JPS6067854A - Weld line inspecting device for piping - Google Patents

Abstract

PURPOSE:To elevate the working efficiency and reliability in the inspection of weld lines for a primary cooling system piping of a fast breeder by providing a sensor section at the tip of a multijoint arm mechanism to memorize the turning level of a joint at the inspection position. CONSTITUTION:An arm mechanism housing section 111 is provided on a ceiling wall 101a of a primary cooling chamber of a fast breeder. Arms 121, 124, 126, 128 and the like are connected with a plurality of joints 123, 125 and 127. The arm 121 is lifted with an arm lift mechanism 122 to house arms in the housing section 111. A sensor 140 is provided at the tip of each arm to inspect weld lines on a cooling system piping. A plurality of arm mechanisms are provided at points of the primary cooling chamber and the turning level of each joint is memorized to match the positions of weld lines in charge. The positions of the arm mechanisms are controlled based on the turning levels memorized.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for automatically inspecting weld lines of piping such as primary cooling system piping of a fast breeder reactor.

Generally, the primary coolant in a loop fast breeder reactor is circulated between the reactor vessel and an intermediate heat exchanger by a circulation pump, and the heat generated in the reactor core is transferred to the secondary coolant through the intermediate heat exchanger. It is configured as follows. By the way, the secondary coolant piping has a complicated shape as shown in FIG. That is, 1 in the figure is the primary coolant chamber, and this -
Inside the secondary coolant chamber 1, equipment such as the above-mentioned circulation pump 2 and intermediate heat exchanger 3 are provided. These circulation pump 2, intermediate heat exchanger 3, and reactor vessel (not shown)
A primary coolant pipe 4 is provided which communicates with the primary coolant. Note that there are many other devices installed in the secondary coolant seedling 1, and the pipe 4 is bent into a complicated shape to avoid interference with these devices. Therefore, this pipe 4 has many elbow parts, etc., and therefore has many weld lines 5-1.5-2.5-3...5-N.

By the way, the primary coolant piping 4 of such a fast breeder reactor
In order to ensure high reliability, the above welding line 5-1.5-
2.5-3.Old...5-N must be inspected regularly. However, since the discharge line m is high in the secondary coolant chamber 1, it is not preferable for an inspector to enter the secondary coolant chamber 1.

For this reason, an automatic weld line inspection device as shown in FIG. 2 has been developed. That is, 11 in the figure is a self-propelled trolley, and is configured to run along the pipe 4 by remote control. A manipulator 12 is mounted on the self-propelled cart 11, and a sensor section 13 equipped with an electromagnetic ultrasonic flaw detector, a television camera, etc. is mounted at the tip of the manipulator 12. And this self-propelled trolley 1
1 stops at the position of welding line 5-1, manipulator 1
2 is activated, the sensor unit 13 is moved along the outer periphery of the weld line 5-■, and this weld line 5-1 is inspected. Note that the test data is transmitted wirelessly or the like.

However, in this type of self-propelled platform LZII, the positioning accuracy is poor and the traveling speed is slow. Therefore, the efficiency of the inspection work is poor, and a plurality of self-propelled carts 11 are required. Further, there was a problem that the control device for the self-propelled trolley 11 was complicated.

Furthermore, an inspection device as shown in FIG. 3 has also been developed. That is, in the figure, reference numeral 21 denotes a rail, which is provided along the piping 4. A cart 22 is configured to run on this rail 21. This truck is provided with a manipulator 23 and a sensor section 24 similar to those described above. Furthermore, power is supplied to the trolley 22 and signals are transmitted via a cable 25.

However, in such a case, the rail 21 must be installed on the piping 4 of a complicated shape, so the structure of the rail 21 becomes extremely complicated. Since the cable can only travel only a short distance, the work efficiency is low, and the positioning accuracy between the rail 21 and the pipe 4 is not very high due to thermal deformation, etc., and the winding mechanism for the cable 25 becomes complicated.

Furthermore, all of the above-mentioned systems have problems such as poor reliability because if the trolley breaks down in the primary coolant space 1, it cannot be recovered.

In addition, in both of the above systems, the self-propelled cart 11 and the cart 22 move along the piping 4, so if the inspection order of each weld line is different from the arrangement order, the cart must be moved back and forth. There were problems such as a decrease in work efficiency.

The present invention has been made based on the above circumstances, and its object is to provide a piping weld line inspection device that has good working efficiency and high reliability.

