by winding a copper wire with a gap formed into an oval shape is arranged. Three of these coils are fixed on the outer side of the permanent magnet in an annular shape so that they are fixed to each other. The outside of the coil 380 is a ring made of a magnetic material that also serves as a motor case (outer cylinder 384), and a magnetic circuit is formed between the coil and the permanent magnet.

In the above, the case where the number of poles of the permanent magnets is 2 and the number of coils is 3 has been described, but the number of poles of the permanent magnets is not limited to this, and the number of poles of the permanent magnets is 2n when the motor rotation shaft is rotatable. (N = 1.2 ...) Of course, it is needless to say that a plurality of coils are applied. Further, the coil is not limited to a coil of a copper wire, and a coil of a copper foil, a coil pattern formed by etching or plating, and the like can be used as long as a current can flow, regardless of the material and the manufacturing method. Further, a magnetic core may be provided at the center of the coil, and the magnetic force will be further improved. In this case, it is also possible to form a motor case in which the magnetic core is integrally formed, and wind a coil around this to form a stator.

The operation of the sixth embodiment of the seventh invention will be described below.

By sequentially energizing the three coils 380, an electromagnetic force acts and the permanent magnet rotor 379 rotates.

The sixth embodiment of the seventh invention can be expected to have substantially the same effects as those of the above-mentioned embodiments and modifications.

In the above description of the present invention, the thin tube connected to the pressure vessel of the nuclear reactor has been described as an example, but the vessel to which the thin tube is connected is not limited to the pressure vessel, but a vessel other than the pressure vessel. May be

[0746]

As described above, according to the configuration of the present invention, the welded portion in the thin tube attached to the reactor vessel by welding is irradiated with the laser beam having the predetermined power density and the predetermined pulse width. Since it is joined in a tensile state at the time of welding, surface residual stress can be released, and the soundness of the welded part of the thin pipe such as instrumentation pipe attached to the pressure vessel of the reactor by welding Repairs or preventive maintenance to ensure

[Brief description of drawings]

FIG. 1 is a diagram showing a relationship between a laser pulse width and a laser energy density for generating a physical phenomenon on a laser irradiation surface.

FIG. 2 is a conceptual diagram illustrating an operation system of the present invention.

FIG. 3 is a conceptual diagram in which a spot point irradiated with the visible light pulsed laser light 204 on the inner surface of the thin tube 201 moves with time.

FIG. 4 is a diagram showing an optical fiber 202 in which a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by a storage battery 208.
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device 213 that irradiates the inner surface of the thin tube 201 with a laser beam 204 emitted from

FIG. 5 is a perspective view showing a laser beam 204 emitted from an optical fiber 202 when a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by a storage battery 208 and is moved axially by a linear drive motor 216. Diagram of a thin tube inner surface laser repairing device 237 for irradiating a certain range on the inner surface of the.

FIG. 6 is a diagram showing an optical fiber 202 in which a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by a storage battery 208.
The laser beam 204 emitted from the ultrasonic linear motor 1
7 is a conceptual diagram of a thin tube inner surface laser repairing device 238 which adjusts the focal length in 7 and irradiates the inner surface of the thin tube 201.

FIG. 7 is a semitransparent rotary mirror 5 rotated by a rotary drive motor 7 driven by a storage battery 208, and an optical fiber 202.
The laser beam 204 emitted from the ultrasonic linear motor 1
7 is a conceptual diagram of a thin tube inner surface laser repairing device 322 which irradiates a certain range of the inner surface of the thin tube 201 by expanding and contracting a structural portion or the like for adjusting the focal length in the axial direction by the ultrasonic linear motor 320.

8 is a rotary drive motor 7 driven by using a storage battery 208 to rotate a semitransparent rotary mirror 5 and an axial linear drive motor 216 to move the laser beam 204 emitted from an optical fiber 202 as ultrasonic waves. The conceptual diagram of the thin tube inner surface laser repairing device 39 which irradiates a fixed range of the inner surface of the thin tube 201 by adjusting the focal length with the linear motor 17.

9 is a rotation driving motor 7 driven by using a storage battery 208 to rotate a semitransparent rotating mirror 5, and an ultrasonic linear motor 18 to move the same in the axial direction, so that a laser beam 204 emitted from an optical fiber 202 is narrowed. The conceptual diagram of the thin tube inner surface laser repairing device 240 which irradiates a fixed range of the inner surface of 201.

FIG. 10 is a diagram showing a structure in which a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by using a storage battery 208, and is moved axially by an ultrasonic linear motor 18 to superimpose a laser beam 204 emitted from an optical fiber 202. Sound wave linear motor 17
2 is a conceptual diagram of a thin tube inner surface laser repairing device 241 which adjusts the focal length and irradiates a fixed range on the inner surface of the thin tube 201.

FIG. 11 is a connection in which a semi-transparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by using a storage battery 208, and a part of the rotary drive motor 7 and a combination condenser lens 203 is attached and a part of which is a transparent structure. 5 is a conceptual diagram of a thin tube inner surface laser repairing device 242 which simultaneously moves the tube 19 and the tube 19 in the axial direction by a linear drive motor 216 and irradiates the laser light 204 emitted from the optical fiber 2 to a certain range of the inner surface of the thin tube 201.

FIG. 12 is a diagram showing an optical fiber 20 in which a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by using a storage battery 208.
Laser beam 204 emitted from 2 is combined with condensing lens 2
Connecting tube 2 with a part of 03 is a transparent structure
9 is a conceptual diagram of a thin tube inner surface laser repairing device 243 in which 9 is axially moved by a linear drive motor 20 to adjust the focal length and irradiate the inner surface of the thin tube 201.

FIG. 13 is a diagram showing a configuration in which the semitransparent rotary mirror 5 is rotated by the rotary drive motor 7 driven by using the storage battery 208, and the optical fiber 20
Laser beam 204 emitted from 2 is combined with condensing lens 2
Connecting tube 2 with a part of 03 is a transparent structure
9 is moved by the linear drive motor 20 in the axial direction to adjust the focal length, and the linear drive motor 20 is moved in the axial direction by the linear drive motor 216 to irradiate a fixed range on the inner surface of the thin tube 201. 44 is a conceptual diagram.

FIG. 14 is a diagram showing a structure in which a semi-transparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by using a storage battery 208, and a part of a combination condenser lens 203 is attached to a connecting tube 19 having a partially transparent structure in an axial direction. 2 is a conceptual diagram of a thin tube inner surface laser repairing device 245 that is moved by the ultrasonic linear motor 21 fixed to the rotary drive motor 7 and irradiates the inner surface of the thin tube 201 with the laser light 204 emitted from the optical fiber 202.

FIG. 15 is an axial view of a connecting tube 19 in which a semitransparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by using a storage battery 208, and a part of a combined condenser lens 203 is attached and which has a partially transparent structure. The ultrasonic linear motor 21 fixed to the rotary drive motor 7, and the rotary drive motor 7 is moved in the axial direction by the linear drive motor 216.
2 is a conceptual diagram of a thin tube inner surface laser repairing device 246 which irradiates a certain range of the inner surface of the thin tube 201 with the laser light 204 emitted from 2.

