JPH09323169A - Vacuum vessel working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically execute welding in a vacuum vessel being manually impossible. SOLUTION: The working device is provided with a truck 3 arranged with extension legs 4a, 4a, 5a held in a vacuum vessel 1 and plural welding machines 6a-6e running along the track 3, welding work in the vacuum vessel 1 is automatically executed by fixing/holding the track 3 in the vacuum vessel 1 with the extension legs 4a, 4a, 5a and running the plural welding machines 6a-6e on the track 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum container processing apparatus applied to manufacture a large vacuum container used for nuclear fusion equipment by using a welding machine or the like.

[0002]

2. Description of the Related Art In manufacturing such a large-sized vacuum container, welding work is manually performed. That is, a welding worker enters a vacuum vessel to perform welding work, etc.In this welding work, if the welding worker cannot reach, a scaffold for work is assembled inside the vacuum container. Welding work is performed, and after this welding work, the scaffolding is disassembled and other work is performed.

[0003]

However, in the above-mentioned method for manufacturing a vacuum container, when the vacuum container is welded or the like,
It is necessary to assemble a scaffold for work in the inside of the vacuum container and dismantle it. For this reason, it is essential to cure and clean the inside of the vacuum container so as not to make it dirty.

On the other hand, once the nuclear fusion equipment starts operating after the completion of the vacuum container, the inside of the vacuum container is activated. For this reason, it may be necessary to repair and replace the vacuum container used in the nuclear fusion equipment once operated, but in such a case, manual welding work inside the vacuum container is completely impossible. . Therefore, it is an object of the present invention to provide a vacuum container processing apparatus capable of automatically performing welding work and the like in a vacuum container, which cannot be done manually.

[0005]

According to a first aspect of the present invention, there is provided a vacuum container provided with a track having telescopic legs held in the vacuum container, and a plurality of processing machines traveling along the track. It is a processing device.

In such a vacuum container processing apparatus, the orbit is fixed and held in the vacuum container by the telescopic legs, and a plurality of processing machines are run on the orbit to perform the processing work in the vacuum container. Automatically.

According to a second aspect, in the vacuum container processing apparatus according to the first aspect, the track can be folded and unfolded, and can be carried in and out of the vacuum container together with a plurality of processing machines.

In such a vacuum container processing apparatus, the orbit is carried into the vacuum container, for example, in a state of being flatly folded, unfolded in the vacuum container, and the orbit is fixed in the vacuum container by the telescopic legs. Hold. Then, the processing machine is carried into the vacuum container and mounted on the track.

After the welding work is completed, the track is folded and carried out of the vacuum container, and the processing machine is also carried out of the vacuum container.
According to claim 3, in the vacuum container processing apparatus according to claim 1, the device is arranged in the vacuum container, and when the track is carried into the vacuum container, the track is temporarily held and folded until the track is expanded. A remote holding and moving means having a function of carrying the track out of the vacuum container was provided.

With such a vacuum container processing apparatus, the track is temporarily held by the remote holding and moving means until the track is deployed when it is carried into the vacuum container, and the track is carried out of the vacuum container. Sometimes the track is carried out of the vacuum container by the remote holding and moving means.

According to a fourth aspect, in the vacuum container processing apparatus according to the third aspect, the remote holding and moving means mounts the processing machine carried into the vacuum container on a track and is mounted on the track. It has a function to carry the processing machine out of the vacuum container.

In such a vacuum container processing apparatus, the processing machine is carried into the vacuum container by the remote holding and moving means, mounted on the track, and carried out from the vacuum container to the outside of the vacuum container.

According to a fifth aspect, in the vacuum container processing apparatus according to the first aspect, there is provided control means for simultaneously controlling the operation of a plurality of processing machines according to a predetermined procedure. With such a vacuum container processing apparatus, the plurality of processing machines mounted on the tracks in the vacuum container are simultaneously controlled by the control means in accordance with a predetermined procedure.

