JPS59182075A - Device for positioning and supporting working tool - Google Patents
Device for positioning and supporting working toolInfo
- Publication number
- JPS59182075A JPS59182075A JP58051615A JP5161583A JPS59182075A JP S59182075 A JPS59182075 A JP S59182075A JP 58051615 A JP58051615 A JP 58051615A JP 5161583 A JP5161583 A JP 5161583A JP S59182075 A JPS59182075 A JP S59182075A
- Authority
- JP
- Japan
- Prior art keywords
- column
- support frame
- positioning
- working tool
- turntable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は作業具の位置決め・支持装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning and supporting device for a working tool.
放射化された炉内構造物を水中において加工する場合、
作業具を炉内構造物の被加工位置へ遠隔操作により正確
に位１４決め・支持する必要がある。When processing activated reactor internals underwater,
It is necessary to accurately position and support the work tool to the location of the reactor internals to be machined by remote control.
本発明は前記要求を充足するもので、支持架台と、同支
持架台のレール上に旋回可能に設けられた回転テーブル
と、同回転テーブル上に水平方向への移動を可能に設け
られた水平移動台と、同水平移動台上に設けられたコラ
ム支持枠体と、同支持枠体上に旋回及び鉛直方向への移
動を可能に設けられた昇降コラムとを有し、同昇降コラ
ムの下端に作業具を取付可能にしたことを特徴とする作
業具の位置決め・支持装置に係り、その目的とする処は
、作業具を被加工物の加工位置へ遠隔操作により正確に
位置決め・支持できる作業具の位置決め・支持装置を供
する点にある。The present invention satisfies the above requirements, and includes a support pedestal, a rotary table rotatably provided on the rails of the support pedestal, and a horizontally movable rotary table provided on the rotary table so as to be movable in the horizontal direction. It has a platform, a column support frame provided on the horizontally movable platform, and an elevating column provided on the support frame so as to be able to turn and move in the vertical direction, and the lower end of the elevating column is A work tool positioning and supporting device is characterized in that a work tool can be attached to the work tool, and its purpose is to provide a work tool that can accurately position and support a work tool at a processing position of a workpiece by remote control. The purpose of this invention is to provide a positioning and supporting device for the following.
次に本発明の作業具の位置決め・支持装置を第１図乃至
第８図に示す一実施例により説明すると、第１．２．３
図において、（１）が支持架台で、同支持架台（１）は
、第１図の下方に示す炉内構造物（下部炉心構造物）（
Ａ）のフランジ面上に位置決め固定されて本装置全体の
重量を支持し、また装置上部の旋回部分のレールを構成
している。同支持架台（］）の上部には、ターンテーブ
ル支持架台（１）のレールを利用して自由に旋回できる
ターンテーブル本体（２）と、同ターンテーブル本体（
２）上のレールを利用して半径方向に自由に移動するこ
とのできる半径方向移動台（３）と、同半径方向移動台
（３）上のレールを利用してターンテーブル本体（２）
の接線方向（半径方向に対（−で直角方向）に自由に移
動することのできる接線方向移動台（４）と、同接線方
向移動台（４）上に固定されたコラム（５）と、コラム
微動昇降装置（６）と、コラム旋回駆動装置（７）と、
同コラム旋回駆動装置（力を支持固定しているコラム支
持架台（８）と、上記接線方向移動台（４）に固定され
且つワイヤ（９）を介してコラム（５）に連結されたコ
ラム（５）を昇降させるためのコラム昇降駆動装置（１
０）と、ワイヤ（９）のたるみ及び過負荷を防止するた
めのワイヤロープテンショナー（１）等の機械構成部品
と、コラム支持架台（８）上に設置されて上述の全ての
機器の操作及び加工装置（プラグ取付装置、穿孔装置）
の動作をコントロールするだめの制御装置σ乃とがある
。Next, the working tool positioning and supporting device of the present invention will be explained with reference to an embodiment shown in FIGS. 1 to 8.
In the figure, (1) is a support pedestal, and the support pedestal (1) is used for the reactor internal structure (lower core structure) (
It is positioned and fixed on the flange surface of A) to support the weight of the entire device, and also constitutes a rail for the rotating portion of the upper portion of the device. At the top of the support pedestal (), there is a turntable body (2) that can be freely rotated using the rails of the turntable support pedestal (1), and a turntable body (2) that can be freely rotated using the rails of the turntable support pedestal (1).
2) A radial movement table (3) that can be freely moved in the radial direction using the upper rail, and a turntable main body (2) using the rails on the radial movement table (3).
