JPS5937072A - Eddy current flaw detecting robot - 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 an eddy current flaw detection robot applied to flaw detection work on heat exchanger tubes and the like.

Currently, various robots have been developed for flaw detection equipment for heat exchanger tubes, and the equipment shown in Figure 1 is one example.
It is mainly used to inspect steam generator heat exchanger tubes. This conventional device is entirely driven by an air cylinder, and an X-axis 21. A clamp 24 equipped with a gripper 23 inserted into the heat exchanger tube at the end of the Y-axis 22
1 to 244 are attached, and can be attached to or removed from the heat exchanger tube by opening and closing the gripper 23. , the X-axis 21 and the Y-axis 22 are the cylinder 251-2.
It can be moved by moving 52,
At this time, by moving the cylinder 258 vi up and down, one of the X axis 21 or the Y axis 22 is lowered, and the gripper 23
The heat exchanger tube can be held in a pulled out state.

The flaw detection device having such a structure moves along the heat transfer tube, but not all of the heat transfer tubes are in good condition, and where there are problems, the heat transfer tube is plugged, so the gripper 23 If the gripper 23 does not fit into the inner diameter of the heat transfer tube and cannot be installed, the next operation cannot be performed, and the drive is directly connected, so if it is lifted at a place where there is a plug, the tip of the gripper 23 will collide, causing the robot body to fall. There are problems such as changing the power of trying to do something.

The present invention solves such problems and is configured so that inspection work can be performed even on heat exchanger tubes with plugs installed at defective locations, thereby shortening the inspection work process, reducing exposure to radiation, and reducing maintenance costs. This is an eddy current flaw detection robot aimed at An X-clamp cylinder mounting plate and a Y-clamp cylinder mounting plate are attached to a base plate provided with a groove so as to be slidable in the X-axis direction and the Y-axis direction via guide rollers, and the front gcX
Below the clamp cylinder mounting plate and the Y clamp cylinder mounting plate, two clamp cylinders that move in the first movement groove are installed in each of the sliding grooves, and the upper end of the clamp cylinder is moved vertically by its operation. A clamp is provided in a protruding manner, and a claw in the upper end of the clamp is opened and closed via a buffer mechanism in the clamp cylinder, thereby clamping the pipe into the heat exchanger tube.

Unclamping is a sign of 't%.

Hereinafter, the eddy current flaw detection robot according to the present invention will be explained in detail based on an actual example shown in FIGS. 2 and 3.

FIG. 2 is a schematic configuration diagram showing an embodiment of the eddy current flaw detection robot according to the present invention. The base plate 1 has sliding grooves lx in the X1l11 direction and the Y-axis direction.

1y are formed independently and in two parallel rows. Each sliding groove 1x, ly of the base plate l has an X clamp cylinder mounting plate 2x and an X clamp cylinder mounting plate 2.
a guide roller 3x with X provided at each side end;
Vertical movement via 3yk! I1. ! 1 and allows smooth sliding in the X and Y directions. Further, on the lower surfaces of the X clamp cylinder mounting plate 2x and the Y clamp cylinder 2y, clamp cylinders 4X and 4y, which are located below the base plate 1 and move within the sliding grooves IX and ly, are installed in the respective sliding grooves IX and 14. Two of them are attached at a time, and the upper ends of the clamp cylinders 4X and 4y are equipped with a Z
Clamps 5x and 5y that move up and down in the direction are provided in a protruding manner above the X-clamp cylinder mounting plate 2X and the X-clamp cylinder mounting plate 2X. Four clamps 5x and 5y are provided in each clamp cylinder 4X and 4y, and the corresponding clamp cylinders 4X and 4y operate in the downward Z direction via a buffer mechanism provided inside them. Alternatively, the heat exchanger tubes can be clamped and unclamped by opening and closing claws (not shown) in the clamps 5x and 5y.

In addition, the X clamp cylinder mounting plate 2X and the X clamp cylinder mounting plate 2X with clamp cylinders 5X and 5yk attached are the same as those for air cylinders 6X' and 6y, respectively.
It is configured to be able to move in the Y direction.

