JPS6189163A - Inspection device for movement - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a mobile inspection device that uses an inspection vehicle to inspect various equipment by remote control, and particularly relates to a mobile inspection device that uses an inspection vehicle to perform wireless signal transmission with the inspection vehicle. Relating to a mobile inspection device equipped with a cable.

[Technical backstory of the invention and its problems]

In recent years, mobile inspection devices have been developed that carry out maintenance inspections of various plants using inspection vehicles equipped with various sensors such as television cameras, microphones, thermometers, and radiation ω meters.

Conventionally, when the main inspection vehicle is driven along a running track, signals are usually transmitted between the inspection vehicle and an operator console that remotely controls the inspection vehicle via a cable.

For this reason, a cable processing device is required to send out and pull back the cable as the inspection vehicle travels, and there is a problem in that the configuration of the entire inspection device becomes complicated.

In addition, since the cable requires a power cable and a large number of signal cables, its diameter is large and heavy, and the cable report must also be moved to accommodate the movement of the inspection vehicle, which also complicates the device configuration. What are the reasons for this?

In addition, when an inspection vehicle 2 is brought into the nuclear power plant containment vessel 1 from outside the containment vessel 1 for inspection, as shown in Fig. 1, a Since there is an Aerotsukku UF3 and you have to pass through it, the inside of the containment vessel 1 is complicated with piping and equipment, making it a complicated track, so it is not possible to carry out the necessary inspections on the 91-1 monorail track. Extremely difficult. For this reason, for example, as shown in FIG. 1, a plurality of seven-rule orbits 4a,
4b, 4c, 4d, and 4e, it is necessary to branch out the seven rules for inspection, but it is impossible for conventional cable-equipped inspection vehicles to travel on such tracks.

[Purpose of the invention]

The present invention has been developed in view of the current situation, and it is possible to reduce the size and weight of an inspection vehicle, and to carry the inspection vehicle in for inspection even on a traveling track that branches into multiple branches or a traveling track that has an aerodynamic door, etc. The purpose is to provide a mobile inspection device that can perform the following tasks.

[Summary of the invention]

As a means for achieving the above object, the present invention provides an inspection vehicle equipped with various inspection equipment, a conductor rail that supplies power to the inspection vehicle, a monorail track on which the inspection vehicle runs, and a conductor rail arranged along the monorail track. The seven-rule track is composed of a fixed rail and a movable rail, and is equipped with a leaky coaxial cable for wireless signal transmission with the inspection vehicle and an operator console for remote control. The present invention is characterized in that an inspection vehicle can be moved from one fixed rail to another fixed rail.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 2 to 5.

Figure 2 is a configuration diagram of the monorail type mobile inspection device, Figure 4 is its system configuration diagram, and Figure 5 is a track configuration diagram when this device is applied to a nuclear power plant containment vessel. is an inspection vehicle traveling along the monorail track '+ti 12.

The seven-rule track 12 is formed in the shape of a lip groove opening downward as shown in FIG.
a conductor rail 13a for supplying power to the inspection vehicle 11;
'13b and 13c are arranged respectively, and each conductor rail 1
3a, 13b, 13C and an operator console 4 for remote control are connected to -C via a cable 15, as shown in FIG.

As shown in FIGS. 2 and 4, the inspection vehicle 11 includes wheels 16 for traveling along the monorail track 12, a drive transmission mechanism 17, a traveling motor 18, and a pan head 10. Door door camera 20 and light 21 supported through
, a sensor 22 such as a thermometer or a radiation dosimeter, a controller 23, a transmitter 24, an antenna 25, and a presser JIJ.
,, (7j, each of the conductor rails 13a via the structure 26,
Contacts 27a, 27b, 2 pressed against 13b, 13c
7c, respectively, and the conductor rails 13a, 13b
, 13c and the contacts 27a, 27b, 27'c, power is constantly supplied to the traveling motor 18 and the like.

The inspection vehicle 11 is also equipped with a transmission/reception mode switch (or distributor) 28, a transmitter 29, and a receiver 30, as shown in FIG. The signal transmission between
As shown in the figures and FIG. 4, this is carried out wirelessly via a leaky coaxial cable 31 supported by the Morseal track 12 and maintained at a constant distance from the antenna 25 of the inspection vehicle 11.

