JPH1030990A - Raising-lowering and swiveling mechanism for liquid penetrant testing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a raising-lowering and swiveling mechanism, for a liquid penetrant testing apparatus, which can prevent a connector part and a cable connected to the connector part from being damaged when a liquid penetrant inspection adaptor is raised, lowered and swiveled, which eliminates a wasteful space at the inside of the apparatus and by which sufficient equipment parts can be mounted on a control unit. SOLUTION: This raising, lowering and swiveling mechanism is provided with a support frame 7 which is suspended by a suspension means 7a so as to be raised and lowered inside a seal pipe 6, with a swiveling frame 8 which is attached to the lower part of the support frame so as to be capable of being swiveled and with an adaptor mounting plate 9 which is attached to the lower part of the swiveling frame so as to be capable of being raised and lowered. In addition, the raising, lowering and swiveling mechanism is provided with a swiveling device 16 by which the swiveling frame attached to the support frame is swiveled around a vertical central axis Z and with a raising and lowering device 18 which is attached to the swiveling frame and which raises and lowers the adaptor mounting plate. A control unit 20 is housed inside the support frame so as to be capable of being swiveled, and it is connected to the upper end of the swiveling frame. A liquid penetrant inspection adaptor 10 is attached to the rear surface of the adpator mounting plate 9, and it is raised, lowered and swiveled so as to perform a liquid penetrant inspection.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a penetrating inspection apparatus, and more particularly, to a vertical rotation mechanism of a penetrating inspection apparatus used when replacing a CRD.

[0002]

2. Description of the Related Art For example, as shown in FIG. 3, a hollow CRD housing 3 penetrates a through hole 2 provided in a lower mirror 1 of a reactor pressure vessel and extends upward in the reactor pressure vessel. The CRD housing 3 is welded to the upper surface of the stub tube 4 which is welded to the upper surface of the lower mirror 1. Also, CRD
A CRD 5 (Control Rod Drive: control rod drive mechanism) penetrates through the housing 3 to drive a control rod in the reactor pressure vessel.

[0003] In such a reactor pressure vessel, the CRD housing 3 is sometimes replaced.
CRD housing 3 and stub tube 4
Is cut and removed, the welded portion 4a is cut and polished, the polished surface is overlaid, and a new stub tube 4 is formed.
Need to be welded. In this case, it is necessary to inspect the welded portion 4a for damage by penetrant inspection after the overlay welding on the polished surface of the lower mirror 1 and after welding a new stub tube 4. However, since the inspection site is very narrow and inaccessible to humans, there has been a demand for an apparatus for performing this penetrant inspection by remote control.

FIG. 4 is an overall configuration diagram and a main part cross-sectional view of the penetrating inspection device. The apparatus comprises a support frame 7 suspended by suspending means (for example, a wire rope 7a) so as to be able to move up and down in the seal pipe 6, and a pivot frame 8 pivotally attached to a lower portion of the support frame 7. And an adapter mounting plate 9 mounted below the revolving frame 8 so as to be able to move up and down. Various adapters for penetrant inspection (PT adapters) 10 are mounted on the lower surface of the adapter mounting plate 9.

The revolving frame 8 is revolved around a vertical center axis by a revolving motor 8a, and the revolving elevating frame 11 is moved up and down in the revolving frame 8 via a ball screw 11b by an elevating motor 11a. A vertical lifting and lowering rotation shaft 12 fixed to the center of the rotation lifting and lowering frame 11 extends from the adapter mounting plate 9 fixed to the lower end thereof to the inside of the support frame 7, and has a control unit 13 at the upper end thereof. (CCU) is attached. In the drawing, 11c is a linear guide, and 13a is a connector.

With the above-described configuration, the inspection location is brought into the air environment by the seal pipe 6, and the support frame 7 is lowered in the seal pipe 6 to a predetermined position by the suspending means 7a.
With the support frame 7 positioned at the center position of the seal pipe 6 by a guide (not shown), the lifting and lowering rotation shaft 12 can be rotated and raised and lowered by the motors 8a and 11a, and the adapter is mounted from the control unit 13 through the lifting and lowering rotation shaft 12. The penetrant inspection adapter 10 attached to the plate 9 is remotely controlled to perform various inspections.