According to a sixth aspect, in the vacuum container processing apparatus according to the first, fourth or fifth aspect, a welding machine is used as the processing machine. With such a vacuum container processing device, the track is fixed and held in the vacuum container by telescopic legs, and welding work in the vacuum container is automatically performed by running multiple welding machines on this track. To do.

According to a seventh aspect, in the vacuum container processing apparatus according to the fifth or sixth aspect, the control means gives instructions and data to a plurality of welding machines and receives information from a plurality of welding machines. The operation of a plurality of welders is controlled according to a procedure that minimizes welding deformation.

With such a vacuum container processing apparatus, the plurality of welding machines mounted on the orbits inside the vacuum container are given instructions and data by the control means and control the information from these welding machines. The welding operation is controlled according to a procedure for minimizing the welding deformation.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a vacuum container processing apparatus applied to a large vacuum container used in a nuclear fusion device.

The large vacuum container 1 has a D-shaped cross section. The vacuum container 1 has maintenance ports 2 formed at a plurality of locations. Inside the vacuum container 1, orbits 3 on four sides are held. These trajectories 3
Is provided with telescopic legs 4a and 4a at its ends, respectively. It should be noted that the structure machine 5 supporting the track 3 is also provided with the telescopic legs 5a.
Is provided.

The track 3 is constructed by the telescopic legs 4a, 4a, 5a so as to secure the position of the track 3 in which the inner wall of the vacuum container 1 is stretched and expanded in the vacuum container 1.

As a result, the orbit 3 swings,
Falling due to the weight of the plurality of welding machines 6a to 6e as processing machines is prevented. Further, of the four-sided track 3, the two-sided track 3 is provided with telescopic legs 4b and 4b. When the track 3 is folded by the telescopic legs 4b and 4b, the size of the entire track 3 can be reduced by contracting the telescopic legs 4b and 4b.

Therefore, the track 3 can be freely folded and unfolded, and in the folded state, as shown in FIG.
It is configured so that it can be loaded into and unloaded from the vacuum container 1 through the maintenance port 2 of.

FIG. 1 shows the track 3 in the unfolded state, and FIG. 2 shows the track 3 in the folded state. A plurality of the welding machines 6a to 6e are mounted on the tracks 3, respectively. These welding machines 6a to 6e perform welding operation inside the vacuum container 1.

The remote holding and moving device 7 is provided inside the vacuum container 1, and when the folded orbit 3 is carried into the vacuum container 1, temporarily holds the orbit 1 until the orbit 1 is expanded.
Moreover, it has a function of carrying out the folded track 3 to the outside of the vacuum container 1.

As shown in FIG. 2, this remote holding and moving device 7 connects the holding plate 8 provided on the track 3 side with the tip of itself to carry in and carry out the track 3 to and from the vacuum container 1. It has become a thing.

Further, the remote holding and moving device 7 has a plurality of welding machines 6a to 6e carried into the vacuum container 1 through the maintenance port 2 on the track 2 and a plurality of welding machines mounted on the track 3. Maintenance port 2 for machines 6a-6e
It has a function to carry out to the outside of the vacuum container 1 through.

On the other hand, FIG. 3 is a block diagram of the welding control system. A plurality of welding machines N, here, a plurality of welding machines 6 a to 6 e are connected to the overall controller 10 via a local area network (hereinafter referred to as LAN) 11.

The overall controller 10 is composed of a plurality of welding machines 6a according to the welding operation flowchart shown in FIG.
6e to 6e for operation control, giving instructions and data to the plurality of welding machines 6a to 6e in real time through the LAN 11, and receiving information such as responses and status data from the plurality of welding machines 6a to 6e, It has a function of simultaneously controlling the operation of the plurality of welders 6a to 6e in accordance with the procedure for minimizing the welding deformation due to the welding operation of the welders 6a to 6e.

