JPS59216098A - Circumference profiling moving device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a circumferential movement device for making a cleaning brush or the like trace a circular trajectory using X-Y movement equipment.

For example, in order to clean the cylindrical wall surface of a nuclear reactor well, it is necessary to move the brush smoothly along the circumference. The present invention relates to a device to meet such needs, and an object of the present invention is to make a predetermined tool or the like draw a circular trajectory using so-called X-Y moving equipment.

The configuration for achieving the above objective is summarized as follows. That is, a rail is provided parallel to the circumference, a girder that runs on this rail, a truck that runs on this girder, and an arm that is extendable and rotatable in the circumferential direction is provided on this truck, The tip of the arm can be moved along the circumference by running the girder and the cart at a predetermined speed relationship, and the locus of movement of the tip of the arm is a regular quadrilateral or regular octagon with the apex forming an arc. It has the following characteristics.

A preferred embodiment of this configuration will be described below. The following example describes a cleaning brush moving device for cleaning cylindrical walls of nuclear reactor equipment.

FIG. 1 shows an invention entitled "Circumferential Tracing Transfer Device" by the same inventor as the present inventor (see Japanese Patent Application No. 58-18900), which is the basis of the present invention.

After this is briefly explained, the improvements of the present invention will be explained in detail. 1 is the cylindrical wall of the nuclear reactor equipment.

Reference numeral 2 denotes girder running rails, which are installed in parallel with the cylindrical wall 1 in between. A bogie 4 is placed on the girder 3 on a bogie running rail 5.
It is installed so as to be movable in a direction orthogonal to the girder running rail 2 along the girder running rail 2. 6 is a drive motor for the girder 3, and 7 is an operation panel.

8 is a truck motor. The carriage 4 has a holding shaft rotation motor 9
A holding shaft 11 is provided which is rotated and raised and lowered by a holding shaft lifting motor 10. A telescopic arm 12 is provided at a right angle to the lower end of the holding shaft 11, and a telescopic arm guide 13 and an air cylinder 1 are connected to each other.
4, it has a structure that expands and contracts according to the pressing force from the end.

The pressure of the air cylinder, which expands and contracts in response to this suppression, can be adjusted as desired.

A brush 16 rotated by a brush motor 15 is attached to the end of the extendable arm 12. Note that the plurality of drive units described above can be arbitrarily adjusted using the operation panel 7.

Now, with the above configuration, the movement of girder 3 and the carriage 4
The brush 16 attached to the tip of the telescopic arm 12 can be moved along the cylindrical wall l by the movement of the brush 16 and the expansion and contraction of the telescopic arm 12. That is, in FIG. 2, movement in the X-axis direction is carried out by the girder traveling motor 6, movement in the y-axis direction is carried out by the trolley motor 8, and during this time the telescoping arm 12 is extended and contracted by a maximum amount a in the X-axis direction and the y-axis direction. This allows the cylindrical wall 1 to be evenly cleaned. During this cleaning, the trolley 4 is A→
B-) While moving the square C→D-+A.

The arc AB, the arc BC1, the arc CD, and the circle fiDA are cleaned. At this time, the holding shaft 11 of the cart 4 is cleaned every time each arc surface is cleaned.
It is necessary to turn and orient the telescopic arm 12 attached to the lower part of the frame in a direction perpendicular to each side.

In the case of FIG. 3, the girder 3 and the truck 4 are moved at a predetermined speed relationship in the X-axis direction and the y-axis direction so that the truck 4 moves on a regular octagon. The arms 12 of the cart 4 are arranged on each side of the regular octagon.
Rotate it to face each side, and move from 0 to b in the direction it faces.
(maximum), the brush 16 at the tip of the arm 12 moves smoothly along the cylindrical wall 1.

