JPS609534Y2 - Dedicated holder device - Google Patents

Description

[Detailed description of the invention] This invention is designed to feed tools into the header pipe of a steam reheater that is heated by the cooling gas of a gas-cooled nuclear reactor plant through a passage with limited lateral dimensions. The present invention relates to a special holder for positioning tools and instruments in close proximity to a work area.

The dedicated holder according to this invention adapted to the above purpose has an external long frame formed by connecting a plurality of members extending in the longitudinal direction and a plurality of disks spaced apart in the axial direction and coaxially parallel to each other. , a capturing and separating device that is attached to the external long frame and is located in two stages spaced apart in the longitudinal direction and can be extended laterally outward;
a second drive motor located inwardly of a rotary bearing disposed in two longitudinally spaced disks, held within the external elongated frame, and rotated by a second drive motor mounted on the external elongated frame; The internal elongated frame is driven by an inner inner frame having a motor and a nut screw device which is held slidably longitudinally within the inner elongated frame and is located concentrically with the inner elongated frame and is driven by a first drive motor. A first carriage is arranged so as to be displaced in the longitudinal direction of its axis, and a second carriage is connected to the first carriage extending further downward and axially from the end of the external long frame, and is equipped with a tool/equipment machine and is movable in the lateral direction. It consists of two carriages and a third drive motor mounted within the first carriage for moving the second carriage.

More preferably, the longitudinal member extending in the longitudinal direction of the external elongated frame is also a connecting member for connecting a plurality of parallel disks, and such connecting member is a flat strip (plate-like bar) and has a central surface. The planes containing the frame are arranged radially so as to pass through the axis of the frame.

If the outer elongate frame includes three strips equiangularly spaced around the frame axis, the outer surface of the inner elongate frame is particularly accessible.

The outer elongate frame containing the disk accommodates the inner elongate frame and protects the internal equipment and mounting equipment from the walls of a passageway of limited lateral dimension for transporting the equipment mounted on the structure to the required location. It serves as a passage.

Thus, for example, the first motor may be mounted on one of the disks.

However, sufficient space between adjacent discs is generally available for accommodating cables, conduits, conductors, and other items necessary for the operation of the attached tools, machinery, equipment, and the like; The board has cables, conduits,
Openings and/or necessary recesses are provided for the conductors and rods for pulling up instruments attached to the special holder device in case of emergency operations.

The work object is usually located in a more difficult location and requires illumination, and in order to be able to operate the equipment more effectively, it is necessary to observe the object with a television camera system.

The cables required for this type of device are routed through openings and/or recesses in the disc.

When the dedicated holder device has its axis vertical and is using a tool, implement, or mechanical device attached to the second carriage at the lowest end, the annular member located concentrically with the first In the annular space between the carriage and other annular members constituting the carriage, a helical spring is installed in a dedicated holder to alleviate the uneven force required by the second motor to raise or lower the first carriage. The joint operation of the respective parts in can be made more suitable.

In short, this idea involves sending a special holder equipped with various tools, instruments, and machines, including a television camera, through a passageway with limited width that cannot be accessed by workers, and fixing this special tool to a vine pipe, etc. , place the tools and equipment close to the desired position, work while observing with a TV camera, and after the work is completed, strike the anvil head to separate the special holder from the header pipe wall, and pull it up and take it out of the header pipe. The purpose is to propose a device that can be remotely controlled.

The structure of the device according to this invention will be explained below with reference to the drawings.

The dedicated holder 1 according to this invention is located and used in a header pipe designed for a steam reheater heated by cooling gas of a gas-cooled nuclear reaction plant (not shown).

In such a reheater, the plurality of header pipes each receiving steam from or supplying steam to the reheater tubes have an inner diameter of, in one example, 8-L.
16 mm) to 9 Kei inches (23577EI7) with a length of at least 18 feet from top to bottom (approx. It extends downward.

The lower end of one such header pipe is shown at 2 in FIG. 18 and includes a horizontal tube plate 3.

Also, a reheat tube for the header pipe 2 is fixed in relation to the opening 4 of the tube plate 3, and a short length of cylindrical wall 5 is connected to the periphery of said tube plate.
A second cylindrical wall 6 having a smaller diameter and a longer length than the cylindrical wall 5 is concentrically connected to each other via a trapezoidal conical wall 7.

The special holder is suitable for hanging inside the header pipe after the cap part of the header pipe is removed and moving downward with its axis vertical, and is also suitable for positioning opposite the lower end of the second cylindrical pipe. It is made of.

For convenience of explanation, the apparatus will be explained below assuming that it is positioned with a vertical axis.

The dedicated holder includes an inner elongated frame 9 and an outer elongated frame 8 located concentrically within the outer elongated frame.

The external elongated frame B includes six concentrically spaced discs, numbered 10 to 15 in numerical order from the top.

Each disk carries three vertical strip plates (plate-like bars) lying transversely to a vertical axis, in other words horizontally, and equiangularly spaced around said vertical axis; The center plane of the plate surface is positioned perpendicular to the vertical axis.

The side ends of the strip plate 21 of the longitudinal member are provided with corresponding recesses (
(hereinafter referred to as a recess) 22.

(In FIG. 1, only the outer long frame 8 is drawn, and the inner long frame 9 and other members are omitted.

See Figure 3A and Figure 10.

) In this way, the disks are connected to the strip plate 21 and are positioned in order from the topmost disk 10 to the bottommost disk 15, and the lower end of the strip plate 21 is in the recess 23 (see Figures 1 and 3D). Accepted.

The portion where each strip plate passes through the intermediate discs 11 to 14 is recessed radially and inwardly from the outer edge of the disc to accommodate the strip in the disc, as shown at 24 (Figure 3B). ), and the strip plate is also provided with a recess radially outward from the inner edge of the strip plate to accommodate the disk.

The disk and strip plate are fixed with bolts 25 (
(Fig. 3A), it can be assembled into a one-piece, durable structure.

By adopting such a structure, a main body frame of a dedicated holder that passes through a narrow passage and accommodates and protects the internal motor and components is constructed.