Further, as shown in FIG. 4, the operator console 14 is connected to a power source 32 for driving the inspection vehicle 11 and for electric power for on-board separate equipment, and a system for normal rotation, reversal, and stopping of the traveling Tanabata 18 of the inspection vehicle 11. A power switch 34, a transmission/reception mode switch 35, a receiver 36, a transmitter 37, a television camera monitor CRT 38, and a speaker 3 are operated according to instructions from the controller 33.
9. A display 40 for displaying the data on the jjlA meter and the radiation ray crystal 1 data, etc., the keyboard 41 of the system controller 33, and the position detection sensor 458 to be described later.
The position data input circuit 42.1 in which data from b, ..., 45n is manually input is described. Graphic CR that displays the condition
Equipped with T44M.

The system controller 33 is equipped with a memory element (not shown), and the system controller 33 performs travel control and inspection of the inspection vehicle 11Jj and the movable rail, which will be described later, and the camera control 1 by human power from the keyboard 41.
- A plurality of inspection courses that require rolls, etc. are stored, and control signals are output according to the stored inspection courses by operating the keyboard 41.

On the other hand, the position detection sensors 45a, 45b,...
.

45n and the motor 46, as shown in FIG. The position of the movable rail is detected, and the movable rail is driven by the motor 46.

The monorail track 12 has an outer ti
It is composed of three independent routes: a carry-in amount route i~48 which is arranged through an airlock door 47 having an inner door 47a and an inner door 47b, a loop-shaped lower inspection route 49, and a loop-shaped upper inspection route 50. The carry-in amount rule 48 and the four lower inspection routes are branched rails 51a that move together.

51b, and the lower inspection route 49
and the upper inspection route 50 are interconnected by a multi-layer interfloor lifting device 52a, 52b that moves together.

As shown in FIG. 5, the carry-in/out route 48 includes fixed monorails 48a arranged on the outside and inside of the airlock door 47, respectively.

48f1 Movable rails 48c, 48e and movable rail 48 arranged between both fixing molds 48a and 48f
It is composed of fixed rails 48b and 48d for supporting movable rails, which respectively support the doors 47c and 48e.
It is arranged inside the aero ivy door 47 separated by a and 47b.

The inspection vehicle 11 and each movable rail 48C148e, 5
The position detection sensors 45a, 45b detect the positions of 1a, 51b, 52a, 52b.

......, 45n (usually a limit switch) are installed on each C, and each movable rail 48c, 48e
.

51a, 51b, 52a, and 52b do not themselves have a driving source, but are driven by external power such as the motor 46 or a hoist (not shown).

Next, the effect will be explained.

At the time of inspection, first, a desired course is selected from among a plurality of pre-stored inspection courses by inputting from the keyboard 41 of the operator console 14. When the test is completed, the system controller 33 outputs a control signal g according to the inspection course.

That is, the system controller 33 includes the inspection vehicle 11 and each movable rail 48c, 48e, 51a, 51b from the device data input circuit 42.

In addition to the status signals 52a and 52b being input, the status signals of the equipment mounted on the inspection vehicle 11, such as the pan head 19 and the television camera 20, are also input from the receiver 36. From the system controller 33, the travel control signal of the inspection vehicle 11 is sent to the power switch 34, the movable rail travel control signal is sent to the drive circuit 43, and the control signals for the equipment mounted on the inspection vehicle 11, such as the pan head 19 and the television camera 20, are sent. A signal is output to a transmitter 37, respectively.

The inspection vehicle 11 then travels on a pre-designated inspection course and performs inspections at required inspection positions.

Next, the inspection vehicle 1 is inserted into the containment vessel from outside the airlock door 47.
1 will be explained below.

When transporting, first connect the movable J rail 48c to the fixed monorail 48a, and as shown in FIG.
Move it to 8c.

Next, the outer door 47a is opened and the movable rail 48c is moved to the movable rail 48e inside the airlock door 47 and connected. Then, the inspection vehicle 11 on the movable rail 48c is moved onto the movable rail 48e, and then the movable rail 48C is moved to the outside of the airlock door 47 and the outside 947a is closed.

Next, listen to the inner door 47b, connect the movable rail 48c to the fixed rail 48f, and move the inspection vehicle 1 on the movable rail 48e.
1 onto the fixing rail 48f. After that, the movable rail 48e is moved into the airlock door 47 and the inner door 47b is closed.

Thus, the transport of the inspection vehicle 11 from outside the airlock door 47 into the containment vessel is completed. Note that the inspection vehicle 11 may be carried out from the inside of the containment vessel to the outside of the airlock door 47 by the reverse procedure to the above-mentioned carrying-in procedure.

Next, a procedure for moving the inspection vehicle 11 between the carry-in/out route 48 and the lower inspection route 49 and between both inspection routes 49 and 50 will be explained.

First, when moving the inspection vehicle 11 from the loading/unloading route 48 to the four lower inspection routes, the inspection vehicle 11 is moved from the fixed monorail 48f to the branch rail 51a, and then moved to both branch rails 51a.

51b is moved to the position where the branch rail 51a is connected to the lower inspection loop 1-49. Then move the inspection vehicle 11 onto the lower inspection route 1-49? 5), both branch routes 51a and 51b are returned to their original states as shown in FIG.

Conversely, when moving the inspection vehicle 11 from the lower inspection route 49 to the loading/unloading route 48, first move the inspection vehicle 11 from the lower inspection route 49 to the loading/unloading route 48.
The upper inspection vehicle 11 is connected to the branch rail 5.
Move to ib U, then suddenly branch rails 51a, 51b
is moved to a position where the branch rail 51b is connected to the fixed monorail 48f. Then, the inspection vehicle 11 on the branch rail 51b is moved onto the fixed monorail 48f, and both branch rails 51a and 51b are returned to their original positions.

On the other hand, when moving the inspection vehicle 11 from the four lower inspection routes to the upper inspection route 50, first move the inspection vehicle 11 to the multi-layer interfloor lifting device 52 connected to the lower inspection route 49.
52a,
52b, the multi-layer interfloor lifting device 52a connects the upper inspection route 50.
Move it to the position where it is connected to.

After moving the inspection vehicle 11 on the multi-layer inter-floor lifting device 52a to the upper inspection route 50, both multi-layer inter-floor lifting devices 52a are moved to the upper inspection route 50.
a and 52b are returned to their original states shown in FIG.

Conversely, when moving the inspection vehicle 11 from the upper inspection route 50 to the lower inspection route 49, the inspection vehicle 11 is first moved to the multi-layer interfloor lifting device 5 connected to the above-mentioned inspection route 50.
2b, and then the multi-layer interfloor lifting device 52a
, 52b is connected to the lower inspection route 4 by the multi-layer interfloor lifting device 52b.
Move it to the position where it is connected to 9. After moving the inspection vehicle 11 on the multi-layer inter-floor elevating device 52b to the lower inspection route 49, both multi-layer inter-floor elevating devices 52a and 52b are returned to their original states.

Therefore, even if there is an airlock door 47, inspection 1Xii can be run without any response, and even if the track is divided into multiple routes 48, 49, 50, it can be moved freely and inspected. .

6 and 7 show another embodiment of the present invention, in which a self-propelled towing vehicle 62 and a chain-type towing vehicle 63 are used instead of the self-propelled inspection vehicle 11 in the previous embodiment. An inspection vehicle 61 that is driven to travel is used.

That is, the self-propelled towing vehicle 62 moves along the fixed monorail 48f of the loading/unloading route 48 as shown in FIGS. 6 and 7.
This self-propelled towing vehicle 6 is now able to move up to J3.
2 and the inspection vehicle 61 are connected to each other by locking the coupler 64 of the self-propelled towing vehicle 62 to the coupling jig 65 of the inspection vehicle 61.
It is now connected to.

As shown in FIG. 7, the coupler 64 is movable with the end side as a fulcrum, and this coupler 64 is connected to the branch rail 51a as shown in FIGS. 6 and 7. The connection with the connection jig 65 is released by actuation of a coupler release power cylinder 66a provided at the connection jig 65. At this time, the inspection vehicle 61 on the branch rail 51a is fixed in position by an inspection vehicle fixing power cylinder 67a provided on the branch rail 51a.

