JPS59180420A - Surface-shape detecting apparatus - Google Patents

Abstract

PURPOSE:To detect the shape of the surface of a body, which is located in an environment where a man cannot approach and faces a narrow gap, safely and readily, by running a self-propelled truck in the gap having a part to be measured. CONSTITUTION:A shape detecting mechanism 1, an angle detecting mechanism 2, and a moving-amount detecting mechanism 3 are connected to an operation circuit 4. To the operation circuit 4, the following devices are connected: an inspection amount display 5, which performs the display corresponding to the signal from the shape detecting mechanism 1; a slant angle display 6, which performs the display corresponding to the signal from the angle detecting mechanism 2; a moving-amount display 7, which performs the display corresponding to the signal from the moving-amount detecting mechanism 3; and an X-Y plotter 8, which displays the shape of the surface to be inspected. The shape detecting mechanism 2 is attached to the lower surface of the central part of the self-propelled truck 20. The self-propelled truck 20 is provided with a pair of protruding mechanisms 22 at the right and left parts. The protruding mechanisms 22 rotate a pair of rotary arms 24 and 24 having guide rollers 23 outward against springs 25. Thus, the self-propelled truck 20 is stabilized and held in the gap to be measured.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a surface shape detection device that can remotely detect the surface shape of an object in a narrow gap between the objects.

For example, the f′r
, when plugging the 5th channel hole, the diameter of the channel hole, chamfer υ
It is necessary to detect the shape, etc. of the reactor, but in such a high radiation environment it is impossible for people to approach.Moreover, the flow passage hole is located underwater, and there is a gap between the core tank and the heat shield. Since there is only a small gap between the channel and the tank, it is not possible to detect the surface shape around the channel hole, and it is desired to develop a surface shape detection device that can perform such detection. was.

The present invention was made based on the above circumstances, and its purpose is to provide an environment that is inaccessible to humans.
Moreover, it is an object of the present invention to provide a surface shape detection device that can detect the surface shape of an object facing a narrow gap between objects by remote control and with a simple operation.

In order to achieve the above object, the present invention is a device for detecting the shape of the surface of an object facing a narrow gap between objects, which detects the shape of the surface of an object, which an angle development mechanism that detects the amount of movement of the truck; a movement detection mechanism that detects the amount of movement of the truck; a forward and backward movement mechanism that is attached to the truck and moves the truck forward and backward within the gap; This device is characterized by comprising a contact whose tip is supported and brought into contact with the object beam 1TIi, and a contact angle detection mechanism which detects the inclination angle of this contact.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

Figure 1 shows the schematic configuration of the surface shape inspection device, with shape detection mechanisms l, ? An angle detection mechanism 2 such as a tension meter and a movement amount detection mechanism 3 are connected to an arithmetic circuit 4.

The arithmetic circuit 4 includes a test needle display 5 that displays a display according to the signal from the shape detection mechanism 1, an inclination angle display 6 that displays a display according to No. 48 from the angle detection mechanism 2, and a movement f. ``A movement amount display 7 that displays a display according to a signal from the detection mechanism 3 and an X-Y sensor 8 that displays the shape of the surface to be inspected are connected.

The arithmetic circuit 4 is constituted by a microconverter, and performs the correction based on the information inputted from each of the detectors 1 and 2, and displays the results on the displays 5 and 6. .7, and the shape of the surface to be tested 41 is also displayed on the lock 8 (from the figure V).

FIG. 2 shows the structure of the arithmetic circuit 40, including the CPU board 9, the high-speed arithmetic data interface board 11. Dolly position detection interface board 12
, tilt angle detection interface board 13, chamfer-MX
A detection ink face speed 14, a memory board 15 and a power supply unit 16 are connected to a pass line 17. A CRT 1B is connected to the CPU board 9, and a 9-channel ink face H? An operation 7 equal channel 19 is connected to the - door 1. Note that the movement amount detection mechanism 3, angle detection mechanism 2, and shape detection mechanism 1 are connected to the bogie position detection interface board 12, inclination angle detection interface board 13, and chamfering deviation detection interface board 14, respectively. ing. Said CRT 18
For example, it is used to calibrate and test the system via the CPU yl'-board 9.

The shape detection mechanism 1 includes a self-propelled cart 20 as shown in FIG.
It is attached to the lower center of the

This self-propelled trolley 20 has a shape detector S mounting part (11i).
The angle detection mechanism 2 is installed in the i direction, and the forward and backward movement mechanism 21 that moves the self-propelled cart 20 back and forth is installed in the central part of the trench. And front and rear 11 i, mechanism 21 fi!
Numeral 11 includes several movement amount detection mechanisms 3, which are configured to detect the amount of movement of the self-propelled cart 20. The above-mentioned moving @detector 3 is composed of a Glucos counting type sensor (so-called optical rotary encoder), and has an S/D conversion x:=; 11j (, ゛6 formations.