Further, a man-machine interface 12 is connected to the overall controller 10, and the welding control system is operated through the man-machine interface 12.

An engineering workstation, a personal computer, or the like is used as the overall controller 10. Multiple welders 6a-6e
Has a specific configuration shown in FIG.

That is, the welding machine controller 20 includes
The welding power source 21, the drive unit 22, the groove detection sensor 23, and the man-machine interface 24 are connected. A microcomputer or the like is used as the welding machine controller 20, and is connected to the overall controller 10 via the LAN 11.

The welder controller 20 sets the groove information of the welded portion 25 detected by the groove detection sensor 23 to L
In advance, the welding conditions (current, voltage, speed, etc.) for sending the instruction and data from the overall control controller 10 through the AN 11 and realizing the welding amount such that the welding height is constant are set. Based on the welding sequence data collected in the above, the optimum start point and end point are set in each of the welding machines 6a to 6e so as to minimize the welding deformation of the welded part 25, and the drive part 22 is drive-controlled to control the welded part 25. It has the function of welding to.

The welding sequence data is set by a database in an engineering workstation or a personal computer, which is the entity of the overall control controller 10, or a knowledge processing system.

The groove detection sensor 23 detects the groove of the welded portion 25 in a non-contact state or in a contact state during welding or non-welding, and grasps the geometrical shape of the groove cross section and the locus of the welding line. It has a function to do.

The man-machine interface 24 has a function as an operation window when operating the welding control system alone. Next, the operation of the apparatus configured as described above will be described.

Large vacuum container 1 used for nuclear fusion equipment
When manufacturing the, the track 3 is in the folded state. The remote holding and moving device 7 in the vacuum container 1 connects the holding plate 8 provided on the track 3 side and the tip of the remote holding and moving device as shown in FIG.
It is carried into the vacuum container 1 through the.

The track 3 thus loaded into the vacuum container 1 is automatically expanded as shown in FIG.
a, 4a, and 5a are pressed against the inner wall of the vacuum container 1 to secure the position of the track 3 in which the inner wall of the vacuum container 1 is stretched and stretched in the vacuum container 1.

At this time, the remote holding and moving device 7 temporarily holds the track 3 until the track 3 is deployed. Next, a plurality of welding machines 6a are passed through the maintenance port 2 of the vacuum container 1.
When ~ 6e is carried into the vacuum vessel 1, the remote holding and moving device 7 sequentially receives these welding machines 6a to 6e and mounts them on the track 3.

When a plurality of welders 6a to 6e are mounted on the track 3 in the vacuum container 1 in this manner, the welding control system performs a welding operation on each of the welders 6a to 6e according to the welding operation flowchart shown in FIG. To do.

That is, the overall controller 10 is
In step # 1, each welding machine 6 is connected through the LAN 11.
The a to 6e are instructed to grasp the groove shape of the welded portion 25 and the locus of the welding line using each groove detection sensor 23.

Based on this command, the groove detection sensors 23 of the welding machines 6a to 6e detect the groove of the welded portion 25 in a non-contact or contact manner with respect to the welded portion 25, and the groove cross section Understand the geometry and the trajectory of the welding line.

The measurement data of the groove shape of the welded portion 25 and the locus of the welding line are returned to the overall controller 10 via the LAN 11 by the welding controller 20 of each of the welders 6a to 6e, and the overall controller 10 is returned.
Understands the groove shape of each weld 25 and the locus of the welding line.

Next, in step # 2, the overall controller 10 assembles a welding pass sequence based on the groove shape data of each welded portion 25 measured by each welder 6a-6e.

That is, the overall controller 10 is
First, the groove cross-sectional area is obtained from the groove shape of each welded portion 25, the welding amount is calculated so that the welding height is constant at any cross section, and the welding conditions for realizing this welding amount, that is, the current, the voltage, Set the speed etc.

