JPS60214253A - Device for submergence inspection - Google Patents

Abstract

PURPOSE:To make positioning of an inspecting device easy under water by pushing a submergence inspecting device onto the inner face of a container with a thrust of a propeller and running it on the inner face of a container. CONSTITUTION:An inspecting container 22 is positioned at the bottom of a cavity pit 23 and the periphery is surrounded by a concrete wall body 24. A submergence inspecting device 21 stops a cable 29 at specified winding-down position by a lifting winch 27. Then the submergence inspection device is moved to a desired direction with propellers 42 and 43 and pushed onto the inner face of the container 22 by a thrust of propellers. In this condition, a total direction wheel 48 is driven to travel on the inner face of the container 22. Thereafter the driving of the wheel 48 is stopped at a desired position (an optional position within a mobile range of a manipulater mechanism 46) and by driving the manipulater mechanism 46, a flaw detection is performed by placing a probe 47 at the predetermined detecting object position of the container 22.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an underwater inspection device used for detecting or repairing, for example, the wall surface of a nuclear reactor pressure vessel (hereinafter referred to as a vessel).

Conventionally, there is a flaw detection device shown in FIG. 1 that detects flaws on the wall surface of a container. This flaw detection device 1 is equipped with three support legs 5, each having a swing rail 4 disposed above, on a flange portion 3 formed on the upper part of a reactor pressure vessel 2, and A main column 7 that hangs down inside the container is attached to three pivot legs 6 provided so as to be freely pivotable, and a manipulator 10 that is movably attached to the main column 7 is attached.

The support legs 5 are each formed into a cylindrical shape, and are provided on the flange portion 3 while being guided by guide stud bolts 11. A support seat is provided at the lower end of the support leg 5, and this support seat is fixed to the guide stud bolt 11 to fix the support leg 5. Further, the turning rail 4 is joined to the support leg 5 via a spacer, and is arranged on the upper inner side of the flange portion 3.

This flaw detection device is recommended! 115..., by positioning the main column 7 using the rail 4 etc., the flaw detection member 9 is accurately positioned with respect to the weld line of the container 2, which is the ratio inspection part, and is mounted from the reference point of the container 2. Although it maintains direction, it requires a lot of labor and time to assemble, and in order to reduce radiation exposure to workers and increase work speed, it is required to be as small, simple, and lightweight as possible. However, it was not preferable in this respect either.

In order to solve this problem, a probe+i device equipped with a diving device is being considered. That is, a diving device main body that moves underwater by a propulsion mechanism is provided, and the diving device main body is provided with, for example, a probe and is moved underwater to perform flaw detection.

However, in the above configuration, the main body of the diving device is the container 2.
There was a problem in that it was difficult to control its position and attitude because it was not in contact with the water and was floating in the water.

The present invention has been made based on the above points, and an object of the present invention is to provide an underwater inspection device that allows easy control of the position and attitude of a diving device main body.

That is, the underwater inspection device according to the present invention is an underwater inspection device suspended from a lifting device installed above the water surface, which includes a main body of the underwater test device, and a vertical axis of the underwater test device provided at the upper end of the main body of the underwater test device. an upper transverse propulsion device that is rotatable around the vertical axis of the underwater inspection device body and is rotatably connected to a hanging member; a transverse propulsion device;
a pair of side transverse propulsors installed on both sides of the underwater inspection device main body; a manipulator mechanism provided on the underwater inspection device main body and equipped with a flaw detection device or a repair device at the tip;
This configuration includes a pressing mechanism attached to the underwater inspection device main body and a vertical movement mechanism attached to the underwater inspection device main body.

A first embodiment of the present invention will be described below with reference to FIGS. 2 to 6. FIG. 2 is a sectional view showing a state in which the inner wall of the container 22 is inspected for flaws by the underwater inspection device LL according to the first embodiment. The underwater inspection device 21 of this embodiment is configured such that its weight is greater than its buoyancy in water. The container 22 is located at the bottom of the cavity bit 23 and is surrounded by a wall 24 made of concrete. The flange portion 25 of the container 221 is sealed to the bottom of the cavity bit 23, and during work, the container 22 and the cavity bit 23 are filled with water to shield radiation.