Now, in the present invention, in such a tracing movement device, smoother movement is possible by making the movement locus of the tip of the telescoping arm 12 draw an arc before and after the apex of the rectangular or corner corner. be. Figure 4 is a diagram of the principle of the present invention, Figure 5
The figure shows details of the drive mechanism of the telescopic arm 12 that makes this principle possible. The trolley 4 travels on the rails 5 by a trolley travel motor 8. , 17 are sprockets fixed to the holding shaft 11, and are driven by the holding shaft rotation motor 9 via a chain 18. When the sprocket 17 rotates, the telescopic arm I2 rotates. An air cylinder 14 is attached to the telescopic arm 12, and the telescopic section having a brush 16 at its tip is extended and contracted.

The principle of the present invention for smoothly moving the brush 16 along the inner peripheral surface of a wall using the moving device configured as described above will be described below.

In FIG. 6, R is the radius of the wall surface, and r is the turning radius of the arm 12 extending from the truck on the girder to the wall surface.

The dotted line indicates the movement trajectory of the arm tip. (O is the center of the wall surface, O is the center of the swing arm of the bogie on the girder). In this case, A is the distance from the center of one side of the octagon to the wall surface, B is the distance that the extendable arm 12 exceeds one side of the octagon, and A-B is the distance required for the brush holding part at the end of the arm. This is the maximum stretch length. In this case, the position B is the point of contact between the circular arc of the apex corner and the straight line of the polygon.

The value of AB is calculated with reference to FIG. Just B=,
l f();), 31-CIJdρ-2r(-θdoorρ
=riθo(/-i) Ma...a certain tide.

becomes.

When the cart moves along a regular square, A − B =
R (1-5in45°) 2r(cos67.5j”
=0.2930-0.293r =0.293 (R-r) When the cart moves along a regular polygon A-B = R(1-sjn6fi)-2r(cos
78.75'5'=0.0761R-0,0761r=0.0761 (R-r) That is, in the case of a regular square, for example, if R=5m and r=2m, A-B ==0.293X3==0 .879m valve 8
It will be 8cm. Also, in the case of a regular octagon, the same <R=5m, r=
2 m, A - B = 0.0761 X 3 = 0.228
3m' 523cm.

In the case of a regular square, the maximum length of the extendable arms is 88cm, but in the case of a regular octagon, it is only 23cm. Therefore, it is more advantageous for the cart 4 to move along a regular octagon, since the expansion/contraction length is approximately 4.

As shown in Figure 2, the tips of the extendable arms are moved along the regular polygon, and the apex corners of the regular polygon are connected by arcs, so there are no discontinuities and the result is extremely smooth. This enables circumferential movement of brushes, etc.

[Brief explanation of drawings]

FIG. 1 is a plan view of a cylindrical wall cleaning device on which the present invention is based. Figure 2 is an example where the cart moves on a regular square. Figure 3 is an example of moving on a regular octagon. FIG. 4 is a diagram showing the principle of the present invention. FIG. 5 is a perspective view showing the drive mechanism of the telescopic arm. Figure 6 is an analysis diagram of expansion/contraction length. In the figure = 1 Cylindrical wall 2 Girder running rail 3 Girder 4 Bogie 5 Bogie running rail 6 Drive motor 7 Operation panel 8 Bogie motor 9 Holding shaft turning motor 10 Holding shaft lifting motor 11 Holding shaft
12 Telescopic arm 13 Telescopic arm guide 14
Air cylinder 15 Brush motor 16 Brush 17 Sprocket 18 Chain or more Applicant: Nuclear Power Agency Co., Ltd. (one other person) Representative, Isamu Ohashi, patent attorney Figure 1 67 Figure 4 y Figure 5

Claims (1)

[Claims] 1) A rail installed in parallel across a circumference, a girder running on the rail, a bogie running on the girder, and a rail attached to the bogie that expands and contracts toward the circumferential surface. In a tracing moving device that is equipped with a retractable arm and is capable of moving the tip of the arm along the circumference by running the girder and the cart on a polygon at a predetermined speed relationship, the movement trajectory of the tip of the arm is A circumferential tracing moving device characterized in that the apex portions draw circular arcs, and the circular arcs are regular polygons connected by straight lines tangent to these circular arcs. 2) The circumferential tracing movement device according to claim 1), wherein the regular polygon is a regular quadrangle or a regular octagon.