A tangential moving table (4) that can freely move in the tangential direction (radial direction (perpendicular direction with -)), and a column (5) fixed on the same tangential moving table (4), A column fine movement lifting device (6), a column turning drive device (7),
The column rotation drive device (column support pedestal (8) that supports and fixes the force, and the column (5) fixed to the tangential movement table (4) and connected to the column (5) via a wire (9) 5) Column lifting drive device (1) for lifting and lowering the
0), mechanical components such as wire rope tensioners (1) to prevent sagging and overloading of the wires (9), and mechanical components such as the wire rope tensioner (1) to prevent sagging and overloading of the wires (9), installed on the column support frame (8) to operate and operate all the above-mentioned equipment. Processing equipment (plug installation equipment, drilling equipment)
There is a control device σno that controls the operation of the robot.
上記各部の詳細な構成は次の通りである。ターンテーブ
ル支持架台（１）は、Ｆ部炉心構造物（支）のフランジ
面上にあげられている下部炉心構造物吊上げ用穴を利用
して、下部炉心構造物（Ａ）上に位置決め固定され、タ
ーンテーブル本体（Ｉ２）の旋回のためのレール及び駆
動用歯車をもっている。捷だターンテーブル本体（２）
は、ターンテーブル支持架台（１）のレール上に設置さ
れ、ターンテーブル支持架台（１）の歯車にかみ合った
ピニオンギヤを電動モータにより回転させて、ターンテ
ーブル支持架台（１）のレール上を車輪が転動すること
により全体が旋回できるようになっている。なお第４図
の０３）はターンテーブル支持架台（１）の歯車、ａ徂
まこれに噛合した歯車、α阻ま電動モータ、０６）はエ
ンコーダである。The detailed configuration of each of the above parts is as follows. The turntable support frame (1) is positioned and fixed on the lower core structure (A) using the hole for lifting the lower core structure raised on the flange surface of the F section core structure (support). , has a rail and a driving gear for turning the turntable main body (I2). Kashida turntable body (2)
is installed on the rail of the turntable support pedestal (1), and the pinion gear meshed with the gear of the turntable support pedestal (1) is rotated by an electric motor, so that the wheels run on the rail of the turntable support pedestal (1). The entire body can be rotated by rolling. In addition, 03) in FIG. 4 is a gear of the turntable support frame (1), a gear meshed with this, an electric motor 06), and an encoder.
なお同エンコーダ（１６）は回転数を検出して位置を測
定するもので、高精度の位置決めが行なえるようになっ
ている。また半径方向移動台（３）と接線方向移動台（
４）とは、第５図に示すように電動モータ（１７）を回
転させて、ボールねじ０８）を回転させ、半径方向移動
台（３）の下部に設けたボールねじナツト０９）を介し
て半径方向移動台（３）をボールねじ（１８）の軸線方
向に移動させるように、また電動モータ翰を回転させて
、ボールねじシ１）を回転させ、接線方向移動台（４）
下部に設けたボールねじナツト（２）を介して接線方向
移動台（４）をボールねじシυの軸線方向に移動させる
よ５ＶＣなっており、エンコーダ（２３）（２４）によ
って正確な位置検出を行ない、高精度の位置決めができ
るようになっている。なお（２５１（２６０がそれぞれ
の移動台用レールである。またコラム昇降駆動装置０■
及びコラム微動昇降装置（６）は、第６図に示すように
、２系統の昇降装置で、コラム昇降駆動装置σ０）のド
ラム罰を電動モータ弼により回転させる。The encoder (16) measures the position by detecting the number of rotations, and is designed to perform highly accurate positioning. Additionally, a radial moving table (3) and a tangential moving table (
4) means to rotate the electric motor (17) to rotate the ball screw 08) as shown in FIG. The radial moving table (3) is moved in the axial direction of the ball screw (18), and the electric motor is rotated to rotate the ball screw (1), and the tangential moving table (4) is moved.
The tangential moving table (4) is moved in the axial direction of the ball screw shaft υ via the ball screw nut (2) provided at the bottom with 5 VC, and the encoders (23) and (24) are used to accurately detect the position. This allows for highly accurate positioning. In addition, (251 (260) are the rails for each moving platform. Also, the column lifting drive device 0
As shown in FIG. 6, the column fine movement elevating device (6) is a two-system elevating device in which the drum of the column elevating drive device σ0) is rotated by an electric motor.