A pedestal 26 is installed above the cavity pit 1-23, and on this pedestal 26, a wire [1-pull lifting hinge 27] and an oil control device 28 are installed. This control I device 28 is connected to the underwater inspection device L1 via a signal transmission J3 lined with a hanging wire A7 and a power cable 29. The lifting winch 27 interposed between the underwater inspection device L1 and the control device 28 winds up and lowers the cable 29, thereby moving the underwater inspection device U up and down in the vertical direction.

Further, a medical examination device 30 for position detection, which will be described later, is attached to the pedestal 26, and is configured to be able to exchange signals with the underwater inspection device L1 using sound waves, light, or the like. The lifting winch 27 is attached to a frame 26 as shown in FIG.
The frame 26 is movable in the direction shown by the arrow A in the figure via rails 31, 31 provided on the side of the cavity bit 23, and the pedestal 26 is movable in the direction shown by the arrow A in the figure.
2.32, it is movable in the direction shown by arrow B in the figure. That is, the lifting winch 27 is moved on a two-dimensional plane following the movement underwater during the underwater inspection.
The configuration is such that the underwater inspection device 21 is always suspended vertically from above to prevent the underwater inspection device 21 from tilting underwater.

The underwater inspection device L1 is constructed as shown in FIG. Reference numeral 41 in the figure indicates the main body of the underwater inspection device (hereinafter referred to as the main body). An upper transverse propulsion device 42 and a lower transverse propulsion device 43 are installed at the upper and lower ends of the main body 41, respectively. The configuration is such that the underwater inspection device L1 is moved to an arbitrary position on a horizontal plane by these horizontal propulsors 42 and 43.

Further, the transverse propellers 42 and 43 are rotatable about the center of gravity of the main body 41 (indicated by the a-a axis in the figure). A pair of side transverse thrusters 44, 44 (
(Only one unit is shown on one side in the figure) are installed on each side. The underwater inspection device 21 is rotated and its direction is appropriately changed by creating a difference in the thrust forces of these propellers 44, 44 or by generating thrusts in opposite directions. The propeller 42 is constructed as shown in FIG. That is, a cylindrical container 42G having a pair of rectifying plates 42A and 42B at both ends is rotatably attached to the main body 41, and a propeller 420 and a motor 42E are integrally housed within this cylindrical container 42C. Note that the propulsion device 43 also has a similar configuration. Further, the cable 29 is rotatably connected to the main body 41 via a slip ring 45, as shown in FIG. The propeller 44 is constructed as shown in FIG. That is, a propeller 44B is attached integrally with a motor 44C in a space m44A formed on the side of the main body 41. Further, a pair of rectifying plates 44D and 44E are installed at both ends of the space 44A.

A manipulator mechanism 46 having six degrees of freedom is attached to the lower part of the main body 41, and a probe 47 is attached to the tip of this manipulator mechanism 46. This probe 47 is configured to detect flaws on the inner wall of the container 22. When performing repair work, repair equipment is attached to the tip of the manipulator mechanism 46.

Omnidirectional wheels 48 as a pushing mechanism are located on the side (front side) on which the manipulator mechanism 46 of the main body 41 is attached.
is installed.

The omnidirectional wheels 48 are configured to be driven by a drive mechanism (not shown) housed in the main body 41, and the underwater inspection device L1 generates thrust by the propellers 42 and 43 to move the main body 41 toward the container 22. The container 22 is pressed against the inner surface of the container 22, and in this state, the container 22 is run on the inner surface of the container 22 via the omnidirectional wheels 48.