[0007]

In the above-mentioned conventional penetrant inspection apparatus, a control unit 13 and a connector 13a are provided on an upper part of a vertically rotating shaft 12, and a control cable 13b is connected to the connector 13a. When the penetrating inspection adapter 10 is moved up and down and swiveled, the up and down swivel shaft 12 is moved.
At the same time, the control unit 13 and the connector 13a move up and down and turn, and the cable 13b connected thereto also moves up and down and turn. For this reason, the cable 13b pulled into the apparatus at the time of lowering interferes with being pinched inside the apparatus at the time of raising and lowering, and the load is applied to the connector 13a to damage it, and not only does not operate normally but also adversely affects the drive system. There was a problem. Further, in order to avoid this problem, if a tension mechanism for constantly pulling the cable 13b upward is provided, the upward tension acts on the connector 13b at all times, so that the life of the connector is shortened and the connection portion thereof is damaged. There was a problem that was easily affected.

Further, in the conventional penetrant inspection apparatus, since the control unit 13 moves up and down inside the apparatus, a space corresponding to the stroke is required, and the dimensional restriction of the control unit 13 is severe, so that sufficient equipment cannot be mounted. There was a point.

The present invention has been made in order to solve such a problem. That is, an object of the present invention is to prevent damage to a connector portion and a cable connected to the connector portion when the penetrant inspection adapter is moved up and down and turned, and to eliminate unnecessary space inside the device, thereby providing sufficient equipment for a control unit. It is an object of the present invention to provide a vertically rotating mechanism of a penetrating inspection device capable of mounting the same.

[0010]

According to the present invention, there is provided a supporting frame suspended by a suspending means so as to be able to ascend and descend in a seal pipe, and a swivel rotatably mounted below the supporting frame. A frame, an adapter mounting plate attached to the lower part of the revolving frame so as to be able to move up and down, and a lifting and lowering turning mechanism of the penetrating inspection device, wherein the penetrating inspection adapter is attached to the lower surface of the adapter mounting plate. A turning device attached to the frame for turning the turning frame around a vertical center axis, and a lifting device attached to the turning frame for raising and lowering the adapter mounting plate, wherein the control unit is rotatably stored in the support frame. Further, there is provided an elevating / lowering turning mechanism of the penetrating inspection device, which is connected to an upper end of the turning frame.

According to the configuration of the present invention, there is provided a turning device for turning the turning frame, and an elevating device mounted on the turning frame for raising and lowering the adapter mounting plate, wherein the control unit includes the upper end of the turning frame in the support frame. Is stored linked to
Even if the adapter mounting plate is moved up and down and turned, the control unit turns with the adapter mounting plate but does not move up and down. Therefore, even if the penetrating inspection adapter moves up and down and turns, the control unit and the connector attached thereto do not move up and down, and the cables connected thereto do not move up and down. Therefore, the cable simply turns at the same height of the device when the adapter mounting plate is moved up and down, and since this turning does not take more than one rotation, no load is applied to the connector portion and the cable is connected to the connector portion and the connector portion. Cable damage can be prevented.

Further, since the control unit is stored in the support frame in connection with the upper end of the revolving frame, the control unit does not move up and down in the support frame, so that a space for the conventional stroke is not required. Can be enlarged to include the stroke, and sufficient equipment can be mounted as compared with the related art.

According to a preferred embodiment of the present invention, the turning device comprises a turning motor mounted on a support frame and a gear train driven by the turning motor, and the elevating device comprises an elevating device mounted on the turning frame. A motor, a ball screw that rotates about a vertical axis by the lifting motor, and a lifting frame that is raised and lowered by the rotation of the ball screw. A lifting and lowering rotation shaft is fixed to a center position of the lifting and lowering frame. An adapter mounting plate is mounted on the lower end.