A mounting member 26 consisting of an upright member 30 and a horizontal disc 29 is attached to the uppermost disc 10, and a pulley 2 around which a cable is wound for moving the dedicated holder up and down within the header pipe.
It becomes a mounting frame for No.7.

The mounting member 26 includes a horizontal disc 29 located at a distance above the disc 10 at the uppermost end of the external long frame 8, and three upright members 30 extending from the disc and located at equiangular intervals with respect to the axis.
and an extension member 32 having a flange 33 for fixing the pulley block 31 to the horizontal disk 29.

The main part of the pulley block 31 is surrounded by an upper sheath of an impacting device 34 having slots 35 on either side for the pulleys and an anvil head ("
41 is provided.

The structure of this impact device and the purpose of its installation will be described later.

A set of three mutually spaced apart and laterally or outwardly extending holder devices are used to fix this specialized holder device in a fixed position on the header pipe wall or separate it from the header pipe so that the device can be moved. The capture and separation device 42 is arranged in two stages on the external long frame 8, that is, the upper one is a first intermediate disc 1 counted from the top.
1 and the topmost disc 10 of the external long frame 8, and the set of three on the other lower stage is the fourth and fifth one, counting from the top. Intermediate discs 13 and 1
4 and close to the lower end of the external long frame 8.

In each of the devices described above, a set of three trapping and separating devices per stage is associated with each vertical strip plate 21 that is a member of the external elongated frame 8.

(For further details regarding this matter, FIGS. 3B, 6, and 7.8 show details of the upper set of capture and separation devices 42, respectively.

) The capture and separation device 42 includes a pair of lever arms consisting of two mutually similar triangular plates 43 on each side of the associated strip plate 21, which arms pivot the axis of the dedicated holder around a fulcrum pin 44. The strip plate 21 is pivotably mounted to the strip plate 21 for outwardly extending or retracting movement within a vertical plane.

Further, the arm has a shaft 45 whose ends are secured by the two triangular plates 43, and a relatively small Toro IJ-46 (Figs. 3B and 3D) that engages with the inner surface of the header pipe in a pivot manner. It is attached to the shaft 45 and held.

In addition, the two triangular plates 43 mentioned above are spacers 47 (FIG. 6).
is inserted between the two plates and both ends are welded to the opening of the triangular plate 43 to form a - member, and a stud 48 is attached to one end of the plate (Fig. 6) to form a part of the capture and separation device. .

Here, the device 42 for capturing and separating edges is assembled with a trolley 46 including a roller 64 and a friction strip 68, a triangular plate 43 to which the trolley 46 is attached by a shaft 45, and a pin 44 as a fulcrum.

This capture and separation device is installed in the upper and lower stages, and each stage has 3
Consists of groups.

Further, connection bars 63U and 63L are connected to a drive device to operate these.

In addition, the drive device includes a piston cylinder device 51 and a bolt 71.
, spider 49, yoke member 61, and connection bar 63U
, 63L, the pin 53, the stud 48, and the spacer 47.

The drive device for the capture and separation device 42 includes a three-armed spider (common member) 49 located higher than the upper set of capture and separation devices in a dedicated holder.

The hub 50 (FIG. 3B) of the three-armed spider 49 has a fixed part on the first intermediate disk 11 of the external elongated frame 8 and is a vertical part that is the movable part of the air-operated piston cylinder device (pneumatic device) 51. A load that is attached to the shaft and has elasticity directed downward (
(bias) is applied by pressurized air.

The three arms of the spider 49 form a fork 52 (FIG. 5) that surrounds each strip plate 21.

A pin 53 is provided across each fork 52 (third B
5) A swing member 54 is pivotally attached thereto, and a pin 55 is held by the swing member 54 so as to be perpendicular to the pin 53.

The yoke member 61 is pivotally attached to the swing member 54 by a pin 55 at its center.

The yoke member 61 has each swing member 62 at both ends thereof.
and connect each connecting bar 63U to its swing member.
, 63L are pivot-mounted at their upper ends, and the connecting bar 63U extends downward along the side of the strip plate 21 to which it is located in close proximity, and connects the catching and separation device 42, which is pin-mounted to the strip plate, to its lower end with a stud 48. Install the pivot.

On the other hand, the connecting bar 63L extends downward in close proximity to the outer surface of the strip plate 21, and pivots at its lower end with a similar stud the capture and separation device pin-mounted to the strip plate.

(Fig. 3D) When the spider 49 is pulled up, the upper ends of the three connecting bars 63U are also pulled up, and accordingly, the lower ends are also pulled up, and the triangular plate 43, which is the lever arm of the three catching and separating devices of the upper set, is rotated. Ru.

This simultaneously lifts the trolley 46 upwards and outwards into engagement with the three inner pipe surfaces on the dedicated holder.

The upper ends of the three connecting bars 63L are similarly pulled up to produce the same operational effect for the lower set of three capturing and separating devices.

More specifically, referring to FIGS. 3B, 7, and 8, each trolley 46 that engages with the inner surface of the header pipe pivots about a shaft 45 at approximately the center of the entire length of the trolley.
The roller 64 is attached to a shaft 65 parallel to the trolley shaft, in other words horizontal, at both ends thereof.

The shaft 65 (see FIG. 8) of each roller is a pin secured at its end in a slot 66 in the trolley;
5 is pressed against one end of the slot 66 by a spring 67 housed within the trolley.

Only in the spring-loaded condition does it protrude from the trolley, as shown in broken lines in FIG. stand out.

Thereby, the two rollers 64 of the trolley contact the inner surface of the header pipe when the trolley approaches that surface.
This can be the first part of J-, and when the trolley is moved in the same direction, the rollers will be pressed against the inner surface of the header pipe, and since the rollers will come into contact with the rotating wall, the axis of the special holder and the header pipe will be The axes can be easily aligned, and the dedicated holder can be smoothly lowered or raised.

Next, when the spider 49 is further displaced upward, the spring 67 is compressed and the roller 64 is moved backward relative to the trolley, eventually pressing the friction strip 68 against the inner surface of the header pipe, and attaching the dedicated holder to the header pipe. It will be held stably on the wall.