The operation will be explained based on the above configuration. First, the cable 29 is lowered by the lifting winch 27, and the underwater inspection device L1 is suspended in the water. Then, when the lifting winch 27 is suspended to a predetermined position, the driving of the lifting winch 27 is stopped. Note that the position at that time is detected by a position detector (not shown). Next, the propellers 42 and 43 move the underwater inspection device in a desired direction on a horizontal plane. At this time, when changing the direction of the underwater inspection device i, the underwater inspection device 21 is rotated by creating a difference in the thrust of the propellers 44, 44 or by generating a thrust in the opposite direction. Then, at the desired position, the underwater inspection device L is
1 onto the inner surface of the container 22. In this state, the omnidirectional wheels 48 are driven to run on the inner surface of the container 22. Thereafter, the drive of the omnidirectional wheel 48 is stopped at a desired position (any position within the movable range of the manipulator mechanism 46), and the lateral 46 of the manipulator 11 is driven to move the probe 47 to a predetermined target for flaw detection in the container 22. Perform flaw detection by placing it opposite the position.

As described above, according to this embodiment, the underwater inspection device 21 has omnidirectional wheels 48, and by pressing the underwater inspection device against the inner surface of the container 22 with the thrust of the propellers 42 and 43, the underwater inspection device 21 is moved through the omnidirectional wheels 48. Since the container 22 can be moved along the inner surface of the container 22, its positioning becomes extremely easy and there is no need to measure its position in real time, unlike the conventional state in which it floats in water. Further, the vertical position of the underwater inspection device L1 is controlled by a lifting winch 27 via a cable 29, which is easy to control and allows the lifting winch 27 to follow the underwater movement of the underwater inspection device 21. Since the underwater inspection device M21 is movable on a two-dimensional plane, it is possible to hang the underwater inspection device M21 vertically from above at all times, and it is possible to prevent the underwater inspection device L1 from tilting. . Roughly, the probe 47 is attached to the tip of the manipulator mechanism 46, which has six degrees of freedom, so even if a slight error occurs in the position control of the underwater inspection device itself, it will remain within the movable range of the manipulator mechanism 46. If so, this can be sufficiently absorbed by the manipulator mechanism 46, and the probe 47 can be reliably opposed to the predetermined position of the container 22 at a constant angle, making it possible to perform highly accurate flaw detection. Become.

Next, a second embodiment will be described with reference to FIGS. 7 to 11. Note that the same parts as in the first embodiment are denoted by the same reference numerals, and the explanation thereof will be omitted.

A pedestal 26 is installed above the cavity bit 2, and a wire rope lifting winch 27 and a control device 28 are installed on the pedestal 26. This control device 28 is connected to the underwater inspection device 121 via a signal transmission and power cable 29 which also serves as a hanging wire.

The underwater inspection device 21 is configured so that its specific gravity as a whole is 1, and the center of buoyancy is located above the center of gravity in the water, so that its restoring force allows it to move in the direction of gravity. can maintain a certain posture.

Furthermore, as mentioned above, since its specific gravity is approximately 1, which is equal to that of water, it can be stopped at any position underwater, and can be moved in any direction with a small amount of force. The configuration of the underwater inspection device L1 will be described in detail below.

In other words, underwater inspection equipment! 21 is constructed as shown in FIG. An upper transverse propeller 42 and a lower transverse propeller 43 are attached to the upper and lower ends of the main body 41 so as to be rotatable about the center of gravity (indicated by the a-a axis) of the main body 41, and the underwater inspection device 21 is The propellers 42 and 43 move it to any position on a horizontal plane. Further, a pair of transverse propellers 44, 44 (only one side is shown in the figure) are installed on both sides of the main body 41, respectively. These pair of transverse thrusters 4
By creating a difference in the thrust forces of 4.44 or by generating thrust in the opposite direction, the underwater inspection device is rotated and its direction is changed as appropriate. The propellers 42, 43 and 44 have the same configuration as each propeller shown in the first embodiment,
This is as shown in FIGS. 5 and 6. The main body 410
A pair of longitudinal propulsors 51, 51 are installed on both sides, respectively. These vertical propellers 51 and 51 generate vertical thrust to move the underwater inspection device 21 up and down in the vertical direction. The propeller 51 is constructed as shown in FIG. 9. That is, a cylindrical container 51A is attached to the side of the main body 41, and this cylindrical container 51A
A propeller 51B and a motor 51G are integrally housed inside.