For details about the shape detection mechanism 1, see Figures 5 to 7! I will explain later.

The angle detection mechanism 2 detects the inclination LJ'+ of the self-propelled trolley 20 with respect to the vertical direction, and has a built-in weight, and when the main body is tilted with respect to the weight, the contact moves to adjust the inclination angle of the main body. It is configured to output a corresponding electric signal (voltage). The detection unit 2 has an oil-immersed structure in order to improve environmental resistance and provide braking force to the movement of the weight.

The self-propelled trolley 20 is equipped with a pair of overhang mechanisms 22 on the left and right sides, as shown in FIG. This overhang mechanism 2
2 rotates a pair of rotating arms 24, 24 equipped with a force idle roller 23 at the tip outward against a barb 25, thereby moving the self-propelled cart 20 into the gap to be measured. This is to maintain stable conditions.

FIG. 4 shows a state in which the self-propelled cart 2θ is held in a narrow gap between objects, such as the gap between a core tank 26 and a heat shield 27 in a nuclear reactor plant. . In addition, 28 in FIG. 4 is a passage hole provided in the side wall of the core tank 26, and the inclination, depth, hole diameter,
The shape of the chamfered portion 29 and the like are objects of detection.

The configuration of the shape detection mechanism 1 will be explained in more detail with reference to FIGS. 5 to 7.

That is, FIGS. 5 to 7 are a front view, a side view, and a rear view of the shape detection mechanism 1, and 30 in the figure is the self-propelled trolley 2.
This is a housing fixed to the central lower surface of 0. The housing 3θ includes a waterproof differential transformer 3 as a contact angle detection mechanism, an air cylinder 32, and coaxial gears 33 and 34.
, another gear 35 that meshes with the gear 34, a position adjustment screw 36, etc. are attached to the shaft 37 of the gear 35, and several contacts 38 each having an arcuate tip end are provided. A rack 39 that meshes with the spun gear 33 is provided so as to move up and down along the guide rod 4θ. The iron core 41 of the differential transformer 31 is attached to the rack 39.
The differential transformer 31 is configured to output an electric signal (voltage) depending on the position of the iron core 4.

Several contact plates 42 are provided on the shaft 35, and a pressing piece 44 is attached to the movable rod 43 of the air cylinder 32. Further, the above-mentioned underside 39it spring 45 always urges upward. The gears 33, 34, and 35 are also biased by the spring 45 in the directions of the arrows in FIG. limited by
Contact-738 is connected to the housing 3 as shown in FIG.
It is designed to be elastically held at a position of 4 where it protrudes above 0. Note that when the air cylinder 32 is operated, the pressing piece 44 attached to the flexible rod 43 presses against the contact plate 4.
2, rotate the contactor 38 in the counter-biasing direction at position 1 shown by the two-dot chain line in the sixth section.

Furthermore, a detector member 4 is provided on the front surface of the housing 3θ.
A pair of upper and lower position detectors 47 and 48 are attached via 6. Note that these detectors 47 and 48 are connected to the contactor 3.
It is 1 hour above and below 8.

Here, if the contact 38 is rotated downward by a certain finger with reference to the solid line position in FIG. 6, then the rotation 4
Kasaku is in the audience car 35, 34, . 3:3 is transmitted to the hollow 39, and the iron core 41 is lowered together with this rack 39, and the output of the differential transformer 3 is changed, so that the output of the contactor 38 is You can know the movement. Further, the initial position of the contactor 38 can be adjusted by the position adjustment screw 36.

Detection of the shape of the flow passage hole 28 by the surface shape detection device configured as described above is performed in the following procedure.

First, as shown in FIG. 10, FIG. 12, or FIG. 14, the angle between the line OA (length) connecting the rotation center 0 and the tip A of the contactor 38 and the horizontal reference line OX That is, the inclination angle α of the contactor 38 is determined in advance. Further, if necessary, the position adjustment screw 36 is used to adjust the position so that α=0.

Next, the air cylinder 32 is operated to rotate the contactor 38 downward (see Fig. 6), and the traveling carriage 2θ is moved between the reactor core tank 26 and the heat shield 27 in the nuclear reactor plant as shown in Fig. 4.
and the rotating arm 24 is rotated outward to hold the traveling carriage 20 in the gap.

In this state, operate the forward and backward movement mechanism 2, and while checking the height position of the self-propelled trolley 20 by looking at the movement indicator 7, operate the forward and backward movement mechanism 2. Then, as shown in FIG. 8, after aligning the base j' of the flow path hole 28 with the base j' and the leg OX at the center point, the air cylinder 32 is actuated to close the contact 38.
f: Housing 30J) Protrudes to the front position. , Here, the IT probe 38 is set at the center of the channel hole 28.