FIG. 16: A semi-transparent rotary mirror 5 is rotated by a rotary drive motor 7 driven by a storage battery 208, and a part of a combined condenser lens 203 is attached to a connecting tube 19 having a partially transparent structure in an axial direction. The ultrasonic linear motor 21 fixed to the rotary drive motor 7, and the rotary drive motor 7 is axially moved by the ultrasonic linear motor 22.
2 is a conceptual diagram of a thin tube inner surface laser repairing device 247 that irradiates a certain range of the inner surface of the thin tube 201 with the laser beam 204 emitted from the laser light source 2.

FIG. 17 is a view showing a connection structure 24 having a slip ring attached thereto for sending power and control signals, and a rotary drive motor 23 for rotating the semi-transparent rotating mirror 5 and the connection structure 24.
2 is a conceptual diagram of a thin tube inner surface laser repairing device 48 that irradiates the inner surface of the thin tube 201 with the laser light 204 emitted from the second embodiment.

FIG. 18 is a view showing a connection structure 24 having a slip ring attached thereto, which sends power and control signals to rotate a semitransparent rotary mirror 5 and a connection structure 24 by a rotary drive motor 23, and then the optical fiber 20.
2 is a conceptual diagram of a thin tube inner surface laser repairing device 49 which adjusts the focal length of the laser beam 204 emitted from No. 2 by the ultrasonic linear motor 17 and irradiates it on a certain range of the inner surface of the thin tube 201.

19 is a connection structure in which a slip ring is attached to send power and a control signal, the rotary drive motor 23 rotates the semitransparent rotary mirror 5 and the connection structure 24, and a part of the condenser lens 3 is attached. The conceptual diagram of the thin tube inner surface laser repairing device 50 that moves the structure 24 and the rotation driving motor 23 in the axial direction by the linear driving motor 216 and irradiates the laser light 204 emitted from the optical fiber 202 to a certain range of the inner surface of the thin tube 201.

FIG. 20 is a connection structure in which a slip ring is attached to send power and control signals, and the rotary drive motor 23 rotates the semitransparent rotating mirror 5 and the connection structure 24 to attach a part of the condenser lens 3. A conceptual diagram of a thin tube inner surface laser repairing device 51 that moves the structure 24 and the rotation drive motor 23 in the axial direction by the ultrasonic linear motor 22 and irradiates the laser light 204 emitted from the optical fiber 202 to a certain range of the inner surface of the thin tube 201. .

FIG. 21 is a schematic diagram showing a connection structure 24 in which a slip ring is attached to send power and a control signal, a rotary drive motor 7 is used to rotate the semitransparent rotary mirror 5, and a part of the condenser lens 3 is attached. A thin tube inner surface laser that irradiates the laser light 204 emitted from the optical fiber 202 to a certain range on the inner surface of the thin tube 201 by moving the linear drive motor 20 in the axial direction by the linear drive motor 20 and moving the linear drive motor 20 in the axial direction by the linear drive motor 216. The conceptual diagram of the repair apparatus 52.

FIG. 22 is a view showing a connection structure 24 having a slip ring attached thereto, which sends power and a control signal, rotates a semitransparent rotary mirror 5 by a rotary drive motor 23, and has the connection structure 24 attached with a part of the condenser lens 3 as an axis. Direction by the ultrasonic linear motor 30 fixed to the rotary drive motor 23,
3 is moved in the axial direction by the linear drive motor 216, and the laser beam 204 emitted from the optical fiber 202 is passed through the thin tube 20.
1 is a conceptual diagram of a thin tube inner surface laser repairing device 53 that irradiates a certain range on the inner surface of FIG.

FIG. 23: Power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the rotary drive motor 23 connects the semitransparent rotary mirror 5 to the connection structure 24.
Are simultaneously rotated, the rotary drive motor 23 is axially moved by the ultrasonic linear motor 323, and the laser beam 204 emitted from the optical fiber 202 is transferred to the ultrasonic linear motor 17.
3 is a conceptual diagram of a thin tube inner surface laser repairing device 324 that adjusts the focal length and irradiates a fixed range on the inner surface of the thin tube 201.

24 is a diagram showing a structure in which a power and a control signal are sent to a rotary drive motor 23 via a slip ring 95 and a connection structure 24, and the rotary drive motor 23 connects the semitransparent rotary mirror 5 to the connection structure 24.
At the same time, the linear drive motor 216 moves the rotary drive motor 23 in the axial direction, and the ultrasonic linear motor 17 adjusts the focal length of the laser light 204 emitted from the optical fiber 202 to keep the inner surface of the thin tube 201 constant. The conceptual diagram of the thin tube inner surface laser repairing device 326 which irradiates a range.

FIG. 25 is a diagram showing a structure in which power and control signals are sent to a rotary drive motor 23 via a slip ring 95 and a connection structure 24, and the rotary drive motor 23 connects the semi-transparent rotary mirror 5 to the connection structure 24.
At the same time, the tip end portion is moved in the axial direction from the combined condenser lens 203 by the ultrasonic linear motor 329, and the laser light 204 emitted from the optical fiber 202 is adjusted in the focal length by the ultrasonic linear motor 17 to make a thin tube. The conceptual diagram of the thin tube inner surface laser repairing device 128 which irradiates a fixed range of the inner surface of 201.

FIG. 26 is a diagram showing an ultrasonic rotary motor 31 including a laser irradiation nozzle 226 including a combination condenser lens 203 and a reflecting mirror 228.
3 is a conceptual diagram of a thin tube inner surface laser repairing device 54 that irradiates the inner surface of the thin tube 201 with the laser light 204 emitted from the optical fiber 202 after being rotated by.

FIG. 27 shows a laser irradiation nozzle 226 including a combination condenser lens 203 and a reflecting mirror 228 as an ultrasonic rotation motor 31.
The thin tube inner surface laser repairing device 5 which irradiates the inner surface of the thin tube 201 with the laser beam 204 emitted from the optical fiber 202 by adjusting the focal length with the ultrasonic linear motor 17
5 conceptual diagram.

FIG. 28 shows a laser irradiation nozzle 226 including a combination condenser lens 203 and a reflecting mirror 228, and an ultrasonic rotation motor 31.
And a laser irradiation nozzle 226 is expanded and contracted by the ultrasonic linear motor 32 to irradiate the laser light 204 emitted from the optical fiber 202 to a certain range of the inner surface of the thin tube 201, which is a conceptual diagram of the thin tube inner surface laser repairing device 56.

FIG. 29 is a diagram showing a combination of a combination condenser lens 203 and a laser irradiation nozzle 226 having a reflecting mirror 228 as an ultrasonic rotation motor 31.
The laser irradiation nozzle 226 is expanded and contracted by the ultrasonic linear motor 32, and the focal length of the laser beam 204 emitted from the optical fiber 202 is adjusted by the ultrasonic linear motor 217 so that it falls within a certain range on the inner surface of the thin tube 201. The conceptual diagram of the thin tube inner surface laser repairing device 57 which irradiates.