When the spider 49 is at the lowest position, the trolleys 46 of both the upper set and the lower set of the capture and separation device are protected by the protective plate 70.
are housed in respective recesses 69 (FIG. 3B) in the vertical strip plate 21 on the fixed side (FIGS. 3B and 6).

A bolt 71 (third B) located perpendicular to the axis of the external long frame 8
(Fig.) is screwed into the lower part of the spider hub 50 and locked with a lock nut.

The bolt 71 is located on the upper side of the device according to this invention.
A star-shaped hand nut 73, conveniently provided with an upper flange 74 for manual screw tightening, passes through the bottom wall of the recess 72 and projects into the recess 72.

By turning the hand nut 73, its position can be raised or lowered relative to the sleeve 75 that is threaded therewith.

Further, the sleeve 75 is fixed to the opening of the disc 10 located at the top of the external long frame 8.

The portion of the bolt 71 within the recess 72 has a collar 81;
If the piston cylinder device 51 is 7) connected to the spider knob 50 and bolt 71 in relation to the
The bolt 71 can move upwardly within the recess 72 when working to lift it, but the collar 81 abutting the bottom wall of the recess 72 prevents the bolt 71 from moving further down.

First, to make it easier to understand, let's visualize it as follows.

Before hanging the dedicated holder into the header pipe, the hand nut was adjusted so that the spider 49 could be pulled up sufficiently so that all the trolley rollers 64 could rotate along the header pipe wall or close to said wall. shall be.

On the other hand, the special holder is positioned at or near the center of the header pipe and lowered, and when the special holder reaches the appropriate working position, the friction strip 68 of the trolley 46 is brought into contact with the header pipe wall to fully cover the wall surface. It is assumed that the spider 49 is further pulled up by the piston cylinder device 51 so that frictional capture can be achieved.

1, 3A, and 4, the upper end of the bolt 71 extends into a vertical sleeve 82 whose upper end is held in the horizontal disk 29 to which the pulley is attached; The lower end of the sleeve 82 is connected to a hand nut 73.
It extends into the recess 72 of.

The inner surface of the sleeve forms an opening in the horizontal disk 29 . A peg member 83 of the waist impact device 34 (impact imparting device) is located in the sleeve 82 .
extends into the opening.

Further, a horizontal pin 84 is attached to the upper end of the peg member 83, and this pin engages with the lower end of the impact device that holds the Albil head 41.

On each side of the peg member, the pins engage slots 85 in the pulley mounting member 26.

Figures 3A and 4 are impact devices (impact applying devices)
34 is at the normal uppermost position, and pin 8
4 is at the uppermost end and is shown held by a plurality of spring-loaded pin devices 80 (see FIG. 3A) within the pulley block 31.

The impact device lowers the anvil head 41 through the repeg member 83 by receiving a blow from a striking device (not shown) so that the external elongated frame 8 can easily overcome the force held by the pipe header wall. This applies a blow in the opposite direction to the bolt 71 and the spider 49.

The impact caused by the above-mentioned impact is transmitted from the spider 49 to the trolley 46, and air pressure is applied to the device 5 in the direction of lowering the spider 49.
1 (Fig. 3B), it is possible to overcome the frictional pressing state that prevents the trolley from being pulled down from contact with the header pipe wall.

That is, it facilitates the spider's ability to escape from the header wall.

In FIGS. 3C and 3D, the second, third,
The internal elongated frame 9 is positioned coaxially penetrating the openings of the fourth and fifth intermediate disks 11, 12, 13, 14 and the lowermost disk 15 of the external elongated frame 8.

This internal elongated frame 9 has a cylindrical lower cylinder 86 that penetrates the third, fourth, and lower disk barrels 14 and 15, and an upper cylinder 87 that connects to the upper part of the lower cylinder 86 at its lower end. The upper cylinder 87 has a plurality of interconnected casings on the upper side thereof.

The top casing 88 (FIG. 3B) contains the first drive motor electric motor and the gearbox casing, and the next casing 89 houses the drive shaft coupling and includes a plurality of conductive electrical contact rings 90. The next stage of casing 91 houses an electromagnetically operated clutch 92 and an electromagnetically operated brake 93, and the lowest casing 94 houses a reduction gear.

The driving force of the electric motor housed in the uppermost casing 88 is further transmitted from the reduction gear device to the lead screw 95 extending into the upper cylinder 87 .

The cylinders 86, 87, each casing, and the lead screw are all located concentrically with the external elongated frame 8.

A lower cylinder 86 forming the lower part of the inner elongated frame 9 is connected to a rotational bearing 101 in the third intermediate disk 13 of the outer elongated frame 8.
and is held via a rotation bearing 102 in the lowest disc 15.

A cylindrical skirt 103 extends downward from the lower end of the lower cylinder 86.

A gear box is provided above the uppermost end of the lower cylinder 86 (one inch above the fourth intermediate disc 13), and external contact spur teeth engage with a pinion 105 driven by an electric motor (second drive motor) 106. A spur gear 104 having a diameter is located in connection with the lower cylinder 86.

In FIGS. 3C and 9, a frame structure including a pair of vertical members 104 is a laterally extending cross that holds clutches between a second intermediate disk 12 and a fourth intermediate disk 13. an electromagnetically operated clutch 109 which extends to include the member 108;
It supports the electromagnetically operated brake 110 and the reduction gear device 111, houses and holds the pinion 105, and transmits the driving force from the second drive motor 106 to the pinion 105.

As a result, when the second drive motor 106 is rotated, the internal long frame 9 rotates with respect to the external long frame 8.

FIG. 10 shows the arrangement of members around the axis of the external long frame 8 except for the pinion 105, and the spur gear 104 and the second pinion 112 mesh with each other.

Said second pinion 112 is mounted on a suitable frame 100 held on the upper surface of the intermediate disk 13 and rotates the inner elongated frame 9 if necessary within the outer elongated frame 8 if the second drive motor 106 is stopped. It forms part of the emergency equipment.

Other parts of the emergency device include a rod (not shown), the lower end of which connects to the horizontal disk 29 and disks 10.11.12.
The coaxial core is inserted through an opening (not shown) provided in the second
It engages with the shaft of the pinion 112 and drives it to rotate.