このとき、ワイヤ！２８）がシーブ（２９）（３０）を
介し繰出され（巻戻され）、コラム（３１）が下降しく
上昇し）、コラム（５）上端のフランジ部（３１α）が
スリーブ曽に当たる。これにより、ワイヤ（ハ）の引張
りカがなくなるため、ワイヤテンショナー（３３）のシ
ーズ（３４）が後方に移動し７、テンショナー（ハ）に
取付けたリミットスイッチＣ畑が作動して、ドラムｃ２
ηの回転が停止する。At this time, wire! 28) is paid out (unwound) through the sheaves (29) and (30), the column (31) descends and rises), and the flange portion (31α) at the upper end of the column (5) comes into contact with the sleeve. As a result, the tension force on the wire (c) is removed, so the sheath (34) of the wire tensioner (33) moves backward 7, and the limit switch C field attached to the tensioner (c) is activated, causing the drum c2
The rotation of η stops.
この状態ではじめてコラム微動昇降装置（６）の作動が
可能になり、コラム微動昇降装置（６）（Ｄ モー タ
（３Ｇ）を回転させ、ボールねじ（３ηを回転させて、
ボールねじナツト部（３８）を上下方向に移動させる。Only in this state can the column fine movement lifting device (6) be operated, rotating the column fine movement lifting device (6) (D motor (3G), rotating the ball screw (3η),
The ball screw nut portion (38) is moved in the vertical direction.
これにより、コラム（５）を上下方向に微動させること
が可能になる。つまり、コラム（５）の昇降を所定位ｆ
ｔｊではワイヤ例の駆動により高速で行ない５所定位置
から目的の位置まではボールねじ（３力の駆動により低
速で行なって高精度の昇降を可能にしている。This makes it possible to slightly move the column (5) in the vertical direction. In other words, the column (5) is raised and lowered to a predetermined position f.
In tj, the movement is performed at high speed by wire drive, and from the predetermined position to the target position is performed at low speed by ball screw (3 force drive), making it possible to move up and down with high precision.
０翅はエンコーダ、顛はガイド９である。またコラム支
持架台（８）は、前記接線方向移動台（４）上に取付け
た構造物で、コラム微動昇降装置（６）とコラム旋回駆
動装置（力と制御装置（１２）とを支持して、装置全体
の運転席として使用されるものである。また前記コラム
（５）は、中空の柱で、穿孔装置、プラグ取付は装置等
を下端に取付けられる構造になっており、内部には、穿
孔装置、プラグ取付装置を駆動するための空気及び水、
油の配管、及び電線をシールした状態で内蔵している。Wing 0 is the encoder, and wing 0 is the guide 9. The column support frame (8) is a structure attached to the tangential movement table (4), and supports the column fine movement lifting device (6) and the column rotation drive device (force and control device (12)). , is used as the driver's seat for the entire device.The column (5) is a hollow pillar, and has a structure in which a drilling device, a plug installation device, etc. can be attached to the bottom end, and the inside includes: Air and water for driving drilling equipment, plug fitting equipment,
The oil piping and electric wires are sealed and built-in.
また前記コラム旋回駆動装置（７）は、コラム支持架台
（１）により支持されたコラムの旋回機構で、第７図に
示すように、コラム（５）の上下動に対する保持は、す
でに述べたようにコラム微動昇降装置（６）及びコラム
昇降駆動装置００）によって行ｔ、ｃわれでいるため、
その外の動作、つまり旋回を行なう。即ち、コラム（５
）にっけられたキー溝（４）を介して本旋回駆動装置は
コラム（５）に接続されており、コラム（５）の上下動
とは関係なくス！ｊ −フ（４２）の外側に取付けたウ
オームホイール（１３）をモータ（４４）により回転さ
せて、コラム（５）を自由に旋回させ、且つ、エンコー
ダ（４９により旋回角度を検出できるようになっている
。なお（４６）はウオーム、（４７）はキーである。ま
た制御装置０りは、前記装置各部の動作を制御するもの
である。The column rotation drive device (7) is a rotation mechanism for a column supported by a column support frame (1), and as shown in FIG. 7, the column (5) is held against vertical movement as described above. Because the rows t and c are separated by the column fine movement lifting device (6) and the column lifting/lowering drive device 00),
Perform other movements, namely turning. That is, column (5
) This swing drive device is connected to the column (5) via a keyway (4) fitted in the column (5), and the swing drive device is connected to the column (5) regardless of the vertical movement of the column (5). The worm wheel (13) attached to the outside of the j-f (42) is rotated by the motor (44) to freely rotate the column (5), and the rotation angle can be detected by the encoder (49). Note that (46) is a worm, and (47) is a key.Also, a control device 0 controls the operation of each part of the device.