FIG. 30 shows a laser beam 2 emitted from an optical fiber 202 by rotating a laser irradiation nozzle 226 including a combination condenser lens 203 and a reflecting mirror 228 with a rotation drive motor 25.
The conceptual diagram of the thin tube inner surface laser repairing device 58 which irradiates 04 with the inner surface of the thin tube 201.

31 shows a laser beam 20 emitted from an optical fiber 202 by rotating a semitransparent rotary mirror 5 by a rotary drive motor 7 driven by using a storage battery 208 charged by a solar cell 33. FIG.
4 is a conceptual diagram of a thin tube inner surface laser repairing device 59 that irradiates 4 on the inner surface of the thin tube 201. FIG.

32 is a semi-transparent rotating mirror 5 rotated by a rotation driving motor 7 driven by a storage battery 208, an optical fiber 20. FIG.
The laser light 204 emitted from the laser beam 2 is expanded and contracted while the bellows seal 131 is expanded and contracted by the ultrasonic linear motor 320 in the axial direction such that the structure part or the like for adjusting the focal length by the ultrasonic linear motor 17 is expanded and contracted. Diagram of a thin tube inner surface laser repairing device 332 for irradiating the interior of the tube.

FIG. 33 sends power and control signals to a rotary drive motor 23 via a slip ring 95 and a connection structure 24, and the rotary drive motor 23 connects the semitransparent rotary mirror 5 to the connection structure 24.
At the same time, and the ultrasonic linear motor 329 causes the tip of the combined condensing lens 203 to move axially to the bellows seal 1
31 is a conceptual diagram of a thin tube inner surface laser repairing device 2134 in which the laser beam 204 emitted from the optical fiber 202 is irradiated while irradiating a predetermined range on the inner surface of the thin tube 201 by moving the laser beam 204 emitted from the optical fiber 202 with the ultrasonic linear motor 17. .

FIG. 34 is an ultrasonic linear motor 93, an ultrasonic linear motor 32, a combination condenser lens 203, and a seal window 1 in front of it.
36 and a laser irradiation nozzle 226 including a reflecting mirror 228 are rotated by an ultrasonic rotary motor 31 and the axial length is changed by an ultrasonic linear motor 32.
The visible light pulsed laser light 204 emitted from the thin tube 20
1 is a conceptual diagram of a thin tube inner surface laser repairing device 138 that irradiates the inner surface of 1.

FIG. 35 is a visible light pulse laser emitted from the optical fiber 202 by rotating the laser irradiation nozzle 226 incorporating the combination condenser lens 203, the seal window 136 in front of it, and the reflecting mirror 228 by the electromagnetic rotary drive motor 25. Light 20
4 is a conceptual diagram of a thin tube inner surface laser repairing device 2139 that irradiates the inner surface of the thin tube 201 with No. 4;

FIG. 36 is a conceptual diagram of a system for flowing water through a thin tube 201.

FIG. 37 is a conceptual diagram of a system for monitoring the laser repair status of the thin tube 201 with an ultrasonic detection device 344 installed in the access device 215.

FIG. 38 is a conceptual diagram of a system in which a pulse laser beam is time-divided into a thin tube inner surface laser repairing device and introduced into a plurality of optical fibers to modify the inner surface of a plurality of instrumentation tubes 269 (narrow tubes 201).

39 is a rotary concave mirror 147 rotated by a rotary drive motor 7 driven by a storage battery 208, an optical fiber 202. FIG.
The laser beam 204 emitted from the ultrasonic linear motor 1
7 is a conceptual diagram of a thin tube inner surface laser repairing device 149 that irradiates the inner surface of the thin tube 201 by expanding / contracting a structural part or the like for adjusting the focal length in the axial direction by the ultrasonic linear motor 320.

FIG. 40 sends power and control signals to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the rotary concave mirror 147 and the connection structure 24 are simultaneously rotated by this rotary drive motor 23, and the ultrasonic linear motor 329 is rotated. The axial end of the combined condenser lens 203 is moved in the axial direction, and the laser light 204 emitted from the optical fiber 202 is irradiated onto a predetermined range on the inner surface of the thin tube 201 by adjusting the focal length with the ultrasonic linear motor 17. The conceptual diagram of the inner surface laser repair apparatus 151.

41] An ultrasonic linear motor 93, an ultrasonic linear motor 32, a combination condenser lens 203, and a concave mirror 148.
The laser irradiation nozzle 226 containing the laser beam is rotated by the ultrasonic rotation motor 31, the axial length is changed by the ultrasonic linear motor 32, and the laser beam 2 emitted from the optical fiber 202 is changed.
The conceptual diagram of the thin tube inner surface laser repairing device 153 which adjusts the focal length of 04 by the ultrasonic linear motor 93, and irradiates it to the fixed range of the inner surface of the thin tube 201.

FIG. 42 shows a rotary mirror 5 rotated by a rotary drive motor 7 driven by using a storage battery 208, and a laser beam 204 emitted from an optical fiber 202 into parallel rays by a combination condenser lens 203, and linearly by a cylindrical lens 157. The focal length of the converged light is adjusted by the ultrasonic linear motor 17, and the structure portion or the like that is focused in a point shape by the ring-shaped cylindrical lens 155 is expanded and contracted in the axial direction by the ultrasonic linear motor 320 to form the thin tube 201.
Diagram of a thin tube inner surface laser repairing device 358 for irradiating the inner surface of the tube.

43] Power and control signals are sent to the rotary drive motor 23 via the slip ring 95 and the connection structure 24, and the rotary mirror 5 and the connection structure 2c4 are simultaneously rotated by the rotary drive motor 23, and the ultrasonic linear The motor 329 axially moves the tip end portion from the combined condenser lens 203, converts the laser light 204 emitted from the optical fiber 202 into parallel rays by the combined condenser lens 203, and forms a linear focused light by the cylindrical lens 157. Is a conceptual diagram of a thin tube inner surface laser repairing device 159 in which the focal length of the thin tube is adjusted by the ultrasonic linear motor 17, and the light is focused into a spot shape by the ring-shaped cylindrical lens 155 to irradiate a fixed range on the inner surface of the thin tube 201.

44] An ultrasonic linear motor 93, an ultrasonic linear motor 32, a combination condenser lens 203, and a reflecting mirror 228.
The laser irradiation nozzle 226 containing the laser beam is rotated by the ultrasonic rotation motor 31, the axial length is changed by the ultrasonic linear motor 32, and the laser beam 2 emitted from the optical fiber 202 is changed.
04 is converted into parallel rays by the converging lens 203, the focal length of the focused light linearized by the cylindrical lens 157 is adjusted by the ultrasonic linear motor 93, and the thin cylindrical tube 201 is focused by the ring-shaped cylindrical lens 156. Diagram of a thin tube inner surface laser repairing device 160 for irradiating a certain range on the inner surface of the tube.

FIG. 45 is a conceptual diagram illustrating system operation of the present invention.

FIG. 46 is a conceptual diagram of a laser irradiation nozzle rotating type thin tube inner surface laser repairing device using a hollow shaft electromagnetic rotating motor.