That is, the configuration of the present invention is provided near the piping, has a plurality of joints, and has a distal end of the piping. an arm mechanism capable of moving to nine welding line positions; a sensor unit provided at the tip of the arm mechanism for inspecting the welding line of the piping; A storage section stores the amount of rotation of each of the joints in the position, and the arm tmti is actuated according to the amount of rotation of each joint stored in this storage section, and a sensor section at the tip of the arm tmti is connected to each weld line. and a central control unit located at each location. Therefore, if you specify the weld line to be inspected, this arm mechanism will operate under the control of the central controller, and each joint will rotate in accordance with the rotation angle of the joint stored in the memory unit, so this arm mechanism will operate under the control of the central controller. The sensor section at the tip of the mechanism is positioned at the position of the weld line to be inspected, and this weld line can be inspected. Therefore, since this device can inspect any weld line in any order, work efficiency is high, and since this arm mechanism does not run along the pipe, there is no chance of it becoming unrecoverable due to failure. It is highly reliable.

One embodiment of the present invention will be described below with reference to FIGS. 4 to 11. This embodiment is for inspecting the weld line of the primary cooling system piping of a fast breeder reactor. In the figure, 101 is a primary coolant chamber, and this secondary coolant chamber 101 houses a circulation pump 102, an intermediate heat exchanger 103, and other devices.

Furthermore, a primary coolant pipe 104 is provided within this secondary coolant chamber 101 . This piping 104 has a large number of weld lines 105-1, 105-2...1 to be inspected.
There is 05-N. A plurality of arm mechanisms 110... are provided near the pipe 1O4. These arms 14R110... are provided by dividing the welding lines 105-1; Welding lines 105-1, 105-2 of groups corresponding to the close range of the arm mechanism 10
It is configured so that 5-N can be inserted. Next, the structure of these arms 110 will be explained with reference to FIGS. 5 to 9. That is, arm mechanism accommodating portions 111 are formed in the ceilings 11101a of the secondary coolant 101, respectively.

A main body 120 of the arm punching mechanism is provided above the arm mechanism accommodating portion 111. An arm elevating mechanism 122 is provided within the main body 120, and the arm elevating mechanism 122 is configured to move the first arm 121 up and down in the C direction and rotate 360° in the b direction.

Further, a second arm 124 is attached to the tip of the first arm 121 via a joint shaft 123.
24 is 180° in the C direction centering on this joint axis 123.
It is configured to be rotated. Further, the second arm 124 is configured to rotate 3606 times in the d direction about its central axis. Furthermore, this second a, -
A third arm 126 is attached to the tip of the arm 124 via a joint shaft 125 so as to rotate approximately 225 degrees in the C direction. The M3 arm 126 is configured to rotate by 36° in the direction f.Furthermore, the tip 9;
(A fourth arm 128 is attached to rotate 180 degrees in the C direction via a joint shaft 127. Also, this fourth arm 128 rotates 36 degrees in the 1] direction about its central axis. Furthermore, a fifth arm 129 is attached to the tip of the first arm 128. .131 is provided,
As these telescoping arms 130 and 131 expand and contract, the tip of the telescoping arm 131 is configured to draw an arcuate locus and move in one direction over a section of approximately half a circumference. A sensor section 140 is provided at the tip of this telescoping arm 131. As shown in FIG. 8, this sensor section 140 is composed of an electromagnetic ultrasonic flaw detector 147, a television camera 145, a floodlight 146 for the television camera 145, etc., and includes the above-mentioned welding g1105-1, 105-2...
...105-N is configured to inspect defects (
X Ru.

Signals such as test data detected by this sensor section 140 are transmitted via a cable 141 and a signal transmission device 142. The 28-arm machine 11110 is configured to extend in any direction and fold in response to the rotation of each of the joint axes.

The arm mechanism 110 is configured such that when each arm is folded and raised, the arms 1 are accommodated in a housing section 111 as shown in FIG. A lid body 112 is opened and opened by a hinge 113 on the lower surface of the arm mechanism housing portion 111.The lid body 112 is held in a closed state by a latch 114 as shown in FIG. is configured to be