次に前記作業具の位置決め・支持装置の作用を説明する
。（Ｄ水装置は、完全に組立てた状態でターンテーブル
支持架台（１）の部分を吊下げ、加工を実施する構造物
上に設置し、構造物の吊上げ用穴等を利用して、構造物
上に固定する。（ＩＩ）装置下部に取付けている作業足
場を利用して作業具（加工装置（プラグ取付装置あるい
は穿孔装置））をコラム（５）の下端に取付ける。（Ｉ
ｌｌ）作業具を構造物の加工実施位置へ誘導するために
、制御装置（１２１の設定値に基づいてターンテーブル
（２）と半径方向移動台（３）と接線方向移動台（４）
とをその順に動作させて、水平面に沿った位↑々決めを
行う。（ＩＶ）コラム昇降機構ｔｌＯｆ（６）を作動さ
せて５作業具を加工実施レベルまで下降させ、才だコラ
ム旋回駆動装置（力を作動させて、作業具を加工実施方
向に向ける。Next, the operation of the working tool positioning and supporting device will be explained. (The D-water device is completely assembled, and the turntable support pedestal (1) is suspended, installed on the structure where processing is to be carried out, and then lifted up the structure using the lifting hole etc. of the structure. (II) Attach the working tool (processing device (plug attachment device or drilling device)) to the lower end of the column (5) using the work scaffold attached to the bottom of the device. (I
ll) In order to guide the work tool to the processing position of the structure, a turntable (2), a radial moving table (3) and a tangential moving table (4) are used based on the setting values of the control device (121).
and are operated in that order to determine the position along the horizontal plane. (IV) Activate the column lifting mechanism tlOf(6) to lower the work tool 5 to the machining implementation level, and activate the column rotation drive device (force) to direct the work tool in the machining implementation direction.
（Ｖ）別に設置したテレビカメラ等を利用して加工実施
位置を確認しながら装置各部を微動させて。(V) Slightly move each part of the machine while checking the processing location using a separately installed television camera, etc.
作業具を加工実施位置に位置決めする。（■）コラム昇
降機構ｕｏ）（６）によりコラム（５）を引揚げだ状態
で。Position the work tool at the machining execution position. (■) Column (5) is raised by column lifting mechanism uo) (6).
半径方向移動台（３）を作動させて、第８図に示すよう
に被加工構造物（ＡＩの内面及び外面に対して作業具を
案内する。なお矢印（ａｌ（５ＭＣ１はコラム（５）の
動き、（ｄ、）は穿孔装置（被加工構造物（炉内構造物
）内面へのアプローチ）、ｆｇ）はプラグ取付装置ｆｔ
、 （＋ｍ加工物）外面へのアプローチ）である。The radial moving platform (3) is operated to guide the work tool against the inner and outer surfaces of the workpiece structure (AI) as shown in Figure 8. movement, (d,) is the drilling device (approach to the inner surface of the workpiece structure (furnace internal structure)), fg) is the plug installation device ft
, (+m workpiece) approach to the outer surface).
本発明の作業具の位置決め・支持装置は前記のように構
成されており、ターンテーブル（２）の旋回動作、半径
方向移動台（３）と接線方向移動台（４）の直交した水
平方向への動作、コラム昇降駆動装置（１０）（コラム
微動昇降装ｗ（６）を含む）の上下方向への動作、及び
コラム旋回装置（力による旋回動作により、コラム（５
）の下端に取付けた作業具を被加工構造物の任意の位置
へ案内できる。またコラム昇降駆動装置ａＯ）によるコ
ラム（５）の上下動と半径方向移動台（３）によるコラ
ム（５）の半径方向への移動とにより、被加工構造物の
内面及び外面に対して作業具を案内できる。つまり本発
明によれば、作業具を被加工物の加工位置へ遠隔操作に
より正確に位置決め・支持できる効果がある。The working tool positioning and supporting device of the present invention is configured as described above, and includes the turning operation of the turntable (2), the radial movement table (3) and the tangential movement table (4) in the orthogonal horizontal direction. , vertical movement of the column elevating drive device (10) (including column fine movement elevating device w (6)), and column rotating device (swivel operation by force).
) can be guided to any position on the workpiece structure. In addition, the vertical movement of the column (5) by the column lift drive device aO) and the radial movement of the column (5) by the radial moving table (3) cause the work tool to move against the inner and outer surfaces of the workpiece structure. I can guide you. That is, according to the present invention, there is an effect that the working tool can be accurately positioned and supported at the processing position of the workpiece by remote control.