Further, a pair of rectifying plates 5'I are provided at both ends of the cylindrical container 51A.
D and 51E are installed respectively. At the bottom of the main body 41 is a manipulator ljJ IN having 6 degrees of freedom.
46 is attached, and this manipulator IjlI
A probe 47 is attached to the tip of the structure 46. The configuration of these manipulator mechanism 46 and probe 47 is as follows:
This is the same as the first embodiment.

A suction all mechanism 52 as a press contact 114I4 is attached to the front side of the main body 41. This suction cup structure 5
2, the underwater inspection device L1 is attached to the inner wall of the container 22, and its position is fixed. The above suction cup 11
14152 is configured as shown in FIG.

Reference numeral 53 in the figure indicates a suction cup, and a propeller 54 and a motor 55 for rotating the propeller 54 are housed in the suction cup 53. When the propeller 54 is rotated, the suction cup 53 is rotated by the negative pressure generated at that time. Underwater inspection equipment L
1 is fixed to the inner wall of the container 22. As mentioned above, since the specific gravity of the underwater inspection device L1 is approximately 1, which is the same as that of the book, the suction force required to fix the underwater inspection device L1 may be small.

The operation will be explained based on the above configuration. First, the cable 29 is lowered by the lifting winch 27 and the underwater inspection device L is lowered.
1 suspended in water. At this time, the underwater inspection device @21 has a specific gravity of 1 and is configured so that the center of buoyancy in the water is above the center of gravity, so the underwater inspection device @21 can stand alone underwater. Maintain a constant vertical posture. Next, each propeller 42, 43, 44 and 51 moves the underwater inspection device L1 to an arbitrary position underwater. That is, the vertical propulsion device 51.51 generates a downward thrust to move the underwater inspection device @21 to a desired position vertically downward. Next, the transverse propulsors 42 and 43 generate transverse thrust to move the robot back and forth and left and right on a horizontal plane. At this time, in order to change the direction of the underwater inspection device, it is sufficient to create a difference in the thrust of the propellers 44, 44, or to generate thrust in the opposite direction.

After moving to a desired position in the container 22, the suction cup mechanism 52 is driven to fix the underwater inspection device 21 to the inner wall of the container 22. After the underwater inspection device is fixed to the inner wall of the container 22, the manipulator mechanism 46 is driven to place the probe 47 at a predetermined position on the inner wall of the container 22 to be tested for flaws.

Thereafter, similarly, the propellers 42, 43, 44, 51 and suction cup mechanism 52 are appropriately driven to perform flaw detection in sequence. Note that the first
In Figure 1, the flange 25 of the container 22 is inspected by the underwater inspection device LL.
It does not show that it is searching for nearby areas.

As described above, the underwater inspection device L1 according to the present embodiment has a suction cup mechanism 52 and is configured to fix the underwater inspection device L1 to the inner wall of the container 2 via the suction cup 111tIl152. It is not necessary to control the position in real time as in the case where the underwater inspection device 21 is floating in the water, and the position control at the time of the underwater inspection device does not require that much precision.
Even if a slight error occurs in the position of the probe 47, it can be sufficiently absorbed within the movable range of the manipulator ti4f146, which has six degrees of freedom, so the probe 47 can be reliably positioned at the desired position at a constant angle. It is possible to make the position opposite to each other, which facilitates position control and improves measurement accuracy. In addition, the underwater inspection device L1 according to this embodiment
has a specific gravity of approximately 1 and is lightweight, making it easy to handle, and requires only a small suction force when fixing the underwater inspection device 21 using the suction cup mechanism 52.

Next, a third embodiment will be described with reference to FIG. 12. This third embodiment is the underwater inspection device of the second embodiment! 21 is configured to have a gravity that is sufficiently larger than the buoyancy in the water, and the vertical movement of the underwater inspection device @ 21 is controlled by lowering and hoisting the cable 29 using the lifting winch 27. It is. Further, the lifting winch 27 is movable along the pedestal 26, and the pedestal 26 is movable along the upper surface of the cavity pit 23 in a direction perpendicular to the moving direction of the lifting winch 27. The other configuration is the same as that of the second embodiment, except that it moves following the underwater movement of the inspection device L1 and prevents the underwater inspection device 11 from tilting.