FIG. 47 is a conceptual diagram of a laser irradiation nozzle rotating type thin tube inner surface laser repairing device having a tip end of an electromagnetic motor for adjusting the axial position of a reflecting mirror by a hollow shaft electromagnetic rotating motor.

FIG. 48 is a conceptual diagram of a laser irradiation nozzle rotating type thin tube inner surface laser repairing device with a light control device using a hollow shaft electromagnetic rotary motor, a battery, and an electromagnetic rotary motor for axial position adjustment of a semitransparent mirror attached to the tip.

[Fig.49] Laser irradiation nozzle rotary thin tube inner surface with an electromagnetic rotary motor for adjusting the axial position of the reflecting mirror by a hollow shaft electromagnetic rotary motor, and an ultrasonic linear motor for expanding and contracting the length of the combined condenser lens Laser repair device conceptual diagram.

FIG. 50: A light control device using a hollow shaft electromagnetic rotary motor, a battery, and an electromagnetic rotary motor for adjusting the axial position of a semitransparent mirror are attached at the tip, and an ultrasonic linear motor that expands and contracts the length of the combined condenser lens is attached. The laser irradiation nozzle rotation type thin tube inner surface laser repair device conceptual diagram.

FIG. 51 is a condensing lens with a rotary laser irradiation cylinder having an electromagnetic rotary motor for rotating the rotary laser irradiation cylinder at the tip, a combined condenser lens attached to the rear structure including an optical fiber, and a reflecting mirror between them. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which a portion is also combined so as to hold it inside.

FIG. 52 is a condensing lens in which an electromagnetic rotary motor for rotating the rotary laser irradiation cylinder is attached to the tip, a combined condenser lens is attached to the rear structure including an optical fiber, and a rotary laser irradiation cylinder having a reflecting mirror between them is combined. FIG. 3 is a conceptual view of a thin tube inner surface laser repairing device coupled at the tip of the section.

FIG. 53 shows a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for axially moving a reflecting mirror, and a linear drive mechanism at the tip, and a combined condenser lens in a rear structure including an optical fiber. FIG. 2 is a conceptual view of a thin-tube inner surface laser repairing device in which a rotating laser irradiation cylinder having a reflecting mirror is coupled between them in such a manner that a combined condenser lens part is also included therein.

54] A hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for moving a reflecting mirror in an axial direction, and a linear drive mechanism are provided at the tip, and a combination condenser lens is provided in a rear structure including an optical fiber. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which a rotating laser irradiation cylinder having a reflecting mirror is coupled between the two at the tip of a combined condenser lens unit.

FIG. 55 is a front view of a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for axially moving a reflecting mirror, and a linear drive mechanism. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which an ultrasonic linear motor that expands and contracts the length is provided, and a rotating laser irradiation cylinder having a reflecting mirror between them is connected at the tip of the combination condenser lens unit.

FIG. 56 shows a hollow concentrating electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotating motor for moving a reflecting mirror in an axial direction, and a linear drive mechanism at the tip, and a combination condenser lens in a rear structure including an optical fiber. Inner surface of a thin tube connected with a rotary laser irradiation cylinder that is composed of an ultrasonic linear motor, etc. that has a part, the space between which is a reflecting mirror, and the length of the rotary laser irradiation cylinder that contains the remaining part of the combined condenser lens. Laser repair device conceptual diagram.

FIG. 57 shows a storage battery, a light control device, a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder at the tip, a combined condenser lens at the rear structure including an optical fiber, and a semitransparent mirror between them. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which a rotating laser irradiation cylinder is combined so as to also include a combined condenser lens part therein.

FIG. 58 shows a storage battery, a light control device, a hollow shaft electromagnetic rotation motor for rotating a rotary laser irradiation cylinder at the tip, a combined condenser lens at the rear structure including an optical fiber, and a semitransparent mirror between them. FIG. 3 is a conceptual diagram of a laser repairing device on the inner surface of a thin tube in which a rotating laser irradiation cylinder is coupled at the tip of a combined condenser lens unit.

FIG. 59 is a rear part including an optical fiber with a storage battery, a light control device, a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for axially moving a semitransparent mirror, and a linear drive mechanism at the tip. FIG. 3 is a conceptual diagram of a thin-tube inner surface laser repairing device in which a combined condenser lens is attached to the structure, and a rotating laser irradiation cylinder having a semitransparent mirror between them is combined so as to also include the combined condenser lens portion.

FIG. 60 is a rear part including a storage battery, a light control device, a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for axially moving a semitransparent mirror, and a linear drive mechanism, and a rear part including an optical fiber. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which a combined condenser lens is attached to the structure, and a rotating laser irradiation cylinder having a semitransparent mirror between them is coupled at the tip of the combined condenser lens unit.

FIG. 61 is a rear part including a storage battery, a light control device, a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, an electromagnetic rotary motor for axially moving a semitransparent mirror, and a linear drive mechanism, and a rear part including an optical fiber. An ultrasonic linear motor for expanding and contracting the length of the combination condenser lens is attached to the structure, and a rotary laser irradiation cylinder having a semi-transparent mirror between them is connected at the tip of the combination condenser lens unit conceptual diagram of the laser repair device on the inner surface of the thin tube.

FIG. 62 shows a storage battery, a light control device, a hollow shaft electromagnetic rotary motor for rotating a rotary laser irradiation cylinder, and an ultrasonic linear motor that moves a semitransparent mirror in the axial direction at the tip, and is combined with a rear structure including an optical fiber. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device in which an ultrasonic linear motor that expands and contracts the length of a condenser lens is provided, and a rotary laser irradiation cylinder having a semitransparent mirror is connected between them at the tip of a combination condenser lens unit.

[Fig. 63] A tip part structure composed of a storage battery at the tip, a hollow shaft electromagnetic rotary motor that expands and contracts the length of a rotary laser irradiation cylinder in the axial direction, a light control device, a semitransparent mirror, and a semitransparent mirror in the axial direction. A moving hollow shaft electromagnetic rotary motor, a rotary laser irradiation cylinder composed of a combination condenser lens whose length expands and contracts, etc.
Hollow shaft electromagnetic rotation motor that rotates the rotating laser irradiation cylinder,
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device including a rear structure including a structure for connecting optical fibers.

FIG. 64 is composed of an electromagnetic rotary motor that extends and contracts the length of the rear portion in the axial direction at the tip, an electromagnetic rotary motor that moves the reflecting mirror in the axial direction, a hollow shaft electromagnetic rotary motor that rotates the rotary laser irradiation cylinder, and the like. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device including a tip structure, a rotary laser irradiation cylinder with a built-in reflecting mirror, a combined condenser lens whose length expands and contracts, a rear structure including a structure for connecting optical fibers, and the like.