3C shows that the spur gear 104 carries the second spur gear ring 113, and FIG. 10 shows that the spur gear 1
This indicates the arrangement of members located around the axis of the external long frame 82 apart from the axial position of the pinion 112 and the axial position of the pinion 112. ) attached to the third pinion (indicated by a pitch circle 114') and the second spur gear 113 mesh with each other.

The bracket (not shown) also has a third pinion 11
A gear shown by a pitch circle 115' that meshes with a gear shown by a pitch circle 121' attached to the shaft of No. 3 is mounted, and is provided to drive a Sersyn transmitter housed in the casing 120.

This determines the angular position of the inner elongate frame 9 within the outer elongate frame 8, and also the pitch circle 12 that meshes with the gear shown as pitch circle 121'.
The indicated gear position is indicated by 2'.

Further, the bracket (not shown) is provided to operate a drive device in a casing 119 (FIG. 10) having a limit switch that limits the rotation angle of the internal long frame 9 with respect to the external long frame 8.

As shown in Figures 3C and 3D, the lead screw 95
The upper end terminates in a shaft 123, said shaft 123 being held free to rotate by a rotary bearing provided in a boss 124 in the lower end wall of the casing 94 which houses the reduction gear.

Further, the lead screw 95 receives the drive rotational force from the reduction gear.

The lead screw 95 engages the nut 125 and as the lead screw 95 rotates within the internal elongated frame 9, it raises or lowers the first carriage 126 relative to said frame.

The nut screw device here includes a nut 125, a lead screw 95, a sleeve 137, and a plug member 138.

The first carriage 126 is also a long barrel (cylindrical body) 127 that is concentric with the internal long frame 9, and the lower end of the cylinder always projects downward from the lower surface of the lowest disk 15 of the external long frame 8. do.

Further, the upper part of the cylindrical intermediate member 128 is connected to the lower part of the barrel 127, and the horizontal plate 129a is connected to the intermediate member 128.

The horizontal plate device 129 includes a horizontal plate 129a, an intermediate member 146, and a transmission housed inside the horizontal plate.

The outer diameter of the upper part of the barrel 127 serving as the first carriage is slightly smaller than the inner diameter of the upper cylinder 87 of the inner long frame 9, and the outer diameter of the lower part of the barrel 127 is slightly smaller than the inner diameter of the lower cylinder 86 of the inner long frame 9. It shall be the middle one.

A set of four rollers 130 are arranged at the upper part of the barrel 127 at equal angular intervals, and a set of four rollers 131 are arranged at equal angular intervals at the lower part of the barrel 127, which is also the central axis of the barrel 127. The internal long frame 9
extends into the opening of the lower cylinder 86 of.

The internal elongated frame 9 maintains this relationship with the barrel 127, which is held concentrically, while allowing the barrel 127 itself to move in the vertical direction.

FIG. 11 shows the roller 13 installed within the insert member 133.
1 shows a state in which one shaft 132 of FIG. 1 is located within the opening of the lower cylinder 86.

Therefore, the roller device that allows the internal elongated frame 9 to be freely displaced in the vertical direction, that is, in the longitudinal direction of the dedicated holder, is the roller 130.
It consists of a roller 131 and its shaft 132.

An interrelated key device 134 (FIG. 12) is provided in the lower cylinder 86 of the inner frame 9 below the position of the fifth intermediate disk 14 of the outer frame 8.

This key device consists of two rollers 135, one of which is
), one above the other, with grooves 13
Located within 6.

This keying device prevents the barrel 127 from rotating relative to the internal elongated frame 9 while the barrel 127 is prevented from rotating relative to the internal elongated frame 9.
7 can be allowed to move vertically.

A vertical groove 139 (see figure 113) is separately provided on the outer surface of the barrel 127 on the side opposite to the groove 136 with respect to the axis.
When the microswitches shown in FIG. It can be a device that notifies the location of.

The nut 125 is the sleeve 13 that is coaxial with the internal long frame 9.
7, and the lower end of the sleeve 137 is fixedly held on the barrel 127 via a plug member 138.

Additionally, a concentric sleeve 141 extends downwardly from a post 124 in the lower end wall of the reduction gear casing of the inner frame 9.

Further, a circumscribing annular member 142 is attached to its lower end, and its upper surface and the shoulder annular lower surface of the annular member 143 held at the upper end of the barrel 127 are opposed to each other, and between the mutually opposing surfaces of these members, the sleeve A spring 144 is held spirally around 141.

This spring 144 serves to reduce the imbalance in force from the motor of the internal elongated frame 9 that occurs when the vertically movable first carriage 126 is raised and lowered by the motor.

FIG. 3D and FIG. 14 will be explained in detail.

Horizontal plate device 1 connected to vertically movable first carriage 126
29 furthermore holds on its underside another second carriage 145 for imparting a horizontal movement in the direction of the longitudinal axis of the cross plate itself.

This horizontally movable second carriage 145 is connected to an intermediate member 146.
It is held by a device.

Its retention is done through a four roller linear sliding device,
One set of roller linear sliding devices 147 is located close under the horizontal plate 129a and holds the intermediate member 146, and a universal set 14B moves the horizontally movable second carriage 145 to the intermediate member 146. Position and hold close to the bottom.

The second carriage 145 is therefore able to move horizontally in relation to the intermediate member 146.

The lower surface of the horizontally movable second carriage 145 remains horizontal, and tools, instruments, and mechanical equipment necessary for various conceivable tasks can be suspended from this surface.

4-piece latch mounting bracket 14 on the underside of the second carriage 145
9 (see FIGS. 15-17) is adapted to secure an instrument or an instrument fixture, as will be explained in more detail later with reference to FIGS. 15 and 16.

Here, the latch mounting bracket is member 149a, third member 14
9b1 consists of the fourth member 149c.

A third drive motor 150 (Fig. 3D) for horizontally moving the second carriage 145 is installed in a recess 151 (concavity) having a relatively large inner diameter at the bottom of the barrel 127 of the first carriage 126, which is a vertically movable member. Align the axis of the holder with the vertical axis of the motor.

The driving force of the third drive motor 150 is transmitted to the second carriage through an electromagnetically operated safety clutch 152 which slips rather than transmitting the torque when excessive torque is generated.