Based on the position of the self-propelled trolley 20 at this time, the self-propelled trolley 2
0 upward #@! , 1, the tip of the contactor 38 comes into contact with the inner surface of the channel hole 28. When the self-propelled cart 20 is further moved upward, the contact 38 rotates downward and moves along the inner surface of the channel hole 28 by its υr1.
After moving in the 0 part direction, it moves to the chamfered υ part 29, and then moves upward along the surface of the core barrel 26. Therefore, the amount of movement of the self-propelled trolley 20 and the contactor 3 at this time are
The flow, the shape of the passage hole 28 and the chamfered portion 29, etc. can be detected from the relationship with the angle of inclination of 8. For example, the shape of the chamfered portion 29 is determined by the following calculation.

1) -1 When the contactor 38 is set to the inclination angle α=0 as shown in FIG.
The inclination angle of the contactor 38 is constant (α).

When the self-propelled cart 20 further rises and the tip A of the contact 38 reaches the boundary A' between the inner surface of the channel hole 28 and the chamfered part 29, and the rotation center O of the contact 38 reaches 0'. contact 38
If the rotation angle of is θl, then from Fig. 8, B=Lhiθ+(Lb)...
) The tip A of the trench contact 38 is connected to the chamfered portion 29 and the core barrel 26.
When the inclination angle of the contactor 38 is 02 when the contactor 38 reaches the boundary AI with the surface of
-...(3) Therefore, the chamfer angle β of the chamfered portion 29 is β-koma, -+ I).The formula (2) is BL(house θl-fusa θ2)...・
It can be transformed as (5).

Therefore, the combination of the inclination angle θ of the contactor 38 and the upward movement 5-H of the self-propelled cart 20 is expressed in a graph as shown in FIG. Therefore, θ1.

θ2. By checking ΔH, equations (4) and (5
), B and β can be determined from the relationship.

11) Next, the contact 38 is tilted upward at an angle α as shown in FIG.
If the set is tilted by
β can be found. That is, B=L(fish(θ1
-α) - House (θ2-α)) ...(5)' And the inclination angle θ of the contactor 38 and the upward movement of the self-propelled trolley by 2° @
Since the relationship with the quantity H is as shown in FIG. 11, θ1. θ2
．． Detect ΔH, and from equations (4)' and (5)', B, β
can be found.

111) Next, when the contactor 38 is set to be tilted downward by an angle α as shown in FIG.

In this case, the correction angle may be set to +α. That is, B = L (cos(θ1+α)−cDS(θ2+α
)...(5) And the relationship between θ and H in this case is as shown in FIG.

Iv) When the contactor 38 is set upward at an angle α as shown in FIG. 14, and the flow passage hole 29 is also inclined at an angle γ; From FIG. 14, the following equation can be obtained.

H〃-(L(1-cosθ2)B)-γ...
...(6) Also, B and β are the same as in 11).

The relationship between θ and H is as shown in FIG.

As described below, according to the surface shape detection device of the present invention,
The surface shape can be detected by remote control by moving a self-propelled trolley inside the gap where the part to be measured is located. The shape of the object surface can be detected safely and easily, and the desired effect can be achieved.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, and Fig. 1 is a schematic diagram of the surface shape detection device, Fig. 2 is a block diagram of the arithmetic circuit, and Fig. 3 is a partially cutaway diagram of the self-propelled cart. FIG. 4 is a plan view showing the state in which the self-propelled cart is held between the reactor core tank and the heat shield, and FIGS. 5 to 7 are the front view, side view, and rear view of the shape detection mechanism, respectively. 8, 10, 12, and 14 are explanatory diagrams showing the principle of shape detection under different conditions, respectively.
Figure 5 shows the inclination angle of the contact under different conditions (
θ) and upward movement of the self-propelled cart −#(H). FIG. 1... Shape detection mechanism, 2... Angle detection mechanism, 3...
Moving edge detection mechanism, 20... Self-propelled trolley, 21... Forward and backward movement mechanism, 26... Core barrel, 27... Heat shielding body,
28... Channel hole, 29... Chamfered p part, 3I... Waterproof differential transformer, 38... Contactor. Three sub-agents: Patent Attorney Suzue Takehiko No. 1
Diagram 2nd question

Claims (1)

[Claims] Object comrade V (device F for detecting the surface shape of an object facing a narrow gap, including a self-propelled trolley running in the gap and angle detection for detecting the tilt angle of this trolley, 13 yen a moving chamber detector 1 for detecting the amount of movement of the trolley; a forward/reverse movement mechanism attached to the trolley that moves the trolley back and forth within the gap; 1. A surface shape detection device comprising: a contact that is brought into contact with the surface; and a contact angle detection mechanism that detects an inclination angle of the contact.