Then, the overall controller 10 determines the welding portion 2 based on the welding sequence data collected in advance.
Optimal start points and end points are set in each of the welders 6a to 6e so that the welding deformation of No. 5 is minimized.

When the welding pass sequence is set in this way, the overall controller 10 issues a command to each of the welding machines 6a to 6e through the LAN 11 based on the welding pass sequence in step # 3, and the welding machines 6a to 6e. 6
In step e, welding work is started.

Each of these welding machines 6a to 6e travels on the track 3 in the vacuum container 1 and simultaneously performs welding on a plurality of welded parts 25 in the vacuum container 1 by the operation of the drive part 22.

After the start of welding in this way, the welding control system controls the operation of each of the welding machines 6a to 6e in a closed loop.
That is, the overall controller 10 proceeds to step # 4.
In, the position information and status data of each of the welding machines 6a to 6e, and various parameters of the welding process are monitored through the LAN 11.

Further, the overall control controller 10 uses the groove detection sensor 23 for each welding machine 6a to 6e through the LAN 11 during welding by the welding machines 6a to 6e during welding or for each pass. A command for grasping the groove shape of the welded portion 25 is issued and fed back to the welding pass sequence.

As described above, the overall controller 10 is
The welding is performed by controlling the operation of each of the welding machines 6a to 6e, and it is determined in step # 5 whether or not it is the final pass. If it is not the final pass, it is determined that the welding process is continued by moving to step # 6, and step # 4, the position information and status data of each welding machine 6a to 6e, various parameters of the welding process are monitored, and each welding machine 6a to 6e is monitored.
During welding by e, during welding, or during each pass, a command for grasping the groove shape of the welded portion 25 using each groove detection sensor 23 is issued and fed back to the welding pass sequence.

In this way, the overall controller 10
Will continue the welding work until the final pass. These welding machines 6
When the welding work by a to 6e is completed, the remote holding and moving device 7 moves the welding machines 6a to 6a mounted on the track 3.
e, and these welding machines 6a to 6e are carried out of the vacuum container 1 through the maintenance port 2.

Next, the track 3 in the vacuum container 1 is folded, and the holding plate 8 provided on the track 3 side and the distal end of the remote holding and moving device are connected as shown in FIG. Then, the remote holding and moving device 7 holds the track 3 coupled via the holding plate 8 as shown in FIG. 2, and carries the track 3 out of the vacuum container 1 through the maintenance port 2.

Thus, in the above-mentioned one embodiment,
Orbit 3 with telescopic legs 4a, 4a, 5a inside vacuum vessel 1
Is provided so as to be stretched against the inner wall of the vacuum container 1, and a plurality of welding machines 6a to 6e are made to travel along the track 3 to perform welding in the vacuum container 1. It is possible to automatically perform the welding work inside the existing vacuum container.

Therefore, when welding the vacuum container, conventionally, it is necessary to assemble a scaffold for work inside the vacuum container 1 and dismantle the scaffold, so that the interior of the vacuum container 1 can be cured so as not to be contaminated. Although it is essential to clean the interior, such curing and cleaning of the inside of the vacuum container 1 are not essential.

Further, even if the vacuum container used in the nuclear fusion equipment which has been operated once needs to be repaired and replaced, the welding work in the vacuum container can be automatically carried out without manual labor. That is, the track 3 can be automatically folded and unfolded, and can be folded and carried in and out of the vacuum container 1 through the maintenance port 2 of the vacuum container 1.

The remote maintenance moving device 7 in the vacuum container 1 can temporarily hold the track 3 carried into the vacuum container 1 until it is expanded. In addition, the track 3
In addition, loading and unloading of the plurality of welding machines 6a to 6e with respect to the vacuum container 1 can be performed.