The safety clutch 152 is housed within a cylindrical intermediate member 128 attached to the barrel 127.

Further, the driving force is transmitted by a shaft passing through a rotary bearing 153 located at the lower end of the cylindrical intermediate member 12B, and then transmitted to a reduction gear 154 located in an open space in the horizontal plate 129a, and is then transmitted to a horizontally movable It is transmitted to the belt pulley wheel 163 via a shaft passing through a rotary bearing 155 in the housing 161 that projects downwardly through an opening 162 in the intermediate member 146 .

The belt 164 of the belt pulley wheel 163 further drives a pulley wheel 165 and a vertical spindle 166, which is a pulley axis, and which passes through an opening 162 in the horizontally movable intermediate member 146 and connects the horizontal plate 129a.
It is retained by a rotary bearing 167 within a housing 168 that protrudes from the housing.

The upper end of the vertical spindle 166 is accommodated in a recess in the horizontal plate 129a, and the lower end of the vertical spindle 166 is connected to a pinion 169 that connects the horizontally movable second carriage 14.
Horizontal rank 170 (FIG. 14) in 5 and the pinion 1
69 is engaged.

The upper end of the vertical spindle 166 is located in the recess 1 of the horizontal plate 129a.
A spur gear 172 that projects into and is retained in 71 engages with a spur gear 173 mounted on another vertical spindle 174 .

The vertical spindle 174 has a head 175 that is part of a dog clutch or has an engageable shape that matches the shape of the lower end of a rod (not shown) in case of an emergency such as a motor failure. Has connection fittings.

The horizontal disk 29 and the disks 10 to 15 each have an opening (not shown) located on the same axis, so that the rotation of the internal long frame 9 with respect to the external long frame 8 and the accompanying vertically movable first carriage are facilitated. 126, and if the third drive motor 150 fails, the operating rod is suspended from above the dedicated holder through the concentric opening (not shown) in each of the disks. , engages with the head 175, changes the position of the horizontally movable second carriage 145, and makes it possible to draw out the dedicated holder from the reheat header pipe.

In FIG.
The horizontal plate 129a also engages with the spur gear member 181 that is
The second carriage 145
The starting/stopping operation of the system is made suitable.

Furthermore, as shown in Fig. 3D and Fig. 14, the lower cylinder 8
Cylindrical skirt 103 extending downward from the lower end of 6 (3D
A vertical bar-shaped member 185 whose upper end is attached to the appendage of an annular member 186 attached to the lower end of the figure)
(See FIGS. 14 and 18) are located opposite to one side of each of the horizontal plate 129a, the intermediate member 146, and the horizontally movable second carriage 145.

As shown in FIGS. 15 to 17, it is assumed that the vertical par-shaped member 185 extends sufficiently below the level of the lower surface of the horizontally movable second carriage 145 when the first carriage 126 is at the top.

The lower part of the member 185 is the upper horizontal plate 187 in FIG.
and the lower horizontal plate 188 (FIG. 15), respectively,
This becomes the bracket for the vertical spindle 189 (FIG. 15).

This spindle is the pivot of the arm 190, and the other end of the arm 190 is provided with an opening 191 (see FIG. 17), so that a television camera 192 (see FIG. 18) is provided on the arm 190. can be installed.

The two upper horizontal plates 187 and the lower horizontal plate 188 further support a vertical spindle 193 (FIG. 17) as a fulcrum, and two pneumatic drive cylinders (pneumatic devices) 19.
4 connects each block 201 to the end of the respective piston rod 195, and then said block 201 connects to the arm 19
Pivotally engages each end of the vertical spindle 202 in the 0.

Two pressurized air supply members 2 shared by two cylinders
03 and 204 are provided to supply driving pressure air to the cylinder and to receive driving air from the cylinder.

The vertical par-shaped member 185 (FIG. 15) is the upper horizontal plate 18.
A third horizontal plate 205 is provided above the level 7, and an air cylinder (pneumatic device) 206 is mounted perpendicular to the third horizontal plate 205.

The two piston rods each pass through an opening in the horizontal plate 205 and hang down to connect with a vertical rod 207.

This vertical rod has an upper horizontal plate 187 and a lower horizontal plate 18.
8 is suspended, and its lower end is connected to a horizontal contact plate 208.

By applying air pressure to the cylinder 206, the contact plate 2
08 can be lowered below the level of the lowest end 209 of the vertical bar-like member 185, or raised to a position as shown in FIGS. 15 and 16.

Its relative position (extended length) can be determined with the aid of a ring 210 set and attached to the portion of the rod 207 below the lower horizontal plate 188.

The ring 210 has a non-conductive block 211 for a microswitch (not shown) and serves as a striker (touch indication).
(Fig. 16) is attached.

The purpose of the horizontal contact plate 208 and related various parts is that after the dedicated holder is lowered into the header pipe and fixed at the correct level by the capture and separation device, the horizontal contact plate 208 and various related members are used to move the dedicated holder to the correct position that is most suitable for various tasks. This means that it is convenient to bring the holder with you.

In this way, the cylinder 206 is operated and adjusted in advance so that the horizontal contact plate 208 is at the lowest position before lowering the dedicated holder into the header pipe.

In the process of lowering the dedicated holder, when the horizontal contact plate 208 comes into contact with the horizontal bottom plate 3 of the header pipe (Fig. 18) and the dedicated holder is continued to be lowered, the block 2
11 will operate the microswitches one after another.

Actuation of a single microswitch initially stops the descent of the dedicated holder and causes continued descent to occur at a slower rate.

Activation of the other microswitches indicates that the dedicated holder is at the correct level for use with the tools, instruments, and machinery mounted on the first horizontally movable carriage 145.

After the dedicated holder is fixed at the correct level, the horizontal contact plate 208 is pulled up so as not to come into contact with the tube sheet so as not to interfere with the desired rotation of the internal elongated frame 9 within the header pipe.

As mentioned earlier, Figure 18 shows the television camera 19.
2 is attached to the arm 190, and the device 214
(Fig. 18) The mirror 213 attached to the camera can change its inclination angle with respect to the vertical axis, and by positioning the mirror below the television camera and tilting it, the side view can be photographed by the television camera. It is something.

