JPS6015556A - Track for container monitoring or inspecting apparatus - Google Patents

Abstract

PURPOSE:To make it possible to absorb a moving amount due to thermal expansion by the rotation of a connection rod by escaping thermal expansion to the radius direction of a track in a circumferential direction into a continuous ring form while supporting the same by three or more of connection rods. CONSTITUTION:A track 5 and a container 7 are connected by a plurality of connection rods 18 each having pins 19, 20 provided to both ends thereof. Both end pins 19, 20 are at right angles to the surface containing the track 5 and each connection rod 18 is attached in a freely rotatable manner within the plane passing the center of the track 5. When the track 5 reaches a position shown by the numeral 5' by thermal expansion, each connection rod 18 is rotated around the pin 20 to reach a position shown by the numeral 18' and absorbs the thermal expansion of the track 5. If the track 5 has sufficient rigidity in a constant atmospheric temp. and supported by three or more of the connection rods 18, the track 5 is held without being moved by the restriction of the connection rods each forming a direction different from external force even if any external force is applied. In addition, the center of the track is kept same and high reproducibility, safety, reliability and soundness are obtained.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention provides a container that travels in a circumferential manner along the bath contact part of the container,
It relates to traveling equipment for monitoring or inspection, and in particular to a permanently installed circumferential track for guiding the traveling equipment.

[Background of the invention]

Conventional orbits (circumferential direction) are shown in FIGS. 1A and 2.

In FIG. 1, a track 1 is divided and supported from a γ shield 30 by brackets 4. Further, the drive device to be inspected is attached to the track 1 by an inspector through the γ shield opening 31.

Fig. 2 is a developed view of 101 tracks, which are fixed at the fixed point 2 at the tip of the bracket 4 near the center, supported on both sides by the slider 3 at the tip of the bracket 4, and movable in the longitudinal direction a of the track. I'm getting angry. Tsumashi, orbit 1
When the installed atmosphere changes drastically, the thermal expansion of the track 1 is absorbed by the slider 3. However, this mechanism suffers from stiffness due to repeated linear movements, making it difficult to ensure smooth movement for a long period of time.

In addition, there are always problems such as difficulty in securing the track 1, which makes it difficult to obtain sufficient reliability.In addition, in order to ensure the thermal expansion allowance for the track 1, it is necessary to provide a certain cut or gap between the tracks 1. be.

Assuming that the orbit is used for a 1300 MWe class ABWR, type reactor pressure vessel, the temperature change is 20C to aooc, the orbit material is austenitic stainless steel, and the thermal expansion of the placket 4 is that the 01 orbit is divided into two in the circumferential direction, each The following is obtained by calculating the interval between the breaks in trajectory 1 (two places).

17.6XlO-'ia/m(:'X12300x2
It is necessary to secure a cut in the 80C 61 interlock track l at least 61 points, and it is difficult for the inspection drive device to run near this cut, so it must be cut all the way around the circumference. There was a problem that made it impossible to drive.

In the future, large vessels such as nuclear reactor pressure vessels will become integrally forged (the cylindrical body of the vessel will be manufactured by stacking ring-shaped blocks that are integrally forged), and if vertical weld lines are eliminated, welding will be required. For line inspection, only the orbit in the circumferential direction is required.

Furthermore, in terms of the shape of the reactor pressure vessel, from the viewpoint of preventing loss of cooling water in the event of pipe rupture, particularly large-diameter nozzles tend to be installed above the reactor pressure vessel. There is a possibility that there will not be enough space to suspend the circumferential direction track of the tab from above using a vertical track or support.

[Purpose of the invention]

An object of the present invention is to provide a track that can reliably inspect a circumferential weld edge using only a circumferential track and that can be installed safely, reliably, and accurately.

In addition, by supporting this track from the container, it will be easier to carry out PHI (pre-service calibration) at the factory, and the construction work process at the site can be greatly reduced.

[Summary of the invention]

In contrast to the conventional split circumferential track that absorbs thermal expansion using a circumferential slide method, the present invention uses a continuous ring-shaped circumferential track and three or more single links (, four contact rods). )
By supporting the connecting rod, the thermal expansion is released in the circumferential direction and the orbital radial direction, and the movement due to the thermal expansion is absorbed by the rotation of the connecting rod.

The above-mentioned mechanism reduces the play in the raceway, absorbs thermal expansion and contraction stably for a long period of time, maintains rigidity against dynamic external forces under any condition, and allows the ambient air temperature to return to its original level after a force of λ. This is designed to provide reproducibility in that the orbit returns to its original position if the

[Embodiments of the invention]

Hereinafter, a simple embodiment of the present invention will be explained with reference to FIGS. 3 to 9.

This example is an example in which the present invention is applied to an ultrasonic flaw detection device for a circumferential weld of a reactor pressure vessel body.

In FIG. 3, the track 5 is supported by a support portion 6 along a welded portion 11 around the container 70. There are three or more supporting parts 6, which are attached at equal intervals in the circumferential direction of the container surface.