FIG. 65 shows a storage battery at the tip, a hollow shaft electromagnetic rotary motor that axially expands and contracts the length of the rear structure, an electromagnetic rotary motor that axially moves a reflecting mirror, a hollow shaft electromagnetic rotary motor that rotates a rotary laser irradiation cylinder, etc. The inner surface laser repair of a thin tube composed of a tip structure composed of, a rotating laser irradiation cylinder with a built-in reflecting mirror, a combined condenser lens that expands and contracts in length, a rear structure composed of a structure for connecting optical fibers, etc. Device conceptual diagram.

FIG. 66 is a distal end structure composed of an electromagnetic rotary motor, a CCD camera, a side-view optical device, a hollow shaft electromagnetic rotary motor,
A rear structure composed of fixing brackets for composite cables including optical fibers, a rotary laser irradiation cylinder that incorporates a reflecting mirror for this tip structure and rear structure, a combination condenser lens, and an ultrasonic linear motor that expands and contracts it. The conceptual diagram of the thin tube inner surface laser repairing device to be combined. FIG. 23 shows a tip structure composed of an electromagnetic rotary motor, a CCD camera, a side-view optical device, a storage battery, a light control device, a hollow shaft electromagnetic rotary motor, a speed reducer, and a fixing bracket for a composite cable including an optical fiber. The inner surface of a thin tube that is connected with a rotating laser irradiation tube that incorporates a rear structure that is composed of a semi-transparent mirror, an electromagnetic linear motor, a combined condenser lens, and an ultrasonic linear motor that expands and contracts the structure. Laser repair device conceptual diagram.

FIG. 67 shows a tip structure composed of an electromagnetic rotary motor, a CCD camera, a side-view optical device, a storage battery, a light control device, a hollow shaft electromagnetic rotary motor, a speed reducer, and a fixing bracket for a composite cable including an optical fiber. Rear structure composed, this front structure and rear structure semi-transparent mirror, electromagnetic linear motor,
FIG. 2 is a conceptual diagram of a thin tube inner surface laser repairing device that is combined by a rotating laser irradiation cylinder that incorporates a combination condenser lens and an ultrasonic linear motor that expands and contracts the combined condenser lens.

FIG. 68 is a composite cable including an electromagnetic rotary motor, a CCD camera, a side-view optical device, a storage battery, an electromagnetic linear motor, a tip end structure including a light control device, a hollow shaft electromagnetic rotary motor, a speed reducer, and an optical fiber. Rear structure composed of fixing metal fittings, etc., this front structure and rear structure are semi-transparent mirrors,
FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device that is coupled with an electromagnetic linear motor, a combination laser lens that expands / contracts in the axial direction, and the like by a rotating laser irradiation cylinder.

FIG. 69 is a diagram showing a laser irradiation nozzle portion including a reflecting mirror, a condensing lens, a collimating lens, a combined gear structure, an outer cylinder, etc. directly connected to a rotor portion of a hollow shaft electromagnetic rotary motor, and an optical fiber connected to the hollow shaft. Conceptual diagram of the laser repair device for the inner surface of the thin tube in which the core of the above is inserted and fixed.

[FIG. 70] A laser irradiation nozzle portion composed of a reflecting mirror, a condenser lens, a collimating lens, an axial movement device using a solenoid, an outer cylinder, etc. is directly connected to a rotor portion of a hollow shaft electromagnetic rotary motor, The conceptual diagram of the thin-tube inner surface laser repairing device in which the core of the optical fiber is inserted and fixed in the hollow shaft.

71 is a rotary laser irradiation including a tip end structure including a fixing device to the inner surface of the thin tube, an axial moving device using a solenoid, a reflecting mirror, a condensing lens, a collimating lens, and an outer cylinder. FIG. 3 is a conceptual view of a thin tube inner surface laser repairing device in which a tube is directly connected to a rotor portion of a hollow shaft electromagnetic rotary motor, and a core of an optical fiber is inserted and fixed to the hollow shaft.

[Fig. 72] A laser irradiation nozzle part composed of a reflecting mirror, a condensing lens, a collimating lens, a screw / spring mechanism, an outer cylinder, etc. is directly connected to a rotor part of a hollow shaft electromagnetic rotary motor, and the hollow shaft is irradiated with light. The conceptual diagram of the screw and spring mechanism part of the thin tube inner surface laser repair device which inserted and fixed the core of the fiber.

[FIG. 73] A side-view optical mechanism composed of a battery-type lighting device, a combination mirror, an outer cylinder, etc. is directly connected to the rotor portion of a hollow shaft electromagnetic rotary motor, and a fixing bracket for a CCD camera is connected to the hollow shaft. The conceptual diagram of the thin tube inner surface inspection device configured.

FIG. 74 is a hollow shaft electromagnetic rotary motor that simultaneously incorporates a laser irradiation nozzle unit having a combination condenser lens, a reflecting mirror, and the like, and a laser light irradiation distance setting contact terminal attached to the periphery, and a filter mechanism attached to the tip thereof. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device that rotates and irradiates laser light emitted from an optical fiber inserted in a hollow shaft onto the inner surface of the thin tube through a combination condenser lens and a reflecting mirror.

FIG. 75 is a front end structure composed of a storage battery, a light control device, a hollow shaft electromagnetic rotary motor, a filter mechanism attached to the front end thereof, a connection structure of a composite cable including an optical fiber, a combination condensing lens, and the like. FIG. 3 is a conceptual diagram of a thin tube inner surface laser repairing device that irradiates an inner surface of a thin tube in which a rotating laser irradiation tube including a semitransparent mirror, a fixing metal fitting, and the like is incorporated between a rear structure and a tip structure.

FIG. 76 is a conceptual diagram in which the oscillation of laser light from a plurality of laser oscillators and the rotation of the rotary reflecting mirror are synchronized and combined into one laser light.

FIG. 77 is a conceptual diagram in which oscillation of laser light from a plurality of laser oscillation devices and opening / closing of a reflecting mirror with a liquid crystal shutter mechanism are synchronized to be combined into one laser light.

FIG. 78 is a conceptual diagram showing an expansion / contraction state when a linear memory spring made of a shape memory alloy is used for the fixing contact terminal of the thin tube inner surface laser repairing device and the thin tube inner surface inspecting device.

FIG. 79 is a conceptual diagram when a coil-shaped leaf spring made of a shape memory alloy is used for the fixing contact terminal of the thin tube inner surface laser repairing device and the thin tube inner surface inspecting device.

FIG. 80 is a conceptual diagram showing an expansion / contraction state when a shape memory alloy coiled leaf spring is used for the fixing contact terminals of the thin tube inner surface laser repairing device and the thin tube inner surface inspecting device.

FIG. 81 is a conceptual diagram when a pair of fixing inner contact terminals of the thin tube inner surface laser repairing device and the thin tube inner surface inspecting device, in which coiled leaf springs made of a shape memory alloy are wound in opposite directions, are used.