With this configuration, the turning frame can be turned around the vertical center axis by the turning motor through the gear train, and the adapter mounting plate can be turned by the elevating motor via the ball screw, the elevating frame, and the elevating turning shaft. Can be raised and lowered. Therefore, by the turning motor and the lifting motor,
Various inspections can be performed by freely positioning and controlling the adapter mounting plate and various penetrant inspection adapters attached thereto.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. In the drawings, common portions are denoted by the same reference numerals, and redundant description is omitted.
FIG. 1A is an overall configuration diagram of a penetrating inspection device provided with an elevating / lowering turning mechanism according to the present invention. In this figure, the lifting / lowering turning mechanism of the present invention includes a suspending means (for example, a wire rope 7).
a support frame 7 suspended by a) so as to be able to ascend and descend inside the seal pipe 6, a revolving frame 8 rotatably attached to a lower portion of the support frame 7 by a bearing (not shown), and a lower portion of the revolving frame 8 And an adapter mounting plate 9 which is mounted so as to be able to move up and down, and a penetration inspection adapter 10 is mounted on the lower surface of the adapter mounting plate 9. Such a configuration is the same as that of the conventional lifting / lowering turning mechanism shown in FIG.

The lifting and lowering rotation mechanism of the present invention includes a rotation device 16 mounted on the support frame 7 for rotating the rotation frame 8 about the vertical center axis Z, and a lifting device mounted on the rotation frame 8 and raising and lowering the adapter mounting plate 9. 18 is provided.

The turning device 16 comprises a turning motor 16a attached to the support frame 7, and a gear train (turn gear 16b) driven by the turning motor 16a. With this configuration, the turning frame 8 can be turned around the vertical center axis Z-Z by the turning motor 16a via the turning gear 16b.

The elevating device 18 includes an elevating motor 18a (only a part of which is shown) mounted on the revolving frame 8, and a ball screw 18 rotated about a vertical axis by the elevating motor 18a.
and a lifting frame 19 which is raised and lowered by the rotation of the ball screw 18b. The elevating frame 19 is guided by a linear guide 19a so as to be able to move up and down while maintaining the horizontal position. Further, a ball nut screwed to the ball screw 18b is attached to the lifting frame 19. With this configuration, by the rotation of the lift motor 18a, the lift frame 19 can be moved up and down by the ball screw 18b and the ball nut while maintaining the horizontal position.

Further, at the center position of the lift frame 19, a lift shaft 22 is fixed on an extension of the vertical center axis Z-Z.
The adapter mounting plate 9 is mounted on the lower end of the lifting shaft 22. The lifting / lowering swivel shaft 22 is shown in FIG.
Is different from the conventional device in that the upper end is fixed to the lifting frame 19. Further, the control unit 20 is rotatably stored in the support frame 7 and is connected to the upper end of the revolving frame 8 via a connecting portion 20a. Further, a cable carrier 24 is provided between the upper end portion of the revolving frame 8 and the elevating frame 19, and the control unit 20 and various penetrant inspection adapters 10 (PT adapters) mounted below the adapter mounting plate 9. Are connected to various cables (power lines and signal lines) via the connecting portion 20a and the cable bear 24.

That is, the apparatus main body (support frame 7) holds the revolving portion (revolving frame 8) by bearings (not shown).
A turning motor 16a is provided in the apparatus main body 7, and the turning portion 8 is turned by a gear 16b. The swiveling part 8 includes a lifting / lowering motor 18a, which moves the lifting / lowering rotating shaft 22 up and down. The surplus of cables for lifting and lowering is controlled by a cable carrier 24.

FIG. 2 is a system configuration diagram showing an application example of the penetrant inspection device according to the present invention. In this figure,
(A) is an example of application of a penetration inspection adapter (referred to as PT) for a beveled groove front surface, (B) is a stub outer surface PT, (C) is a J weld groove surface PT, and (D) is an example of a J weld portion PT. This is schematically shown.

With the configuration of the present invention described above, the turning frame 8 can be turned around the vertical center axis ZZ by the turning motor 16a via the gear train 16b.
8a, the adapter mounting plate 9 can be moved up and down via the ball screw 18b, the elevating frame 19, and the elevating turning shaft 22. Therefore, various inspections can be performed by freely positioning and controlling the adapter mounting plate 9 and various penetrant inspection adapters 10 (see FIG. 2) attached thereto by the turning motor 16a and the lifting motor 18a.