By attaching the lamp 215 with a shielding plate to the lower end of the pillar 221 whose upper end is fixed to the instrument mounting plate 222, illumination of the portion viewed by the television camera can be obtained.

Instrument mounting plate 222 has brackets 223 and 224 that hold parallel rods 225 and 226, respectively.

As a result, the instrument mounting plate 222 is attached to the horizontally movable second carriage 145 by means of the four latch fittings 149.

Also, as shown in Figures 15.16.17.18, the rod 225 of the instrument mounting plate is attached to the latch member 149a of the tool.
(FIG. 16), and the other end extends to the front shelf 228 of the third member 149b (FIG. 15) of the latch attachment.

On the other hand, when attaching the latch, the rod 225 is pushed into the recess 227 by the force applied through the wedge 229 using the manual knob 230 on the fourth member 149c of the tool, thereby firmly holding the tool mounting plate 222.

Further, as shown in FIG. 18, the instrument mounted below the instrument mounting plate 222 is equipped with a
A claw grab (grip) 231 is used to operate the grab claws by actuating an air piston cylinder as necessary.

FIG. 18 shows the insertion of an explosion flag 233 into one of the openings in the tube plate.

FIGS. 19 and 20 show one applied operation, in which a plug 241 is attached to the tube plate opening 4.

These are located below the instrument mounting plate 222 (not shown) as shown in FIGS. 15-18.

A pneumatic cylinder 243 (FIG. 19) having a vertical axis is housed within a cylindrical part 244 having a vertical axis, and is also connected to the cylindrical part 2.
44 further extends downward and has an annular shoulder portion 245 at its lower end that extends inward into the cylinder.

The overhanging shoulder 245 has a howling groove for mounting each vertical rod 246, and the lower end of the vertical rod holds a plug carrier 247.

The upper surface of the shoulder portion 245 holds a disk 248 located in the space within the cylindrical portion 244 .

Therefore, due to the shoulder portion 245, the disc 2 has a larger diameter than this opening.
48 cannot be pulled downward.

A spring 249 wrapped around the vertical rod 246 presses the plug carrier 247 downward against the member 242 and the pneumatic cylinder (pneumatic device) 243.

The tube plate opening plug 241 is cup-shaped, and its recessed portion is sized to fit into the lower end of the plug carrier 247.

An annular recess 251 is provided on the upper edge of the plug 241 facing the inside of the cup, and the plug 241 is connected to the plug 241 by three horizontal dowel pins 252 located in the plug carrier passage spaced at equiangular intervals with respect to the plug carrier axis. Carrier 247 can be engaged.

Almost the entire length of the pin 252 is located within the plug carrier, its tip protrudes from the plug carrier, and the pin itself receives a spring load.

A conical pin 253 whose axis is vertical is in contact with the head of the respective pin 252 at its lower part, which conical pin is located in the chamber 254 of the plug carrier and has a vertical plunger actuated by the piston of the pneumatic cylinder 243. Connect with 255.

When the plug carrier 247 is sufficiently raised relative to the member 242, the upper end of the rod 246 pushes the microswitch 256 and its operating lever.

Such a device having a plug that unites the opening 4 of the tube plate and the shaft center is the first drive motor 88 of the dedicated holder.
When lowered by the drive operation, the Bragg enters the tube plate opening 4 and its downward movement is stopped by actuation of the microswitch 256 (FIG. 19).

The pneumatic cylinder 243 then acts to pull up the conical pin 253, causing the pin 252 to retract under the spring load, leaving the plug 241 in its place when the device is pulled upwards.

The plugs in place in the tube plate openings may be installed and removed in any manner which is clear from the foregoing description.

The apparatus shown in FIGS. 19 and 20 is suitable not only for plug installation or removal operations, but also for leak detection.

For the latter operation, the device comprises a ring 261, which has a layer 262 of natural or synthetic leather elastic material stretched over the outer surface of an inverted trapezoidal cone tapering downwardly at the top.

The dimensions of the ring 261 are such that when the device is lowered into the tube plate opening without the plug 241, the elastic layer 262 engages the upper edge of the tube plate opening 4, separating the space above the tube plate from the space within the tube plate opening. I will do it.

However, since a test gas passage hole 263 (shown in FIG. 20 but not shown in FIG. 19) is formed in the plug carrier, this can be associated with the hollow space of the vertical plunger 255. It is something.

A flexi tube (not shown) connected to the plunger 255 can be connected to this hollow space to carry the test gas to the infrared analyzer.

Next, the procedure for using the mechanical device will be explained using the equipment shown in Figs. 19 and 20 for leakage detection as an example.
45.

Then turn the hand nut 73 (FIG. 3A) to ensure that when the spider 49 is raised sufficiently, all trolley rollers 64 will roll on the reheater header wall or be in close proximity for rolling. Melt.

Next, the pneumatic device 206 (FIG. 15) is operated to pull down the contact plate 208 as much as possible, and then the mechanical device (
The apparatus according to this invention equipped with working tools is lowered into the reheat header pipe.

In the final stroke of the descent, the contact plate 208 touches the top surface of the plate 3, and by further descending a certain amount, the piece 21
1 (FIG. 16) operates a microswitch, preferably automatically signaling contact, which lowers the mechanical device at a still slower speed.

When one of the other pieces presses a microswitch, the machine stops descending, and the pneumatic device 51 pulls up the spider 49, and the triangular plate 43, connecting bars 63U, 63L rotates.
pull up.

The friction strip 68 on the trolley 46 is then pressed against the header pipe wall.

Further, the pneumatic device 206 (FIG. 15) operates to lift the contact plate 208 from the tube plate 3.

Pneumatic device 194 rotates arm 190 until the television camera is in the viewing position.

In a systematic leak check, the leak detection probe sequentially aligns its axis with the opening 4 in the tube plate and then lowers the plug carrier into the opening.

The centering and positioning of the instrument in accordance with the task of the instrument is achieved by the operation of the second drive motor 106, which rotates the internal elongated frame 9, and thereby connects the barrel 127, the transverse plate 129a, the intermediate member 146 and the horizontally movable second drive motor 106. The two carriages 145 are centered and positioned.