[Explanation of symbols]

 1 Capillary Tube 2 Optical Fiber 3 Combination Condensing Lens 4 Laser Light 5 Semi-Transparent Rotating Mirror 6 Laser Irradiation Window 7 Rotation Drive Motor 8 Storage Battery 9 Contact Terminal 10 Spring 11 Pressure Vessel 12 Composite Cable 13 Capillary Inner Surface Laser Repair Device 14 Optical Control Device 15 Take-out device 16 Linear drive motor 17 Ultrasonic linear motor 18 Ultrasonic linear motor 19 Connection tube 20 Linear drive motor 21 Ultrasonic linear motor 22 Ultrasonic linear motor 23 Rotation drive motor 24 Connection structure 25 Rotation drive motor 26 Laser irradiation nozzle 27 Laser irradiation window 28 Reflector 29 Connection tube 30 Ultrasonic linear motor 31 Ultrasonic rotary motor 32 Ultrasonic linear motor 33 Solar cell 34 Water jet nozzle 35 Hose 36 Elastic seal structure 37 Capillary inner surface laser repair device 38 Capillary inner surface laser repair Device 39 Capillary inner surface laser repair device 40 Capillary inner surface laser repair device 41 Capillary inner surface laser repair device 42 Capillary inner surface laser repair device 43 Capillary inner surface laser repair device 44 Capillary inner surface laser repair device 46 Capillary inner surface laser repair device 47 Thin tube inner surface laser repair device 48 Thin tube inner surface laser repair device 49 Thin tube inner surface laser repair device 50 Thin tube inner surface laser repair device 51 Thin tube inner surface laser repair device 52 Thin tube inner surface laser repair device 54 Thin tube inner surface laser repair device 55 Thin tube inner surface Laser repair device 56 Capillary inner surface laser repair device 57 Capillary inner surface laser repair device 58 Capillary inner surface laser repair device 59 Capillary inner surface laser repair device 60 Tip structure part 61 Optical coupling structure part 62 Outer cylinder 63 End plug 64 Fixing ring 65 Outer cylinder 66 Contact Continuation structure 67 Optical fiber emission end structure 68 Fixing ring 69 Instrumentation tube 70 Detector 71 Device 72 Tip structure part 73 End plug 74 Assembly gear 75 Guide rod 76 Optical system coupling structure part 77 Tip structure part 78 Outer cylinder 79 End plug 80 Optical system coupling structure 81 Connection structure 82 End plug 83 Tip structure part 84 Optical system coupling structure 85 Outer cylinder 86 Tip structure part 87 Assembly gear 88 Tip structure part 89 Assembly gear 90 Tip structure part 91 Tip structure part 92 Assembly gear 93 Ultrasonic linear motor 94 Optical system coupling structure part 95 Slip ring 96 Rotating part 97 Tip structure part 98 Outer cylinder 99 End plug 100 Tip structure part 101 Optical system coupling structure part 102 Tip structure part 103 Tip structure part 104 Assembly gear 105 Assembly gear 106 optical system coupling structure 107 outer cylinder 108 connection structure 109 outer cylinder 110 outer cylinder 111 Tube 112 Outer tube 113 Bearing 114 Tip structure part 115 Laser device 116 Pulse laser device 117 Semi-transparent mirror 118 Optical fiber 119 Winding device 120 Ultrasonic linear motor 121 Optical system coupling structure 122 Capillary inner surface laser repair device 123 Ultrasonic linear motor 124 thin tube inner surface laser repair device 125 tip structure part 126 thin tube inner surface laser repair device 127 tip structure part 128 thin tube inner surface laser repair device 129 ultrasonic linear motor 130 optical system coupling structure part 131 bellows seal 132 thin tube inner surface laser repair device 133 optical system coupling Structure part 134 Capillary inner surface laser repair device 135 Optical system coupling structure part 136 Seal window 137 Tip structure part 138 Capillary tube inner surface laser repair device 139 Capillary inner surface laser repair device 140 Tip structure part 141 Pump 1 2 Flow rate adjusting device 143 Hose 144 Ultrasonic detector 145 Ultrasonic sensor 146 Pulse laser time division device 147 Rotating concave mirror 148 Concave mirror 149 Capillary tube inner surface laser repair device 150 Tip structure part 151 Capillary tube inner surface laser repair device 152 Tip structure part 153 Thin tube inner surface laser Repair device 154 Tip structure part 155 Ring-shaped cylindrical lens 156 Cylindrical lens 157 Cylindrical lens 158 Capillary tube inner surface laser repair device 159 Capillary tube inner surface laser repair device 160 Capillary tube inner surface laser repair device 201 Capillary tube 202 Optical fiber 203 Combination condenser lens 204 Laser light 205 Half Transparent mirror 206 Hollow shaft 207 Hollow shaft electromagnetic rotary motor 208 Storage battery 209 Contact terminal 210 Fixing bracket 211 Pressure vessel 212 Composite cable 213 Capillary inner surface laser repair device 214 Light control Control device 215 In-and-out device 216 Linear drive device 217 Electromagnetic rotary motor 218 Worm gear 219 Guide rail 220 Fixing bracket 221 Slip ring 222 Linear drive device 223 Electromagnetic rotary motor 224 Worm gear 225 Optical waveguide 226 Laser irradiation nozzle 227 Electromagnetic rotary motor 228 Reflector 229 Tip structure 230 Rear structure 231 Rotation laser irradiation cylinder 232 Rotation laser irradiation cylinder 233 Rear structure 234 Tip structure 235 Electromagnetic rotation motor 236 Electromagnetic rotation motor 237 Capillary inner surface laser repair device 238 Capillary inner surface laser repair device 239 Capillary inner surface laser repair device 240 Inner surface laser repair device 241 Inner surface laser repair device 242 Inner surface laser repair device 243 Inner surface laser repair device 244 Inner surface laser repair device 245 Capillary Inner Surface Laser Repair Device 246 Capillary Inner Surface Laser Repair Device 247 Capillary Inner Surface Laser Repair Device 248 Capillary Inner Surface Laser Repair Device 249 Capillary Inner Surface Laser Repair Device 250 Capillary Inner Surface Laser Repair Device 251 Capillary Inner Surface Laser Repair Device 253 Capillary Inner Surface Laser Repair Device 253 Inner surface laser repair device 254 Inner tube inner surface laser repair device 255 Inner tube inner surface laser repair device 256 Inner tube inner surface laser repair device 257 Inner tube inner surface laser repair device 258 Seal structure 259 Seal structure 260 Seal structure 261 Rotation drive part 262 Outer cylinder 263 End plug 264 Reducer 265 Internal gear 266 Connection structure 267 Key groove 268 Key 269 Instrumentation pipe 270 Detector 271 Device 272 Laser irradiation nozzle part 273 Ultrasonic linear motor 274 Rear structure 275 Rear structure 2 6 Rotational Drive Unit 277 Laser Irradiation Nozzle Unit 278 Rotational Laser Irradiation Cylinder 279 Tip Structure 280 Rear Structure 281 Rotational Laser Irradiation Cylinder 282 Rear Structure 283 Laser Irradiation Nozzle 284 Capillary Inner Surface Laser Repair Device 285 Rotational Laser Irradiation Cylinder 286 Laser Irradiation Nozzle 287 Electromagnetic rotary motor 288 Tip structure 289 Rear structure 290 Rotation laser irradiation cylinder 291 Rear structure 292 Rotation laser irradiation cylinder 293 Rear structure 294 Ultrasonic linear motor 295 Guide rail 296 Electromagnetic rotation motor 297 Tip structure 299 Tip structure 299 Worm gear 300 Optical waveguide 301 Connection structure 302 Electromagnetic rotary motor 303 Intermediate structure 304 Rotating laser irradiation cylinder 305 Tip structure 306 Rear structure 307 Intermediate structure 308 Rear structure 309 Electromagnetic rotary motor 310 CCD camera 311 Reflecting mirror 312 Side-viewing optical device 313 Tip structure 314 Rear structure 315 Laser oscillator 316 Pulse laser oscillator 317 Semi-transparent mirror 318 Optical fiber 319 Winding device 320 Ultrasonic linear motor 321 Rotating laser irradiation tube 322 Tip Part structure 323 Electromagnetic linear motor 324 Rotating laser irradiation cylinder 325 Capillary inner surface laser repair device 326 Slide shaft 327 Tip structure 328 Electromagnetic linear motor 329 Rotary laser irradiation cylinder 330 Capillary inner surface laser repair device 331 Cable piping 332 Slide shaft 333 Assembly gear Structure 334 Combined gear structure 335 Hollow shaft electromagnetic rotary motor 336 Laser irradiation nozzle section 337 Reflecting mirror 338 Condensing lens 339 Parallel beam converting lens 340 Outer cylinder 341 Pump 342 Flow rate adjusting device Installation 343 Hose 344 Ultrasonic detection device 345 Ultrasonic sensor 346 Pulse laser time division device 347 Hollow shaft 348 Optical fiber 349 Core 350 End plate structure 351 Spacer 352 Presser inner cylinder 353 Positioning pin 354 Axial movement inner cylinder 355 End plate 356 Fusing structure 357 End plate structure 358 Hollow slide shaft 359 Internal partition wall 360 Gear 361 Worm gear 362 Slide shaft 363 End plate 364 Gear 365 365 Worm gear 366 Linear spring 367 Knob 368 Knob 369 Hole 369 3 Hole 37 hole 3 Hole 37 hole 3 437 hole 377 hole 378 bearing 379 rotor 380 coil 381 stator 382 end plate structure 383 cable 384 outer cylinder 385 mounting bracket 386 bracket 387 fixing screw 3 88 thin tube inner surface laser repairing device 389 laser irradiation nozzle part 390 axial direction moving device 391 axial direction moving position 392 end plate 393 housing structure 394 housing structure 395 end plate 396 end plate 397 tip structure 398 slide shaft 399 end plate 400 tip structure 401 hole 402 hole 403 hole 404 filter mechanism 405 thin tube inner surface laser repair device 406 filter 407 holding container 408 bellows 409 rod 410 spring 411 sealing band 412 spring pin 413 hole 414 thin tube inner surface laser repair device 415 laser fixing device to the inner surface of the thin tube 4 416 bearing Irradiation cylinder 418 Thin tube inner surface laser repair device 419 Outer cylinder 420 Tip structure 421 Axial movement device 422 Axial movement device 423 Outer cylinder 424 Connection cylinder 425 Screw / spring mechanism 426 Screw / Spring Mechanism 427 Laser Irradiation Nozzle Part 428 End Plate 429 Screw 430 Spring 431 Screw 432 Screw 433 CCD Camera 434 Fixing Fixture 435 Assembly Mirror 436 Battery Operated Lighting Device 437 Side-viewing Optical Mechanism 438 Capillary Inner Surface Inspection Device 439 Reflecting Surface 440 Reflecting surface 441 Opening portion 442 Cable 443 Lighting device 444 Slip ring 445 Capillary tube inner surface inspection device 446 Synchronizing device 447 Rotating reflecting mirror 448 Driving device 449 Synthetic pulse laser light 450 Reflecting mirror 451 Pulse light synthesizing device 452 Reflecting mirror with liquid crystal shutter mechanism 453 Synchronizing device Device 454 Metal fitting 455 Linear spring made of shape memory alloy 456 Shape at heating 457 Shape at normal temperature 458 Coiled leaf spring made of shape memory alloy 459 Metal fitting