The track 5 is permanently installed between the container 7 and the gamma shield 30, and the inspection drive is provided to the inspector through the gamma shield opening 31.
It is attached to track 5 from.

In FIG. 4, when the orbit 5 is viewed from above, the orbit 5 and the container 7 are
The support section 6 that connects the two will be explained. The support 6 is a connecting rod 8 with pins 9.10 at both ends. Both ends of the plurality of connecting rods 8 are rotatable relative to a plane including the track 5, and one end 9 is fixed to the track and the other end 10 is fixed to the container 7.

All the connecting rods 8 have the same length and are mounted at an angle of θ in a constant direction with respect to the radial direction of the raceway 5.

FIG. 5 is a bird's eye view of the vicinity of the support portion 6.

A connecting rod 8 connects the track 5 and the container 7 by means of pins 9, 10 at both ends. Further, the connecting rod 8 is free to rotate within a plane including the orbit 5, and has great resistance in a direction perpendicular to the plane of rotation.

The track 5 has a rank 12, and when an inspector approaches through the opening of the γ shield 30 and installs an inspection drive device (not shown here), the drive device's pinion engages with the rack 12. It travels on the orbit due to the rotation of the binion.

Details of the connecting rod 8 are shown in FIGS. 6 and 7. FIG. 6 is a plan view, and FIG. 7 is a side view.

The connecting rod 8 has holes at both ends and is attached to the pin 9 in the jib block 32.33.
, 10. Blocks 32 and 33 are respectively on track 5. Block 33 is welded to container 7.
is not directly welded to the container 7, but is welded onto the overlay 34 built up on the surface of the container 7.

Furthermore, metal bushings 35 and 35' are included in the contact areas between the connecting rod 8 and the bottles 9 and 10, so that smooth rotation of the connecting rod can be obtained over a long period of time.

Figure 8 shows the principle of orbital thermal expansion absorber A4.

The track 5 and the container 7 are connected by a connecting rod 8 at a shear pin 9.10. When the track 5 thermally expands 5', the connecting rod 8 moves into the bin 1.
It rotates around 0 and becomes 8'. When returning, the opposite is true, and the center of the orbit 5.5' remains constant.

Even if some external force is applied to orbits 5 and 5' in a certain atmosphere at 4 degrees, orbit 5.5' has a rigidity equal to that of light and 3
If it is supported by more than one connecting rod 8, 8', it will not move and will maintain its position.

Each of the connecting rods 8 is rotatable independently, but when connected to the container 7
．． When connected to the track 5, the entire system becomes rigid.

It should be noted that all the connecting rods 8 are preliminarily inclined at a predetermined angle in the same direction with respect to the radial direction in order to match the moving directions during thermal expansion. Further, even during thermal expansion, if the direction of the connecting rod 8 does not reach the radial direction, an arbitrary angle can be accommodated within the plane of rotation in the bottle connection.

The present orbit will be examined under the same conditions as the thermal expansion of the orbit discussed in the prior art section.

Diameter of orbit 5: 7830mm Xm degree change; 201:
' ~ 300C, material of raceway 5: austenitic stainless steel, radius of rotation of connecting rod 8: 400mm, when setting inclination θ of connecting rod 8 at 20C is 60', aoot'
When heated to , the inclination θ' of the connecting rod 8 is approximately 57°;
θ−θ′ is about 3°.

') Better yet, the slide method required a slide of 30 wm, but with this method, the thermal expansion of the track can be absorbed by only rotating the connecting rod approximately 30 times.

Here, since the track 5 is supported by the container 7, it is impossible for the drive device to run through the gap between the track 5 and the container 7, but there is no problem if a drive device as shown in Fig. 87 is used. .

In FIG. 9, the track 5 is connected to the container 7 via a support 6 along a weld 11. A rank 12 is provided on the track 5, and a drive device 14 is attached to the track 5 from the side opposite to the container 7, and travels in the track direction by rotation of a pinion meshing with the rack 12.

The drive device 14 includes a flaw detection arm 15 that is orthogonal to the welded part 11.
The next day, the probe 15 will be scanned back and forth. The distance between the welding part 11 and the orbit 50 is set so that the ultrasonic beam 17 transmitted and received from the probe 16 can sufficiently cover the inspection range of the welding part 11.

[Application examples of the invention]

An example of application of the present invention will be explained with reference to FIGS. 10 and 11.

The track 5 and the container 7 are connected in a plurality of articulations 14118 with bins 19.20 at both ends.

Here, the connecting rod 18 is mounted such that both ends 19, 20 are perpendicular to the plane containing the track 5 and rotated within a plane passing through the center of the track.

When the track 5 thermally expands to 5', the connecting rod 18 rotates around the pin 20 and absorbs the thermal expansion of the track 5 to 18'.