Further, the horizontally movable second carriage 145 itself is further centered by operating the third drive motor 150 as necessary.

The lowering of the instrument is done by lowering the nut 125 with the lead screw 9.
This is done by operating the first drive motor 88, which rotates the second carriage 145, thereby causing the horizontally movable second carriage 145 to make the required lowering.

When the inspection has been completed on all tube plate openings, the horizontally movable second carriage and its associated leak detection probe are retracted by operation of the third drive motor 150, and the dedicated holder device is moved into a position with a limited lateral dimension. The pneumatic device 51 (FIG. 3B) is then operated to lower the spider 49 and, if necessary, strike the albil head 41 and pull the friction strip 68 from the header pipe wall. The dedicated holder and mechanical device are pulled out of the header pipe by the pulley 27.

Other instruments installed in the special holder include devices for the installation and preparation of explosive plugs and/or, for example, rotating blastoffs, on the inner surface of the tube plate opening in which the tube found to be defective is installed.

Further mounting devices include, for example, the tube plate opening 4 for selecting the correct outer diameter of the explosive plug before detonation.
There is equipment required for the use of instruments for measuring the inside diameter of air bearings, including rod-type air gauges.

The equipment shown in Figures 19 and 20 is used to strengthen the tube plates by placing Braggs in each tube plate opening, except in the case of explosion work itself, to prevent debris from remaining inside the tube plate resulting from the explosion. Also used to prevent.

Other applications include devices used to detonate the explosive plug and to position it concentrically with the opening that needs to be occluded.

It is also suitable as a device for conveying adhesive-coated plastic guide rings to tube plates with openings that require explosive closure; in this case, other equipment is attached to a horizontally movable second carriage. The plug is grasped and lowered into the opening by a pneumatic claw grab attached to the plug.

Another applicable device is a vacuum suction nozzle device for collecting debris from the explosion, which is mounted on the horizontally movable second carriage 145 for use.

By using the dedicated holder device of this invention, televisions, lighting equipment, and remote It is possible to carry out Bragg work, gas leak detection inspection, etc. by placing the equipment equipped with the equipment correctly close to the work location and monitoring it from outside the equipment, and because the equipment is small and simple, the work is safe and easy. This has the effect of providing an indispensable device for repair and inspection work on nuclear power related equipment.

[Brief explanation of the drawing]

Figure 1 is a front view of the external long frame of the dedicated holder equipped with a play device that raises and lowers the dedicated holder, Figure 2 is a plan view of the external long frame taken along the line ■-■ in Figure 1, and Figure 3 is the dedicated holder. A vertical cross-sectional view of the holder, which is analyzed and shown in four drawings 3A, 3B, 3C and 3D because the device is long,
(When these four drawings are connected at the cross-section shown by the dashed-dotted line, a vertical cross-section showing the entire structure of the device is obtained.) Figure 4 is similar to Figure 3A when the device is viewed from the right side of Figure 3. FIG. 5 is a partial front view of the upper part of the apparatus for driving the capture and release devices; FIG. 6 relates to one of the upper sets of three spacing and capture devices; FIG. The pair of triangular arms and other parts shown in Figure 3B VI-VI
7 is a plan view of the pair of triangular lever arms and the separation and catching device trolley, taken along the line ■-■ of FIG. 3B, and FIG. 8 is a plan view of the cross-section taken along the line ■-■ of FIG. FIG. 9 is a plan view of the trolley shown in cross section, and FIG.
The figure is a plan view taken along the line X--X in Figure 3C showing the pitch circle of the pinion and spur gear tooth rings related to rotating the internal long frame in the external long frame, and Figure 11 is a cross-sectional plan view of the internal long frame in the internal long frame. Figure 3D is a cross-sectional plan view taken along the line xt-xt of one of the four rollers of the lower set bearing located on the outer surface of the barrel of the vertically movable carriage that is held; A plan view showing a cross section of the key device that prevents rotation, FIG. 13 is a plan view of a cross section of the microswitch provided in the groove inside the barrel, and FIG. 14 is a vertical cross section of the horizontal plate device 129 of the vertically movable carriage, which is held by the horizontal plate. 15 and 16 are for exclusive use. It shows the lower part of the holder, excluding the instrument and the instrument mounting plate, and is a front view as seen from the right hand side of the device. Figure 18 is a front view showing the lower part of the special holder located on the tube plate and inside the header pipe, including the device for holding the explosive Bragg in the opening of the tube plate, and Figure 19 is a front view showing the lower part of the special holder located on the tube plate and inside the header pipe, and Figure 19 is a front view showing the device for holding the explosive Bragg in the opening of the tube plate. 20 is a longitudinal cross-sectional view of the lower part of the instrument holding the plug, including its axis; and FIG. 20 is a plan view taken along line xx-x in FIG. 19. 1... Dedicated holder, Death... External long frame, 9
・・・・・・Internal long frame, 10-15・・・Disc plate,
26...Mounting member, 27...Play,
41...Arbil! , 43... Triangular plate, 46... Draw IJ-149... Spider, 51... Zeston cylinder device, 63U
. 63L... Connection bar, 64... Roller, 68... Friction strip, 71...
Bolt, 73...Hand nut, 83...
...Peg member, 84...Horizontal pin, 86...
... lower cylinder, 87 ... upper cylinder,
88...Casing (including motor), 95...
...Lead screw, 103...Cylindrical skirt, 105...Zenion, 106...
Second drive motor, 126... Vertically movable first carriage, 128... Cylindrical member, 129a...
...horizontal board, 130.131.135... field-
La, 137...Sleeve, 145...
Horizontally movable second carriage, 146... intermediate member, 149a... member, 149b...
Third member, 149c...Fourth member, 150...
...Third drive motor, 152...Safety clutch, 185...Vertical bar-shaped member, 187.
... Upper horizontal board, 188 ... Lower horizontal board, 192 ... Television camera, 203,2
04... Pressure air supply member, 205...
・Horizontal plate, 206...Air cylinder, 207・
...Rod, 208...Horizontal contact plate, 2
13...Mirror, 232...Electric motor,
233... Explosion Bragg, 241...
Bragg, 244... Cylindrical part, 245...
...Annular shoulder, 247...Black carrier, 252...Horizontal Rad pin, 255...
... Vertical plunger, 262 ... Layer of elastic material, 263 ... Hole.