Next, a device for controlling and operating these arm 1 structures 110 will be explained with reference to FIGS. 10 and 11. That is, in the figure, 161 is a central control unit, 170.18.0 is a storage unit, and this central control unit 161 and each arm mechanism 110 are connected via signal transmission lines 160. has been done. Each storage unit I of the storage unit 170
fi, 171... each of the above welding lines 105-1, 10
5-2... Arm mechanism 1 corresponding to 105-N
Data such as rotation i of each joint of 10... are stored in advance. That is, for example, as shown in FIG. 11, the storage area 1 contains the @ number that specifies the weld line corresponding to the weld line, for example, the number 1 for weld line 105-1, and the number 1 for this weld line
The lifting amount a1 of the first arm 121 and the rotation ib of each joint when the tip of the arm mechanism 110 corresponding to fi1105-1 is located at the position of this welding #ri1105-1
1, cl, di... are stored. In the case of this embodiment, the telescopic arms 130 and 131 of the fifth arm 129 rotate only about half a circle, so the inspection of the weld line is performed half a circle at a time, and the arm mechanism 110
Since the opposite direction force will approach the welding line 1 to 2 times, correspondingly, the rotation stone of each joint will also be memorized for half a revolution (also, each of the above Sensor section 14
Inspection data, etc. from 0 (1.c 4M i' and 5'X are stored in each memory area 181 . . . of the storage device 180 via the central controller 161).

Next, the operation of this embodiment will be explained. Melting line 105
-1, 105-2...105-N (If no engagement is made, the arm mechanism 110... (6th
As shown in the figure, the arm part is housed in an arm housing part 111 and is protected from radiation such as radiation.For example, when inspecting a welding line 105-1, the cover body 112 can be used to listen to the arm part. (Construction 1) 0 is expanded by i.In this case, [the amount of elevation a of the first arm 121 is al,
Also, the amount of rotation of each joint is, ct, dt...
This arm tHM110 is extended as...

Therefore, this arm l! The tip of the NM 110 is located at the weld line 105-1.

Then, the fifth arm 129 is compressed arm 130°13
1, the sensor section 140 is moved along the welding line 105-1 by a half-circle, and this welding line 105-1 is inspected. Furthermore, the remaining half of the weld line 105-1 is inspected in the same manner. The test data obtained in this test is stored in each storage area 181 of the storage unit 180.

As described above, the present invention provides an arm mechanism that is provided near a pipe and has a plurality of joints and whose tip end can move to the positions of a plurality of weld lines of the pipe, and an arm mechanism that is provided at the end of the arm mechanism and has a plurality of joints, and which is provided at the tip of the arm mechanism and has a plurality of joints. a sensor unit that inspects the weld line; a memory unit that stores the amount of rotation of each joint when the tip of the arm mechanism is located at the weld line; The apparatus includes a central control device that operates the arm mechanism according to the amount of rotation of the joint and positions the sensor section at the tip of the arm mechanism at the position of each of the weld lines. Therefore, if you specify the weld line to be inspected, this arm mechanism will operate under the control of the central controller, and each joint will rotate in accordance with the rotation angle of the joint stored in the memory unit, so this arm mechanism will operate under the control of the central controller. The sensor section at the tip of the mechanism is positioned at the position of the weld line to be inspected, and this weld line can be inspected. Therefore, this device can inspect any welding fibers in any order, resulting in high work efficiency, and since this arm mechanism does not run along the piping, there is no chance of it becoming unrecoverable due to failure. There is no problem, and the reliability is high (X degrees).The effect is great.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view of the piping of a primary cooling system of a fast breeder reactor, and FIGS. 2 and 3 are schematic configuration diagrams of a conventional inspection device. Figures 4 to 11 (show one embodiment of the present invention), Figure 4 is an overall schematic (configuration diagram), Figure 5 is a side view of the arm mechanism, and Figure 6 (the arm mechanism in the folded state). A side view, FIG. 7 is a plan view of the tip of the arm mechanism, FIG. 8 is a schematic configuration diagram of the sensor section, FIG. 9 is a plan view of the tip of the arm mechanism, and FIG. 10 is a schematic configuration of the control system. 11 (This is a diagram showing the contents of stored data in the storage unit.)
. . . Welding line, 110 . . . Arm portion, 123.
125.127',...Joint axis, 140...
...Sensor section, 161...Central control device, 1
70,180... Memory section. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 6/140 47

Claims (1)

[Claims] an arm mechanism that is provided near a pipe and has a plurality of joints and whose tip can move to the position of a plurality of weld lines of the pipe;
A sensor section provided at the tip of the arm mechanism to inspect the weld line of the piping, and a memory section that stores the amount of rotation of each joint when the tip of the arm mechanism is located at the weld line. and a central control device that operates the arm mechanism according to the amount of rotation of each joint stored in the storage section and positions the sensor section at the tip of the arm mechanism at the position of each weld line. Weld line inspection equipment.