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koro Igarashi 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa, Ltd. In Toshiba Yokohama Works, Inc. (72) Inventor, Mitsuaki Shima Mura 8 Shinsugita-cho, Isogo-ku, Yokohama, Kanagawa Address Co., Ltd. in Toshiba Yokohama Works (72) Inventor Katsuhiko Sato 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture In-house Co., Ltd. Toshiba Yokohama Works (72), Yasuhiro Yuguchi Shinsugita, Isogo-ku, Yokohama-shi, Kanagawa Town No. 8 Incorporation company Toshiba Yokohama Works (72) Inventor Tomoyuki Ito No. 8 Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Incorporation company Toshiba Yokohama Works (72) Inventor Naruhiko Mukai Isogo, Yokohama City Kanagawa Prefecture Shin-Sugita-cho, Tokyo-ku Stock company Toshiba Yokohama Works (72) Inventor Okazaki Sachiki 8 Shin-Sugita-cho, Isogo-ku, Yokohama, Kanagawa Expression company Toshiba Yokohama office (72) Inventor Yuji Sano 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Stock company Toshiba Yokohama office (72) Inventor Aono, Nobutada 8 Shinsugita-cho, Isogo-ku, Yokohama, Kanagawa Address Incorporated company Toshiba Yokohama Works (72) Inventor Tetsuya Ito Address 991, Anada-cho, Seto City, Aichi Prefecture Toshiba Aichi Factory

Claims (43)