Claims (1)

[Claims for Utility Model Registration] (1) In a dedicated holder device that allows tools, equipment, and machinery to be placed close to the work area through a passage with limited lateral dimensions, A frame is formed by connecting several discs of clothes to be positioned with a plurality of members extending in the axial direction, and an external long frame with a first drive motor installed on the upper part of this frame, and a longitudinal direction on this external long frame. a capturing and separating device which is located in two stages separated from each other and can be expanded and stored in the lateral direction; an internal long frame which is coaxially located within the external long frame and can be rotated by a second drive motor; The longitudinal displacement is made free by a roller device located in two stages spaced apart inside the internal long frame, and a cylindrical first screw device is provided coaxially with the internal long frame and connected to a nut screw device driven by a first drive motor. 1 carriage, and a horizontal plate device connected to the lower part of the first carriage, accommodating a third drive motor and a transmission, and holding a second carriage capable of lateral displacement on which a tool, implement, or mechanical device is attached. Dedicated holder device. (2) Utility model registration In the dedicated holder device according to claim (1), the longitudinal member 21 of the external long frame extends between each disc and is coupled to each disc at the side end of the external long frame. To be something. (3) Utility model registration In the dedicated holder device described in claim (1) or (2), the second drive motor is mounted on a negative disc, and the pinion 105 connected to this is mounted on the internal long frame. Something that engages with the spur gear 104. (4) Scope of claims for utility model registration (1) or 3)
In the dedicated holder device according to any one of the above, the spring 144 connects the annular member 142, which is a part of the internal elongated frame, with the first
It is located between the annular member 143 that forms part of the carriage. (5) In the dedicated holder device according to any one of claims (1) to 4), the external long frame has two
A plurality of sets of capture and separation devices provided in the stages are pneumatic devices 51.
It has an adjustable common member 49 that operates in the same direction, and is arranged to include the axis of the dedicated holder and to simultaneously extend in different directions. (6) Utility model registration In the dedicated holder device according to claim (5), the movement of the capture and separation device 42 from the laterally outwardly extended position to the axially inward direction controls the axial movement of the common member 49. Those restricted by the hand nut 73. (7) In the dedicated holder device according to the utility model registration claim (5) or (6), the common member 49 provides an axial impact that ensures the separation operation of the capture separation device.
A shock applying device 34 is provided to apply an external shock to the vehicle. (8) In the dedicated holder device according to utility model registration claim (7), before applying a blow to the common member 49, the pin of the spring-loaded pin device 80 can be removed and left in a state of receiving a blow. thing. (9) In the dedicated holder device according to any one of claims (1) to 8), the capture and separation device includes a plurality of trolleys 46, each of which has a limited lateral dimension. One with a pair of spring 67 loaded rollers 64 allowing contact with the inner surface of the passageway with a friction strip 68. (IG Scope of claims for utility model registration (1) to 9)
In the dedicated holder device according to any one of the above, the lower cylinder 86 of the internal elongated frame has two grooves spaced apart in the axial direction on the inner surface, and the first carriage 126 is freely displaceable in the axial direction by the rollers 130 and 131 accommodated in the grooves. Hold and the above-
A key device 134 is provided in the groove to prevent rotation of the first carriage around the axis but allow displacement in the axial direction, and a micro switch 140 is provided in the other groove to define the axial position of the first carriage. thing. (11) Utility model registration In the dedicated holder device according to any one of claims (1) to 1, there are two pairs of a-la linear sliding devices 147, 148 and a laterally movable intermediate member 14.
The second carriage 145 connects to the first carriage 1 via
What is held in 26. (12) Scope of claims for utility model registration (1) or 11)
In the dedicated holder device described in any one of the above, a latch fitting 149 consisting of four members is provided on the lower surface of the second carriage 145, two of which are members 149a.
The third member 149b has a convergent recess for storing the rod holder attached to the instrument machinery, and the third member 149b has a front shelf-like ledge 228 for accommodating the rod holder attached to the instrument machinery;
The fourth member 149C has a wedge 229 that presses the rond against the two members 149a and the third member 149b to hold the instrument/mechanical device. (13) Scope of claims for utility model registration (1) or 12)
In the dedicated holder device according to any one of the above, a horizontal contact plate 208 is provided which can be further extended by a pneumatic device 206 from the lower end of the instrument/machine device mounted on the dedicated holder, and the horizontal contact plate 208 is extended from the lower end. is detected at block 211, where the microswitch contacts the microswitch. (1. Scope of claims for utility model registration (1) or 12)
In the dedicated holder device according to any one of ), the member 185 is pivotally attached to a member 185 that extends in the axial direction from the internal long frame below the terminal end of the dedicated holder device, and is rotated by a pneumatic device 194 in a horizontal plane that crosses the dedicated holder device. A television camera 192 is provided on an arm 190 that displays motion. (15) Scope of claims for utility model registration (1) to 14)
In the dedicated holder device according to any one of the above, the dedicated holder device is equipped with a device for positioning the temporary plug in the tube plate opening 4, and the device includes a plurality of pins positioned at equal intervals around the axis of the annular recess 251. 252 and includes a plug carrier 247 projecting and engaging said annular recess. (16) Utility model registration In the dedicated holder device described in claim (15), the pin 252 receives the load and is normally biased to the retracted position, but is engaged with the head of the pin by the pneumatic device 243. The conical pin 253 lowers and the tip of the pin 252 protrudes into the annular recess 251. (17) Scope of claims for utility model registration (15) or (1)
In the dedicated holder device described in 6), the Bragg carrier 247 is biased downward by the spring 249. (18) Scope of claims for utility model registration (15) to 17
), in which a device comprising a plug carrier 247 is used for leak detection without a plug in the opening, the plug carrier having a test gas passage 263 therein and a tube plate a layer 2 of elastic material suitable for engaging the edges of the opening 4;
A ring 261 having 62 on its trapezoidal conical surface is attached.