On the other hand, the chain-type towing port 63 has its neck extended above the four lower inspection routes as shown in FIG.
is connected to six chains via chain grips 68, and the chains 69 are driven via gears 72 by a chain drive motor 71 to which a rotary encoder 70 is connected. The chain type towing vehicle 63 is provided with a coupler 73 having the same configuration as the coupler 64 as shown in FIG. 6, and the branch rail 51b connected to the lower inspection route 49 in the normal state has A coupler release power cylinder 66b and an inspection vehicle fixed power cylinder 7b having the same configuration as the power cylinders 66a and 67a are installed, respectively.

Therefore, when moving the inspection vehicle 61 between the loading/unloading route 48 and the four lower inspection routes, the inspection vehicle 61 is moved to the branch rail 51.
a, 51b and fix the position using the inspection vehicle fixing power cylinders 67a, 67b, move the coupler 64.73 1.7J away from the coupling jig 65 using the coupler release power cylinders 66a, 66b, and then move the coupler 64.73 to the top of the branch rail 51a. ,
This can be done freely by moving 51b and avoiding J.

〔Effect of the invention〕

As explained above, the present invention wirelessly performs No. 3 transmission between the inspection vehicle and the A Verator console using a leaky coaxial cable, thereby reducing the size and weight of the inspection vehicle and improving the device configuration. Simplification can be achieved.

In addition, signals are transmitted wirelessly, and the monorail track is made up of fixed rails and movable rails, and the movement of the movable rails allows inspection vehicles to branch freely between each fixed rail, reducing the complexity of the plant. Maintenance and inspection can be carried out easily and reliably even in the case of an airlock, and an inspection vehicle can be brought in and inspected even on a running track with an airlock door or the like.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing an example of a running track for an inspection vehicle inside a nuclear power plant containment vessel, Fig. 2 is a configuration diagram showing an embodiment of the present invention, and Fig. 3 is a cross-section of an -E rule track. 4 is a block diagram showing the electrical system, FIG. 5 is a configuration diagram of a monorail track showing the case where the present invention is applied inside the containment vessel of a nuclear power plant, and FIG. 6 is a block diagram showing an embodiment of the pond of the present invention. Plan view not shown,
FIG. 7 is a front view of the main part. 11.61...Inspection vehicle, 12...Monorail track,
13a, 13b, 13G...j9 body rail, 14-7
1 Perator console, 16...Wheel, 18...F-tater for traveling, 19...Paper stand, 20...Television camera, 21...Light, 22...Sensor, 23... ”
nt[]-ra, 24...(transmission: cumulative, 25...antenna, 27a, 27b. 27G...contact, 29.37...transmitter, 30°36...receiver 5 units, 31...Leak?ILI It-+
J Il+ll cable, 33...System controller 1~
Roller, 38...t Revi camera monitor CRr, 40.
-Display device, 41...Keyboard, 42...()°I data input circuit, 43...Drive circuit, 44...Graphic CRT, 45a, 45b. ......, 45n... position detection sensor, 46...
・Motor, 47...Aerial door, 47a...Outer door, 47b...Inner door, 48...Input/output route, 49.
...Lower inspection route, 50...Upper inspection route, 51
a, 51b... Branch rail, 52a, 52b... Multi-layer interfloor lifting device, 62° 63... Traction vehicle, 64.73
... Connecting tool, 65... Connection jig, 6... Chain, 71... Chain drive motor.

Claims (1)

[Scope of Claims] 1. An inspection vehicle equipped with various inspection equipment, a conductor rail that supplies power to the inspection vehicle, a monorail track on which the inspection vehicle runs, and an inspection vehicle arranged along the monorail track. The monorail track is composed of a fixed rail and a movable rail, and the movable rail moves from one fixed rail to another. A mobile inspection device characterized by being able to move an inspection vehicle along a fixed rail. 2. The mobile inspection device according to claim 1, wherein a position detector for detecting the positions of the inspection vehicle and the movable rail is provided on the monorail track.