Therefore, the vertical position of the underwater inspection device is arbitrarily determined by lowering or winding up the cable 29 with the lifting winch 27, and then the propeller 42, 43
At the same time, the underwater inspection device 21 is fixed to the inner wall of the container 22 by the suction cup mechanism 52, and the manipulator mechanism 46 is driven to move the probe 47 to the desired position. Perform flaw detection by placing it opposite the position. The following operations are repeated to sequentially perform flaw detection.

Therefore, it becomes easy to control the position of the underwater inspection device 21, and even if there is a slight error in the position above the underwater inspection device, this can be sufficiently absorbed by the manipulator mechanism 46, and the probe 47 can be moved to the desired position. The first and the second
The same effects as in the embodiment can be achieved.

As detailed above, the underwater inspection device according to the present invention is an underwater inspection device that is suspended from a lifting device installed above the water surface. The upper transverse propulsion device is rotatable around the vertical axis of the device body and is rotatably connected to the hanging member, and the lower end of the underwater inspection device body is rotatable around the vertical axis of the underwater inspection device body. a lower transverse propulsion device installed on the main body of the underwater inspection device, a pair of side transverse propulsion devices installed on both sides of the underwater inspection device main body, and a manipulator provided on the underwater inspection device main body and equipped with a flaw detection device or a repair device at the tip. This configuration includes a mechanism, a pushing mechanism attached to the underwater inspection device main body, and a vertical upward movement mechanism attached to the underwater inspection device main body.

Therefore, it becomes easy to control the position and attitude of the underwater inspection device, and it is also possible to simplify the configuration and downsize the device.

[Brief explanation of drawings]

Figure 2 is a cross-sectional view showing the inner wall of the reactor pressure vessel being inspected for flaws by an underwater inspection device, Figure 3 is a perspective view showing the inner wall of the reactor pressure vessel being inspected for flaws by the underwater inspection device, Fig. 4 is a perspective view of the underwater inspection device, Fig. 5 is a sectional view taken along the line v-■ in Fig. 4, and Fig. 6 is a sectional view taken along line Vl-Vl in Fig. 4.
Figures 7 to 11 are diagrams showing the second embodiment. Figure 7 is a cross-sectional view showing the state in which the inner wall of the reactor pressure vessel is being inspected for flaws by the underwater inspection equipment, and Figure 8 is a diagram showing the underwater inspection equipment. Perspective view,
Figure 9 is a cross-sectional view taken along line IX-IX in Figure 8, Figure 10 is a cross-sectional view of the suction cup mechanism, and Figure 11 is a cross-sectional view showing flaw detection in the vicinity of the flange of the reactor pressure vessel using an underwater inspection device. 12A and 12B are diagrams showing the third embodiment, and are cross-sectional views showing a state where the inner wall of the reactor pressure vessel is being inspected for flaws by an underwater inspection device. 21... Underwater inspection device, 27... Lifting winch, 41... Underwater inspection device main body, 42... Upper transverse propulsion device, 43... Lower transverse propulsion device, 44... Side transverse propulsion device Propeller, 46... Manipulator mechanism, 47... Probe, 48... Omnidirectional wheels (pushing mechanism). Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 2 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 11

Claims (1)

[Claims] In an underwater inspection device that is suspended from a lifting device installed above the water surface, there is a main body of the underwater inspection device, and a device that is provided at the upper end of the underwater inspection device body and that is rotatable around the vertical axis of the underwater inspection device body and suspended. an upper transverse propulsion device rotatably connected to the member; a lower transverse propulsion device installed at the lower end of the underwater inspection device body so as to be rotatable around the vertical axis of the underwater inspection device body; and the above underwater inspection device. A pair of side transverse propulsors installed on both sides of the main body, a manipulator mechanism installed in the underwater inspection device main body and equipped with a flaw detection device or a repair device at the tip, and a manipulator mechanism installed in the underwater inspection device main body. An underwater inspection device comprising: a pressing mechanism; and a vertical movement mechanism attached to the main body of the underwater inspection device.