Also, when the adapter mounting plate 9 is moved up and down and turned to move the penetrating inspection adapter 10 up and down and turned, the control unit 20 turns with the adapter mounting plate but does not move up and down. Therefore, even if the penetration inspection adapter 10 moves up and down and turns, the control unit 20 and the connector 13a attached thereto do not move up and down, and the cable 13b connected thereto does not move up and down. Therefore, the cable 13b simply turns at the same height of the apparatus when the adapter mounting plate 9 is moved up and down. Since this turning does not take more than one rotation, no load is applied to the connector portion, and the connector portion and the connector portion are connected. Can prevent damage to the cables.

Further, since the control unit 20 is stored in the support frame 7 so as to be connected to the upper end of the revolving frame 8, it does not move up and down in the support frame 7, so that the space for the conventional stroke is unnecessary. That is, the control unit 20 can be enlarged to include the stroke, and sufficient equipment can be mounted as compared with the related art.

It should be noted that the present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention.

[0026]

As described above, according to the raising / lowering turning mechanism of the present invention, since the cable 13b is related only to the turning system, no load is applied other than turning. Conventionally, since a stroke is also required inside the apparatus, only the CCU can be mounted on the control unit 20 in terms of dimensions. However, if the dimensions are the same, equipment such as a light source device and a solenoid valve can be arranged for the stroke. . If no equipment is provided, the stroke can be reduced in size.

Accordingly, the lifting and lowering mechanism of the penetrating inspection apparatus according to the present invention can prevent damage to the connector portion and the cable connected thereto when the penetrating inspection adapter is moved up and down, and wastes space inside the apparatus. Therefore, there is an excellent effect that sufficient equipment can be mounted on the control unit.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a penetration testing device provided with an elevating and turning mechanism according to the present invention.

FIG. 2 is a system configuration diagram showing an application example of the penetration testing device of FIG. 1;

FIG. 3 is a longitudinal sectional view of a lower mirror portion of the reactor pressure vessel.

FIG. 4 is an overall configuration diagram of a penetrating inspection device provided with a lifting / lowering turning mechanism not disclosed by the same applicant.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower mirror 2 Through-hole 3 CRD housing 4 Stub tube 5 CRD 6 Seal pipe 7 Support frame 8 Revolving frame 9 Adapter mounting plate 10 Penetration inspection adapter 11 Revolving elevating frame 12 Elevating revolving shaft 13 Control unit (CCU) 13a Connector 13b Cable Reference Signs List 16 turning device 16a turning motor 16b gear train (rotating gear) 18 lifting device 18a lifting motor 18b ball screw 19 lifting frame 19a linear guide 20 control unit 22 lifting rotation shaft 24 cable carrier

Claims (2)

[Claims] 1. A supporting frame suspended by a suspending means so as to be able to move up and down in a seal pipe, a revolving frame pivotally attached to a lower portion of the supporting frame, and a vertically movable frame below the revolving frame. And an adapter mounting plate mounted on the lower surface of the adapter mounting plate, wherein the penetrating inspection inspection adapter is mounted on the lower surface of the adapter mounting plate, the lifting and lowering turning mechanism of the penetrating inspection apparatus, wherein the turning frame attached to the support frame and the vertical center axis A swivel device for swiveling about the center, and an elevating device attached to the swivel frame to elevate and lower the adapter mounting plate.
An up-and-down swivel mechanism of the penetrant inspection device, wherein the up-and-down swivel mechanism is rotatably stored in the support frame and connected to an upper end of the swivel frame. 2. The turning device comprises a turning motor mounted on a support frame and a gear train driven by the turning motor. The lifting device is vertically driven by the lifting motor mounted on the turning frame and the lifting motor. It consists of a ball screw that rotates around an axis and a lifting frame that is raised and lowered by the rotation of the ball screw. A lifting shaft is fixed to the center position of the lifting frame, and an adapter mounting plate is attached to the lower end of the lifting shaft. The elevating and lowering mechanism of the penetrating inspection device according to claim 1, wherein: