JPS61155940A - Hole interior image pick-up self-propelling truck of hole provided apparatus - Google Patents

Abstract

PURPOSE:To rapidly move and operate an image pick-up apparatus, by a method wherein a guide pole is mounted to a self-propelling truck capable of running to an arbitrary direction so as to be freely moved not only to a before-and-behind direction but also to a left-and-right direction and freely raised and fallen and a freely rotatable image pick-up apparatus provided to the heat part thereof is provided so as to be freely raised and fallen along the guide pole. CONSTITUTION:A stand 6 freely movable to a self-propelling truck running direction (vertical direction) is provided to the rear part of the chassis 2 of a self-propelling truck 50 and a traversing rack 8 freely movable to a lateral direction is provided to the stand 6. A freely rising and falling guide pole 12 is provided to the rack 8 and an image pick-up support pedestal 17 is provided to the pole 12 so as to freely rise and fall along said pole 12. A freely rotatable image pick-up pole 21 is provided on the pedestal 17 and an image pick-up apparatus 23 such as a television camera is mounted to the leading end of the pole 21. By this method, the self-propelling truck 50 approaches a hole provided apparatus such as a DH apparatus 100 or a converter if necessary and can rapidly pick up the image of the hole interior thereof and image picking-up is performed to a large number of hole provided apparatuses by a reduced number of equipments.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applicable to vacuum refining furnaces such as RH equipment or DH equipment, and metallurgical refining furnaces such as converters, which have a closed cavity except for the furnace opening. The present invention relates to a self-propelled vehicle that images the inner wall of a device having a device and utilizes the image for inspecting damage to the inner wall or observing the refractory coating process.

[Conventional technology]

An in-core imaging device for such a borehole reactor is disclosed in Japanese Patent Application Laid-Open No. 1986-7.
A device described in Japanese Patent No. 9104 is known.

This device is equipped with a television camera attached to the head of a pole mounted on a trolley that can be raised and lowered, and inserted into the furnace through the mouth of the refining furnace, which includes pipe holes such as the upper and downcomer pipes. The camera is configured to image an inner wall.

[Problem that the invention seeks to solve]

The area surrounding a refining cavity furnace is usually equipment for charging, discharging, or slag of molten metal, and supply pipes for blowing gas.

It is extremely cramped as it is equipped with a large number of equipment such as additive element injection equipment and fireproof wall repair equipment.

For this reason, the imaging device is compact and highly mobile,
Furthermore, it is desired that the operation be quick and simple, but since conventional devices are either stationary type or track running type, there are problems such as high equipment costs and poor mobility, and the initial investment is large. However, it is extremely inconvenient to use in low-quality equipment.
Additionally, there were many technical issues that needed to be resolved, such as interfering with other operating equipment and operations.

An object of the present invention is to provide an imaging device that has mobility and can be operated quickly.

[Means for solving problems]

According to the present invention, an imaging device is attached to a device that can run in any direction using tires or caterpillars, and is provided with a mechanism that allows the imaging device to be quickly operated and moved.

The embodiments shown in the accompanying drawings will be explained below.

FIG. 1 is a side view of an imaging device according to the present invention at a stopped position, and FIG. 2 is a schematic top view thereof.

In Figures 1 and 2, 1 is the cockpit of the self-propelled vehicle, 2 is the chassis, 3 is the tie 7, 4 is an outrigger that fixes the chassis 2, and 5 is provided at the rear of the chassis 2. At guide hardware,
Reference numeral 6 denotes a frame installed movably in the running direction of the self-propelled vehicle through rolling wheels 7 fitted into the frame of the guide hardware 5, and numeral 8 denotes a rolling wheel fitted into the frame of the mount 6. A transverse rack is installed so as to be movable in a direction orthogonal to the longitudinal axis of the chassis 2, that is, in a lateral direction, via wheels 9, lO indicates a cylinder for the transverse movement, and 11 is a bearing device fixed to the transverse rack 8. The guide pole 12 is rotatably supported by the bearing device 11 via an arm 13. A guide wheel 14 is rotatably supported on the head of the guide pole 12.

Reference numeral 15 denotes a driving motor with a brake for raising and lowering the guide pole 12, which drives the guide pole 12 in a freely raising and lowering angle through a worm gear 16, the bearing device 11, and an arm 13 fixed to the bearing device 11.

Reference numeral 17 denotes an imaging device support pedestal equipped with a rolling device 19 having a rotary wheel 18 fitted into the frame of the guide pole 12 so as to be freely movable. Imaging pole 21 that is freely obstructed
extends parallel to the guide pole 12 via a bearing device 22, and an imaging device 23 such as a television camera is attached to the head thereof. 24 is a guide arm of the imaging pole 21 provided on the guide pole 12.

A winch 25 for raising and lowering the imaging pole 21 is attached to the arm 13, and a lifting wire 26 is connected from the winch 25 to the imaging device support pedestal 17 via the guide wheel 14.

Therefore, when the winch 25 is operated, the imaging pole 2
The imaging device 23 can be raised or lowered to an arbitrary position within the upper and lower limits of 1.

27 is a cylinder for moving the frame 6, and a piston rod 28
The frame 6 is moved in the axial direction of the vehicle chassis 2 via. Prior to this movement, the drive motor 15 with brake is operated to put the guide pole 12 in a downward position as shown by dotted line A, and the guide pole 12 and the imaging pole 2 are moved.
1 toward the front of the chassis 2.

Moving cylinder 27. The piston wand 28 and the like constitute a gantry pulling device.

An imaging device inspection deck 29 is installed at the front of the vehicle chassis 2, and the imaging device 23 in the downward posture at the A position can be inspected by an operator on the imaging device inspection deck 29.

Reference numeral 30 denotes a drive source operating device for a traveling vehicle, which is connected to the traverse cylinder 10. Brake row drive prime mover 152 rotation drive device 20. Winch 25. This is a device that sends an operation command for the moving cylinder 27.

31 is a video device, such as a monitor television, which is electrically connected to the imaging device 23, and 32 is a video typewriter for inserting characters and symbols into the video signal as necessary.

Next, the operation of the self-propelled vehicle according to the present invention will be described with reference to the accompanying drawings, taking as an example the case where the self-propelled vehicle according to the present invention is used to observe the inner wall of a furnace of a DH device.

First, the self-propelled vehicle is moved to the vicinity of the immersion tube of the DH device 100 where observation is required, the vehicle platform 2 is fixed using the outrigger 4, and then the moving cylinder 27 is activated to take the downward position shown in A. The mounted guide pole 12 and imaging pole 21 are moved to position B at the rear end of the chassis 2.

Next, the driving prime mover 15 with a brake is operated to bring the guide pole 12 and the imaging pole 21 into an upright position at position C shown by a solid line. In this case, the moving cylinder 27 is slightly operated so that the axial center of the immersion tube 101 of the DH device and the axial center of the imaging pole 21 substantially coincide with each other.

Next, the winch 25 is activated to raise the imaging pole 21 and make the imaging device 23 reach a predetermined height D indicated by a dotted line. Then, if the rotary drive device 20 is activated,
It is possible to image a predetermined portion of the inner wall 102 of the DH device 100 all around, and by making the imaging device 23 tiltable as necessary, the entire surface of the inner wall can be observed in one operation.

After the observation is completed, the above-mentioned procedure is performed in reverse, but in either case, an interlock is established between each drive source operating device to prevent the imaging pole 21 from colliding with the imaging device inspection deck 29 or the imaged device. It is sometimes extremely effective to provide equipment such as this, and it is possible to carry out operations safely.

Next, even if the inner wall 102 of the furnace is at a high temperature of, for example, 1000° C. or higher, it is easy to handle this by making the imaging device 23 a heat-insulating structure.

Furthermore, the imaging device 23 is the part that requires the most inspection in this type of device, and the self-propelled vehicle of the present invention has the advantage that the imaging pole 21 is in a downward position as described above, and the imaging device 23 can be inspected quickly. , extremely efficient in actual work.

According to the above work procedure, a self-propelled vehicle with a total length of 7,250 m and a loading weight of 8 tons was equipped with an imaging pole with a height of 5,150+ inches from the bottom of the outriggers fixed during observation to the top of the imaging device, and the upper limit of the imaging device was set at 3,200+n. Images were taken of the entire lumen of the DH device. The self-propelled vehicle can measure up to a height of 835 (hn) and 3,200 m below the work surface, and the lifting speed is 0.5 to 3 m/win.
When the rotation speed was observed at 0.1 to 0.6 RPM, good results were obtained.

〔Effect of the invention〕

Since the self-propelled vehicle of the present invention has the above-mentioned configuration,
Regardless of the narrow space and time, it is possible to approach the installation site of a lumen device as needed and quickly image the lumen. Furthermore, due to its maneuverability, it has the advantage of requiring only a very limited number of equipment compared to a large number of effective equipment, improving workability by 20 to 50% compared to conventional observation equipment.

[Brief explanation of the drawing]

FIG. 1 is a schematic side view of the self-propelled vehicle of the present invention, and FIG. 2 is a schematic top view. 1: Cockpit 2: Car chassis 12 guide pole 21: Imaging pole 23: Imaging device 29: Inspection deck 100: Open-air reactor

Claims (1)

[Claims] 1. A self-propelled vehicle equipped with a self-propelled prime mover and a traveling device, including a pedestal mounted movably in the traveling direction on a guide hardware provided at the rear of the chassis of the self-propelled vehicle, and a pedestal for traversing on the pedestal. A transverse rack installed so as to be movable laterally via a cylinder;
a guide pole rotatably supported by a bearing device fixed to the transverse rack; a drive device that drives the guide pole in a freely up-and-down manner via a support shaft fixed to the transverse rack; The imaging device support pedestal is movably engaged via a rolling device, and the imaging device support pedestal is pulled by a wire through a guide roller that is fixed to the arm hardware of the guide pole and pivoted to the tip of the guide arm. a pedestal winding device; an imaging pole that is rotatably supported on the support pedestal via a rotational drive device and has an imaging device on its head; and the pedestal traction device provided at the front part of the chassis; The vehicle is characterized by having an imaging device inspection deck provided above the gantry traction device, a control room equipped with an imaging device electrically connected to the imaging device, and a drive source operating device for each of the movable elements. A self-propelled vehicle for imaging the lumen of a lumen device.