Further, the welding control system gives instructions and data to the plurality of welders 6a to 6e, receives information such as responses and status data from the plurality of welders 6a to 6e, and receives the information from the plurality of welders. Welding can be simultaneously performed on the welded portions 25 at a plurality of locations by the plurality of welding machines 6a to 6e according to a procedure for minimizing welding deformation due to the welding operation of 6a to 6e.

The present invention is not limited to the above embodiment, but may be modified as follows. For example, in the above-described one embodiment, the case where the invention is applied to the manufacture of the large-sized vacuum container 1 used for the nuclear fusion device has been described, but the present invention is not limited to this and can be applied to the manufacture of a large-sized vacuum container.

Further, the manufacturing of the large-sized vacuum container 1 is not limited to the case where a plurality of welding machines 6a to 6e are used, and various processing machines such as a polishing device, a drilling device and a grinding device are arranged in the vacuum container 1. Various processes may be performed on the inside of the vacuum container 1.

[0059]

As described in detail above, claims 1 to 5 of the present invention.
According to 7, it is possible to provide a vacuum container processing apparatus capable of automatically performing welding work inside a vacuum container, which is impossible by hand.
Further, according to the second aspect of the present invention, it is possible to provide a vacuum container processing device capable of automatically folding and unfolding the track, and folding and unfolding the track together with the processing machine.

According to the third and fourth aspects of the present invention, the orbit carried into the vacuum container by the remote maintenance moving device can be temporarily held until it is expanded, and the orbit and the vacuum container of a plurality of processing machines can be held. It is possible to provide a vacuum container processing device capable of carrying in and out of a container.

According to the fifth to seventh aspects of the present invention, it is possible to provide a vacuum container processing apparatus capable of simultaneously performing welding work on a plurality of welded portions by a plurality of welding machines by the welding control system.

[Brief description of drawings]

FIG. 1 is a configuration diagram in which an embodiment of a vacuum container processing apparatus according to the present invention is applied to a large vacuum container of a nuclear fusion device.

FIG. 2 is a diagram showing loading and unloading of a folded orbit of a vacuum container in the apparatus.

FIG. 3 is a configuration diagram of a welding control system in the same device.

FIG. 4 is a flowchart of a welding operation in the same device.

FIG. 5 is a specific configuration diagram of a welding machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Vacuum container, 2 ... Maintenance port, 3 ... Orbit, 4a, 5a ... Telescopic legs, 5 ... Structural machine, 6a-6e ... Welding machine, 7 ... Remote holding moving device, 8 ... Holding plate, 10 ... Overall control controller , 11 ... Local area network (LAN), 12, 24 ... Man-machine interface, 20 ... Welding machine controller, 22 ... Drive unit, 23 ... Groove detection sensor.

Claims (7)

[Claims] 1. A vacuum container processing apparatus comprising: a track provided with telescopic legs held in a vacuum container; and a plurality of processing machines that travel along the track. 2. The orbit is foldable / unfoldable,
The vacuum container processing apparatus according to claim 1, wherein the vacuum container processing device can be carried in and out of the vacuum container together with the plurality of processing machines. 3. When the track is arranged in the vacuum container, the track is temporarily held until the track is deployed when the track is loaded into the vacuum container, and the folded track is carried out of the vacuum container. The vacuum container processing apparatus according to claim 1, further comprising remote holding and moving means having a function of performing. 4. The remote holding and moving means mounts the processing machine carried into the vacuum container on the track, and carries out the processing machine mounted on the track to the outside of the vacuum container. The vacuum container processing apparatus according to claim 3, which has a function. 5. The vacuum container processing apparatus according to claim 1, further comprising control means for simultaneously controlling the operations of the plurality of processing machines according to a predetermined procedure. 6. The vacuum container processing apparatus according to claim 1, wherein the processing machine is a welding machine. 7. The control means gives instructions and data to the plurality of welders, receives information from the plurality of welders, and controls the plurality of welders according to a procedure for minimizing welding deformation. 7. The vacuum container processing apparatus according to claim 5, which has a function of controlling operation.