[Claims] 1. A capillary repairing device for a nuclear reactor, comprising irradiating a laser beam having a predetermined power density and a predetermined pulse width to a welded portion in a thin tube attached to a reactor vessel by welding. 2. The predetermined power density and the predetermined pulse width are selected so that a substance on the surface of the welded portion is ejected to exert a compressive stress on the surface. Reactor capillary repair device. 3. The capillary repair device for a nuclear reactor according to claim 1, wherein the laser light is visible light. 4. The capillary repair device for a nuclear reactor according to claim 1, wherein the laser light is applied in a state where the welded portion is filled with a liquid. 5. The capillary repair device for a nuclear reactor according to claim 4, wherein the liquid is water. 6. A capillary repair device for a nuclear reactor, which is inserted into a capillary attached to a container of a nuclear reactor by welding to repair a welded part in the capillary, wherein the housing includes a housing that can be inserted into and removed from the capillary. A connecting means that includes a fiber and has one end connected to the housing and the other end outside the narrow tube; and a laser beam having a predetermined power density and a predetermined pulse width, which is sent through the optical fiber, in the housing. Laser light irradiation means for emitting, a guide mirror for guiding the laser light emitted from the laser light irradiation means to the welded portion, a mirror rotation driving means for rotating the guide mirror around the axis of the thin tube, A capillary repairing device for a nuclear reactor, comprising: a mirror linear driving means for moving the guide mirror in the axial direction of the capillary. 7. The predetermined power density and the predetermined pulse width are selected so that a substance on the surface of the weld is ejected to form a compressive stress on the surface. Reactor capillary repair device. 8. The capillary repairing device for a nuclear reactor according to claim 6, wherein the laser light is visible light. 9. The capillary repair device for a nuclear reactor according to claim 6, wherein the laser light is applied in a state where the welded portion is filled with a liquid. 10. The reactor repair apparatus for a nuclear reactor according to claim 8, wherein the liquid is water. 11. The capillary repair device for a nuclear reactor according to claim 6, wherein the inside of the housing is sealed so that liquid does not enter. 12. The atom according to claim 6, wherein an irradiation window made of a transparent medium for transmitting the laser beam guided by the guide mirror is provided on a side surface of the housing. Capillary repair device for furnace. 13. A capillary repair for a nuclear reactor according to claim 6, wherein a window hole for passing the laser beam guided by the guide mirror is formed on a side surface of the housing. apparatus. 14. A capillarity repair apparatus for a nuclear reactor according to claim 6, wherein a storage battery for supplying drive energy to said mirror rotation drive means and said mirror linear drive means is attached inside said housing. . 15. The laser light irradiating means comprises a condenser lens for condensing the laser light, and a focus adjusting means for arranging a condensing point of the laser light by the condenser lens at the welding portion. The capillary repair device for a nuclear reactor according to claim 6, further comprising: 16. The apparatus for repairing a thin tube in a nuclear reactor according to claim 15, wherein the focus adjusting means has a moving means for moving the focusing lens linearly in the axial direction of the narrow tube. 17. The condensing lens has a first lens for converting the laser light emitted from the optical fiber into parallel rays and a second lens for condensing the laser light emitted from the first lens, 16. The capillary repairing device for a nuclear reactor according to claim 15, wherein the focus adjusting unit has a second lens moving unit that linearly moves the second lens in the axial direction of the thin tube. 18. The capillary repairing device for a nuclear reactor according to claim 15, wherein said focus adjusting means has guide mirror focus adjusting means for linearly moving said guide mirror in the axial direction of said narrow tube. 19. The capillary repairing device for a nuclear reactor according to claim 6, further comprising housing withdrawing / inserting means for withdrawing / pushing out the connecting means to move the housing into / out of the narrow tube. 20. The capillary repair device for a nuclear reactor according to claim 6, wherein the laser light is applied to different positions of the welded portion at predetermined repetition times. 21. The laser light is repeatedly irradiated at predetermined repetition times, and the mirror rotation driving means rotationally moves a beam spot of the laser light that rotationally moves on the welded portion during the predetermined repetition time. The capillary repair device for a nuclear reactor according to claim 6, wherein the guide mirror is rotationally driven so that the amount does not exceed the spot size of the laser light at the welded portion. 22. The time required for the beam spot of the laser light to make one revolution on the welded portion by the mirror rotation driving means is defined as a circulation time, and the mirror linear driving means linearly moves during the circulation time. 7. The thin tube of a nuclear reactor according to claim 6, wherein the guide mirror is linearly driven so that the linear movement amount of the beam spot of the laser light that does not exceed the spot size of the laser light at the weld portion. Repair device. 23. The thin tube repair device for a nuclear reactor according to claim 6, further comprising thin tube inner surface contact support means for supporting the outer surface of the housing at a predetermined distance from the inner surface of the thin tube. 24. The thin tube inner surface contact support means has a ball attached to the outer surface of the housing, and a biasing means for biasing the ball to the inner surface of the thin tube. Reactor thin tube repair device described in. 25. The reactor repair apparatus for a nuclear reactor according to claim 24, wherein the urging means is a pressing spring. 26. The capillary repair device for a nuclear reactor according to claim 25, wherein the pressing spring is made of a shape memory material, and is provided with spring temperature control means for controlling the temperature of the pressing spring. 27. The capillary repair device for a nuclear reactor according to claim 6, wherein a liquid jet nozzle for causing a liquid to spread over the welded portion is attached to the housing. 28. The capillary repair device for a nuclear reactor according to claim 27, wherein the liquid jet nozzle applies the liquid to the welded portion so as to generate a streamline in the circumferential direction on the inner surface of the capillary. . 29. The capillary tube repair device for a nuclear reactor according to claim 6, wherein said housing is made of a shape memory material, and is provided with housing temperature control means capable of locally controlling the temperature of said housing. . 30. The mirror rotation driving means has an electromagnetic motor or an ultrasonic motor.
Reactor thin tube repair device described in. 31. The mirror linear driving means has an electromagnetic motor or an ultrasonic motor.
Reactor thin tube repair device described in. 32. The mirror linear driving means has an electromagnetic motor or an ultrasonic motor.
Reactor thin tube repair device described in. 33. The capillary repair device for a nuclear reactor according to claim 16, wherein said condenser lens moving means has an ultrasonic linear motor. 34. The capillary repair device for a nuclear reactor according to claim 16, wherein said condenser lens moving means has an ultrasonic linear motor. 35. A plurality of the capillary repairing devices for a nuclear reactor according to claim 6, wherein each of the capillary repairing devices is arranged so that it can be inserted into and removed from a different capillary, and each optical fiber of each of the capillary repairing devices. A capillary repair device for a nuclear reactor, in which laser light is supplied from a common laser light source. 36. The capillary repairing apparatus for a nuclear reactor according to claim 35, further comprising time division means for distributing laser light from the laser light source to a plurality of capillary repairing apparatuses at a predetermined frequency. 37. The laser light is a copper vapor laser or Y
The capillary repairing device for a nuclear reactor according to claim 6, wherein the device is supplied from any one of the laser light sources of the second harmonics of the AG laser. 38. A method for repairing a thin tube of a nuclear reactor, comprising irradiating a laser beam having a predetermined power density and a predetermined pulse width to a welded portion in a thin tube attached to a vessel of the reactor by welding. 39. The predetermined power density and the predetermined pulse width are selected so as to eject a substance on the surface of the welded portion to exert a compressive stress on the surface. Reactor capillary repair method. 40. The method of repairing a capillary tube for a nuclear reactor according to claim 38, wherein the laser light is applied in a state where the welded portion is filled with a liquid. 41. The laser beam is applied to the welded portion while rotating around the axis of the thin tube and moving in the axial direction of the thin tube.
8. A method for repairing a thin tube of a nuclear reactor according to item 8. 42. The laser beam is repeatedly irradiated at a predetermined repetition time, and a rotational movement amount of a beam spot of the laser light rotatively moving on the welding portion during the predetermined repetition time is at the welding portion. 39. The method of repairing a thin tube of a nuclear reactor according to claim 38, wherein the laser beam is irradiated while being rotated around an axis of the thin tube so as not to exceed a spot size of the laser beam. 43. A beam spot of the laser light linearly moving in the axial direction of the thin tube during the orbiting time, which is the time required for the beam spot of the laser light to make one revolution on the welded portion. The laser beam is irradiated while linearly moving the beam spot of the laser beam in the axial direction of the thin tube so that the linear movement amount of the laser beam does not exceed the spot size of the laser beam in the welded portion. The method for repairing a thin tube of a nuclear reactor according to claim 38.