When using the eddy current flaw detection robot configured in this way, first, move in the X direction using the air cylinder 6x.
The movement in the Y direction is performed by the air cylinder 6y, and at this time the X or Y clamp 5x or 5y is used.
These operations are carried out by the crank cylinders p-4x and 4y, since one must be clamped to the heat exchanger tube and the other must be pulled out from the heat exchanger tube. This is air cylinder 6X, 5y and clamp cylinder 4x, 4
This is accomplished by freely moving the robot body by operating the y operations in the correct order.

Figure 3 shows several normal conditions (A) where there is no stopper 8 in the heat exchanger tube 7.
and (b) are shown with the stopper 8 and the buffer device in operation. In FIG. 3, A, ~A are air inlets and outlets, S, #82 is a cylinder, 9 is a shaft for opening and closing the piston and the claws 10 of the clamps 5X and 5y, and the claws 10
In some cases, the heat exchanger tubes 7 are injured by opening and closing. In the state shown in FIG. 3(a), when air is supplied to the air inlet A3, the cylinder S is lowered and a gap d is created between the cylinders S1 and 82. Therefore, the force of the spring inside the cylinder S causes the cylinder S2. Piston 9. Claw 10 rises,
If there is no plug 8 inside the heat exchanger tube 7, just attach the clamp 5 at the tip.
X or 5y is inserted by a distance of gap d. Also, air is supplied to the air inlet A1, and the cylinder S2. Piston 9. The claw 10# is held so as not to fall. Furthermore, when air is exhausted from the air inlet A3 and air is supplied to the air inlet A4, the piston 9 descends and the claw lO opens.

In this way, the flaw detection device is attached to the heat exchanger tube 7. If there is a stopper 8 in the cylinder S2, the cylinder S2 will stop in the lowered state, and the force that causes the robot to completely fall will not act anywhere, and the force t of the cylinder S2 will stop at the cylinder S2. Only the force that lifts the piston 9 and pawl 10 acts.

As described above in detail with reference to the actual example shown in the drawings, the X-direction and Y-direction drive mechanisms of the vortex TL flow deep injury robot according to the present invention have a structure in which they operate independently. The mechanism is simplified, and handling and maintenance are easy.

In addition, since there are 8 clamps in total, 4 in the X direction and 4 in the Y direction, there is a strong risk of hanging from the heat exchanger tubes. Because of this, it is easy to move to a location where there is a stopper, and the robot body is unlikely to fall even if the cylinder is raised at a location where there is a stopper. Furthermore, according to the present invention, there are advantages such as fewer robot failures, less impact on inspection work, less radiation exposure, and lower costs for maintenance.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a schematic configuration 4 of a conventional flaw detection robot, FIG. 2 is a perspective view showing a schematic structure of a flaw detection robot according to the present invention, and FIG. 3 is a perspective view showing the operation of the robot according to the present invention. It is a sectional view of the main part. In the drawing, 1llJ, base plate, 2x, 2y are clamp cylinder mounting plates, ax, ay are guide rollers, 4X, 4yid clamp cylinders, 5 x m5 y are clamps, 6x, 6y air cylinders, 7 heat exchanger tubes , 8 is a stopper, 9 is a shaft, and 10 is a claw. Patent applicant: Mitsubishi Heavy Industries, Ltd. Tawara, patent attorney: Shibu Mitsuishi (and one other person)

Claims (1)

[Claims] Base plate EX provided with sliding grooves that are independent in the X-axis direction and the Y-axis direction and are formed in two parallel rows, respectively.
A clamp cylinder mounting plate and a Y clamp cylinder mounting plate are mounted so as to be slidable in the X-axis direction and the Y-axis direction via guide rollers, and the clamp cylinder mounting plate and the Y-clamp cylinder mounting plate are slidably mounted below the X-clamp cylinder mounting plate and the Y-clamp cylinder mounting plate. Two clamp cylinders that move in the grooves are installed in each of the sliding grooves, and a clamp that moves up and down by the operation of the clamp cylinder is protruded from the upper end of the clamp cylinder, and the clamp cylinder moves through the buffer mechanism in the clamp cylinder. An eddy current flaw detection robot characterized in that it clamps and unclamps inside a heat transfer tube by opening and closing a claw in the upper end of the clamp.