以上本発明を実施例について説明したが、勿論本発明は
このような実施例にだけ局限されるものではなく、本発
明の精神を逸脱しない範囲内で種々の設計の改変を施し
うるものである。Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .
第１図は本発明に係る作業具の位置決め・支持装置の一
実施例を示す側面図、第２図は第１図矢印＋１方向から
みた平面図、第６図は第２図矢視ｍ−ｍ線に沿う横断平
面図、第４図は回転テーブルの斜視図、第５図は水平移
動台及びコラム支持枠体を示す斜視図、第６図はコラム
昇降機構を示す（１１１ｊ面図、第７図はコラム旋回機
構を示す縦断側面図−第８図は作用説明図である。
（１）・・・支持架台、 （２）・・・回転テーブル、
（３）（４）・・・水平移動台、 （５）・・・昇降
コラム、 （８）・・・コラム支持枠体。
復代理人 弁理士 岡 本 重 文
外２名
第２図
第３図FIG. 1 is a side view showing an embodiment of the working tool positioning and supporting device according to the present invention, FIG. 2 is a plan view seen from the +1 direction of the arrow in FIG. 1, and FIG. FIG. 4 is a perspective view of the rotary table, FIG. 5 is a perspective view showing the horizontal moving table and column support frame, and FIG. 6 is a column elevation mechanism (111j side view, Figure 7 is a longitudinal side view showing the column turning mechanism, and Figure 8 is an explanatory diagram of its operation. (1)...Support frame, (2)...Rotary table,
(3) (4)...Horizontal moving table, (5)...Elevating column, (8)...Column support frame. Sub-Agent Patent Attorney Shige Okamoto 2 persons Figure 2 Figure 3
Claims (1)
れた回転テーブルと、同回転テーブル上に水平方向への
移動を可能に設けられた水平移動台と、同水平移動台り
に設げられたコラム支持枠体と、同支持枠体上に旋回及
び鉛直方向への移動を可能ｔ４：、設げられた昇降コラ
ムとを有し、同昇降コラムの下端に作業具を取付可能に
したことを特徴とする作業具の位置決め・支持装置。A support pedestal, a rotary table rotatably provided on the rails of the support pedestal, a horizontally movable table provided on the rotary table so as to be movable in the horizontal direction, and a rotary table provided on the same horizontally movable table to be movable in the horizontal direction. It has a column support frame provided on the support frame, and an elevating column provided on the support frame that can be rotated and moved in the vertical direction, and a work tool can be attached to the lower end of the elevating column. A working tool positioning and supporting device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58051615A JPS59182075A (en) | 1983-03-29 | 1983-03-29 | Device for positioning and supporting working tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58051615A JPS59182075A (en) | 1983-03-29 | 1983-03-29 | Device for positioning and supporting working tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59182075A true JPS59182075A (en) | 1984-10-16 |
| JPH0153756B2 JPH0153756B2 (en) | 1989-11-15 |
Family
ID=12891795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58051615A Granted JPS59182075A (en) | 1983-03-29 | 1983-03-29 | Device for positioning and supporting working tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59182075A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001349980A (en) * | 2000-06-07 | 2001-12-21 | Ishikawajima Harima Heavy Ind Co Ltd | Fixing device for machine for machining jet pump hole in reactor pressure vessel |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS499864A (en) * | 1972-05-26 | 1974-01-28 | ||
| JPS5050824U (en) * | 1973-09-08 | 1975-05-17 | ||
| JPS5312095A (en) * | 1976-07-19 | 1978-02-03 | Oki Electric Cable | Method of forming spiral cord |
-
1983
- 1983-03-29 JP JP58051615A patent/JPS59182075A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS499864A (en) * | 1972-05-26 | 1974-01-28 | ||
| JPS5050824U (en) * | 1973-09-08 | 1975-05-17 | ||
| JPS5312095A (en) * | 1976-07-19 | 1978-02-03 | Oki Electric Cable | Method of forming spiral cord |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001349980A (en) * | 2000-06-07 | 2001-12-21 | Ishikawajima Harima Heavy Ind Co Ltd | Fixing device for machine for machining jet pump hole in reactor pressure vessel |
| JP4534310B2 (en) * | 2000-06-07 | 2010-09-01 | 株式会社Ｉｈｉ | Fixing device for processing machine for jet pump hole of reactor pressure vessel |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0153756B2 (en) | 1989-11-15 |
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