Furthermore, if the raceway 5 has sufficient rigidity at a constant ambient temperature and is supported by three or more connecting rods 18, even if some external force is applied, the restriction of the connecting rods in a direction different from that of the external force will cause the track 5 to have sufficient rigidity. The orbit is maintained without movement. Furthermore, when the ambient temperature returns, the orbit returns to its original state. Furthermore, the center of the trajectory is kept the same, resulting in high reproducibility and safety, similar to the invention described above.

Reliability and soundness can be obtained.

Another application example will be explained with reference to FIGS. 12 and 13.

In the embodiment of the invention described above, the track 5 was fixed to the container 7 via the support part 6, but as shown in FIG.
A structure that can maintain a constant positional relationship with (for example, r7-
It is also possible to fix it to

In FIG. 12, the track 5 is supported by a plurality of connecting rods 8. In FIG. The connecting rod 8 has both ends free to rotate 9 parallel to the plane containing the raceway, one end 9 facing the raceway 5 and the other end 10 facing γ.
It is attached to a bracket 36 fixed to the shield 30.

FIG. 13 shows details of the connecting rod 8.

Both ends of the connecting rod 8 are connected to brackets 3 fixed to the raceway 5 and r-shield 30 by the pin 9° 10 for the above-mentioned rotational movement.
It is combined with 6.

Still other application examples are shown in FIGS. 14 and 15.

The first example of application of the invention described above (FIG. 10).

11), the track 5 was fixed to the container 7 by a connecting rod 18 having pins 19, 20 at both ends, but the positional relationship with the container 7 is as shown in FIG. It is also possible to fix it to a structure (for example, a γ shield) that can maintain a constant value.

In FIG. 14, the track 5 is supported by a plurality of connecting rods 18. The connecting rod 18 has both ends 19° and 20 perpendicular to the plane containing the track 5 and is free to rotate in a plane passing through the center of the track.One end 19 is fixed to the track 5 and the other end 20 is fixed to the r shield 30. It is attached to a bracket 36.

FIG. 15 shows details of the connecting rod 18.

Both ends of the connecting rod 18 are fitted with pins 19.2 for said rotational movement.
It is connected to a bracket 36 fixed to the υ orbit 5 and the r shield 30 by 0.

[Brief explanation of drawings]

Fig. 1 is a bird's eye view of a conventional trajectory (circumferential direction), Fig. 2 is a developed view of a conventional trajectory (circumferential direction), Fig. 3 is a bird's eye diagram of a trajectory according to the present invention, and Fig. 4 is a bird's eye diagram of a conventional trajectory (circumferential direction). FIG. 5 is a plan view of the present invention, and FIG.
The figure is a detailed plan view of the support part in the present invention, Figure 7 is a detailed side view of the support part in the present invention, Figure 8 is an explanatory diagram of the principle of the thermal expansion absorption mechanism of the track in the present invention, and Figure 9 is the present invention. Fig. 10 is a plan view of the track in application example (1), Fig. 11 is a detailed view of the support part in application example (1), and Fig. 12 is a schematic diagram of the track in application example (2). A plan view, FIG. 13 is a detailed view of the support part in application example (2), and FIG. 14 is a plan view of the track in application example (3).
FIG. 15 is a detailed view of the support part in application example (3). l...Trajectory, 2...Fixed point, 3...Slider, 4
... Bracket, a... Track movement direction, 5... Track, 6... Support part, 7... Container, 8... Connecting rod,
9... Rotating bottle, 10... Rotating bottle, 11... Welding part, θ... Connecting rod tilted, 12... Rack,
30...r7-rule, 31...r shield opening,
32...Block, 33...Block, 34...
Overlay, 35.35'...Metal bushing, 5/...
・Trajectory during thermal expansion, 8'...Connecting rod during thermal expansion, θ'...
・Connecting rod tilts during thermal expansion, 14... Drive device It
115...Flaw detection arm, 16...Probe, 17...
・Ultrasonic beam, 18...Connecting rod, 19...Rotating bottle, 1 (embedding near t' burial ff1J Lunjing University 1 enlargement 20 "30th 40th 5th (2) Fig. 7 Goose 80 Mice IO's 11th Mouth Basket 12 Mouth Basket 13 (21th 14th (2) No. 75121

Claims (1)

[Scope of Claims] 1. A circular track that runs in a circumferential manner along a welded part of a container, etc., and guides a traveling device that performs monitoring or inspection, with three or more tracks spaced at predetermined intervals. 9. A track for a container monitoring or inspection device, characterized in that it is coupled to a connecting rod, a container, or a support such as an r-shield. 2. A track for a container monitoring or inspection device as claimed in claim 1, characterized in that the lengths of the connecting rods are the same. 3. In the orbit described in claim 1, the rotation direction of the connecting rod is restricted to be parallel to the plane formed by the circumferential orbit, or to a plane passing through the center of the circumferential orbit and perpendicular to the plane formed by the circumferential orbit. A track for a container monitoring or inspection device characterized by: