JPS63309854A - Slide moving type automatic piping group inspection instrument - Google Patents

Abstract

PURPOSE:To reduce exposure by providing one set of clamp device on two pieces of yokes, respectively, clamping and unclamping alternately piping by the respective clamp devices, and moving them automatically from piping to piping. CONSTITUTION:Between the first and the second yokes 1, 2 provided with a pair of clamp devices 7, 8 a lift use driving part 5, and an inspecting device for inspecting the pipe peripheral direction and the axial direction one of them, respectively, a slide driving member 3 and a pipe axial direction driving member 14 are provided. Subsequently, by the devices 7, 8 of the yoke 1, pipes 20, 21 are clamped, respectively, and also, the clamp of the yoke 2 is released, and by the member 3, the yoke 2 is slid by a 1-pitch portion of piping in the direction A along a rail 4, the clamp of the yoke 2 is brought to lift-down and the piping 20, 21 are clamped. Thereafter, each device is brought to a remote control by an automatic mode, moved from the piping to the piping, and the inspection is executed automatically.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an inspection device for maintaining and inspecting a large number of densely packed pipe groups, and in particular, the present invention relates to an inspection device for automatically inspecting a large number of densely packed pipe groups while walking around a narrow space inside the pipe group. This invention relates to a sliding type automatic pipe group inspection device that performs the following steps.

[Conventional technology]

In general, the health of nuclear reactor equipment is confirmed during each periodic inspection, and inspections of the next system of the reactor are performed under the radiation environment unique to nuclear power plants, so it is possible to reduce worker exposure and reduce inspection time. It is an important issue to try to shorten the time, and remote mobile devices equipped with sensors are being used.

Figure 8 is a perspective view showing the reactor-subcooling system of a new converter reactor, where 81 is the reactor, 82 is a pressure tube assembly, 83 is a calandria tank, 84 is an inlet pipe, 85 is an outlet pipe, and 86 is a 87 is the main steam pipe, 88 is the downcomer pipe, 89 is the recirculation pump, and 90 is the lower header.

In the figure, the inlet pipe 84 and outlet pipe 85 of the nuclear reactor 81 are
Each pipe has more than 200 pipes, and the number of welded seams is just under 3,000 for the outlet pipe and over 4,000 for the inlet pipe, totaling more than 7,000 weld seams.

The outlet pipe group is composed of small-diameter pipe groups, and the arrangement pinch is 24 On +
0n, 200 ml around the bottom and vertical part.

In this way, the inside of the pipe group of the entrance and exit pipes is narrow and there is no work space for inspectors to approach and perform inspections, and the surrounding radiation level is relatively high. Furthermore, it has been desired to develop a remote automatic inspection device for the purpose of expanding the inspection range to inspect the inside of a group of pipes.

Therefore, when conducting inspections of inlet/outlet pipe groups and developing inspection equipment, we actively use the inlet/outlet pipe groups, which have traditionally been considered obstacles, as scaffolding for the inspection equipment, and automatically control the pipe groups by remote control. Prototyping and development of a remote automatic inspection device that can be used widely throughout the country is underway.

FIG. 9 is a diagram showing the overall configuration of such a remote automatic inspection device for outlet pipes, and FIG. 10 is a diagram showing how the remote automatic inspection device for outlet pipes moves between pipes. In the figure, 91 is a control device; 92 is a data display device; 93 is a remote mobile device; 9
4.95.96 is piping, 97.98 is yoke, 99-1
02 is a clamp device, and 103 is an arm.

In FIG. 9, a remote moving device 93 is remotely controlled by a control device 91, and slides along the pipe.
They move in orthogonal directions and inspect piping while clamping it.

Data such as the position of the inspection device and the inspection results at this time are displayed on the display device 92, and are also stored and accumulated.

Next, the operation of the remote moving device 93 will be explained with reference to FIG.

Clamp devices 99.10o and 101.102 are installed at both ends of the yoke 97.98 at the same spacing as the piping spacing, respectively.
are provided, and these are configured to open and close their tips in response to a control signal from the control word M91 to grip or release the pipe.

Further, the yokes 97 and 98 are connected by an arm 103, and the other yoke swings in a semicircle with the arm connection point in one yoke as the center and the arm length as a radius.

In the state shown in FIG. 10(A), the clamping devices 99.100 and 101.1°2 of the yokes 97.98 and 101.1°2 are the piping 94.
95 and is gripping it. Next, Figure 10 (
In the state shown in FIG.
As shown in c), move the clamp device 99.100 onto the adjacent pipe 95.96, close the clamp, and
5. Grasp 96. Next, as shown in FIG. 10(d), open the clamping devices 101 and 102, swing the yoke 98 in a semicircle around the connection point of the arm 103 in the yoke 97, and then swing the yoke 98 as shown in FIG. As shown in FIG.
6 Move up, close the clamp, and grasp the pipe. Thereafter, by repeating this operation, the piping can be moved to a desired position.

In addition, by opening the clamp device 99, 100 in the state shown in FIG. 10 (A) or FIG. 10 mm), then stop and close the clamping device 99.100.

Next, the clamp devices 101 and 102 are opened, and the slide device is driven again to advance the yoke 97 in the axial direction of the pipe (in the direction of the yoke 98) by the stroke of the slide shaft and then stopped, and the clamp devices 101 and 102 are closed. .

By performing this repeated operation, the device can move in the axial direction of the pipe. In addition, since it can also move in the opposite direction to the above, it can move in either direction along the axis of the pipe.

Although this prototype device has a slide stroke of 10 fl, if the slide stroke distance is increased, it is possible to move over a longer range in one operation.

In this way, after the worker has installed it in the initial setting position,
By repeating the above-mentioned operation by remote control, it automatically moves across the pipes and inspects each time, and when all inspections are completed, it moves backwards and returns to the initial setting position [Problem to be solved by the invention] However, Such a remote moving device requires a moving space around the pipe group, including the height of the device in the pipe pinch, for example, about 500 meters for the outlet pipe.
It was difficult to apply this method to the inside of a pipe group with a narrow surrounding space, such as the horizontal routing section of an inlet/outlet pipe group.

The present invention is intended to solve the above-mentioned problems.Even if the piping pinches are different, the piping group can be moved without being affected by the installation accuracy of the piping pinches, and it is possible to move the piping group inside the piping group which is narrow and has a relatively high radiation level. It is an object of the present invention to provide a sliding type automatic piping group inspection device that can perform inspections and expand the inspection range.

[Means for Solving the Problems] To this end, the slide movable automatic pipe group inspection device of the present invention is provided with one set of clamp devices, and has a lift drive unit for the clamp device, at least one of which is connected to the pipes. A slide drive having first and second yokes equipped with an inspection device that scans and inspects the circumferential direction and the pipe axial direction, and a rail provided between the first and second yokes and on which the first yoke slides. member, and a piping axial direction driving member fixed to the slide driving member and movably connected between the second yokes, the clamping device of one yoke being in a clamped state, and the clamping device of the other yoke being unclamped. is lifted up outside the piping to be inspected and slid by a slide drive member, and when the inspection position is centered, it is lifted down to the piping to be inspected and clamped, and then, after unclamping one yoke, it is lifted up and the piping to be inspected is removed. It is characterized by moving and inspecting a group of pipes by sequentially lifting them down and clamping them.

[Effect]

The sliding type automatic piping group inspection device of the present invention has two yokes each equipped with one set of clamp devices, and when moving,
Clamp the piping with the clamping device on one yoke, release the clamp on the other yoke and lift it up.
In this state, slide the yoke 1,000-pitch of the pipe, bring down the clamping device to clamp it, then release the clamp of the clamping device of the one yoke, lift it up, and similarly slide it 1-pinch. The pipe is then lifted down, clamped, and inspected automatically by moving over the piping one by one.

〔Example〕

Examples will be described below with reference to the drawings.

FIG. 1 is a perspective view of an embodiment of a sliding type automatic piping group inspection device according to the present invention, and FIG. 2 is a diagram showing how the sliding piping group automatic inspection device of FIG. 1 moves between pipes. , 2 is a yoke, 3 is a slide drive member, 4 is a rail, 5.6 is a lift drive unit, 7.8.9.10 is a clamp device, 11.12 is an air cylinder, 13 is an inspection device,
14 is a Y-axis drive member, 15.16 is a guide, 17.18
is the end plate, and 19.20.21 is the piping.

In the figure, yoke 1 and yoke 2 are provided with clamp devices W7.8 and 9.10, respectively, and these clamp devices are driven in the direction of arrow E by an air cylinder 11.12 to grip the pipe, or open it up. An inspection device 13 is provided behind at least one of these clamp devices, and is configured to be scanned in the direction of the arrow, that is, in the circumferential direction of the pipe (X-axis) using a driving method described later, to perform visual inspection and volume inspection of the pipe. has been done. Further, the yoke 1 can be slid in the direction of arrow A along a rail 4 provided on the slide drive member 3.
A Y-axis drive member 14 is fixed to the Y-axis drive member 14, and the yoke 2 is connected to an end plate 17 that is mechanically connected to the Y-axis drive member 14. The Y-axis drive member 14 is movable in the direction of arrow B by a ball screw drive mechanism, which will be described later, by guides 15 and 16 provided between the end plates 17 and 18. It is possible to move and correct the clamp position.

The yokes 1.2 are each driven by a lift drive unit 5.6 to be lifted up 906 in the direction of arrow C, fixed so as not to interfere with the surrounding piping group, and lifted down again.

In such a configuration, among the clamps gripping the piping 19.20 as shown in FIG. 2(A), the clamps 7.8 of the yoke 1 are unclamped, and the clamps 7.8 of the yoke 1 are unclamped as shown in FIG. 2(B). Lift up and secure. Next, the slide driving member 3 slides the yoke 2 along the rail 4 by one pitch of the piping (FIG. 2 (c)), lifts the yoke 1 down in the piping direction, and clamps the piping 20, 21 (second
Figure (d)). Next, as shown in Figure 2 (E), the yoke 2
The clamp devices 9 and 10 are unclamped, lifted up and fixed in the same manner as in the case of the yoke 1. Next, as shown in Figure 2 (F), slide the cork 2 to the same position as the yoke 1, and as shown in Figure 2 (G), move the yoke 2
is also lifted down in the direction of the piping and clamps the piping 20 and 21. By repeating the above operations, it is possible to move to the piping required for inspection.

During the inspection, the inspection device is scanned in the circumferential direction and the axial direction of the piping, and a TV camera and various sensors are used to perform visual inspections, volumetric inspections, etc. of the piping, and the inspection results are displayed on a display device (not shown). Data processing is performed by a data processing device.

To correct the piping gripping position, unclamp the clamping device of one yoke, drive it with the Y-axis drive member, move it in the Y-axis direction by the amount necessary to correct one position, and then clamp the other yoke. Unclamp the yoke clamp device,
It is moved by the Y-axis drive member by the same distance in the direction of one of the yokes and clamped. Note that by repeating the drive in the Y-axis direction, the piping can be moved in the axial direction.

The movement of each of these devices can be remotely controlled in automatic mode or manual mode, but in addition to this, the device itself has a built-in microcomputer that stores inspection procedures in advance and automatically operates according to the instructions. The inspection may proceed.

Next, the configuration of each part will be explained in more detail.

FIG. 3 is a front view showing the clamp mechanism, where 31 is a fixed claw, 32 is an air cylinder, 33 is a gear, 34.35 is a clamp claw, and 36.37 is a pipe.

This embodiment is a cylinder horizontal integrated arm direct drive system in which one air cylinder 32 operates two clamp devices to clamp the pipes 36 and 37. The clamp device is
A total of 4 pieces are provided, 2 sets for each of the 2 yokes. Clamp claw 34 operated via one fixed claw 31 and gear 33
．． 35 fixes the pipe group automatic inspection device to the pipes.

The clamp claws are driven by an air cylinder 32, one set of clamp devices is driven by one air cylinder 32, and this air cylinder has a working air pressure of 5 to 7 kg/c, for example.
+J, cylinder stroke 25 mm (Max), and clamping force 30-40 kg r. Completion of clamping is confirmed using a microswitch (not shown) attached to the clamp claw. Further, when the automatic piping group inspection device moves from one piping group to another or during an inspection, the clamped state can be maintained by a spring built into the clamp.

Figure 4 is a diagram for explaining the lift mechanism.
4 is a front view of the lift mechanism, and (b) is a side view of the lift mechanism.
1 is a DC motor, 42 is a yoke, 43 and 44 are clamp claws, 45 is an air cylinder, 46 is a C gear, 47 is a sensor, and 48 is a TV camera.

In this embodiment, the lift mechanism is of a motor direct drive type that connects the drive shaft of a DC motor 41, which is a motor with a reduction gear, to lift up or lift down the yoke. One lift mechanism is provided for each yoke 42, and drives the DC motor 41 in an unclamped state to rotate the yoke 42 by 90 degrees (FIG. 4(b)). The end of the lift-up or lift-down stroke is detected by a microswitch, and the lift mechanism is automatically stopped by operating the microswitch.

Figure 5 is a diagram for explaining the slide mechanism, in which (a) is a plan view of the slide mechanism, and (b) is a side view of the slide mechanism.
1.52 is a yoke, 53 is a slide drive member, 54 is a rodless cylinder, 55 is a drive section, 56 is a slide rail, 57.58 is a clamp claw, and 59 is a pipe.

The slide mechanism in this embodiment is an air cylinder drive system in which one yaw is fixed and the other yoke is slid. The slide is driven by the drive unit 55 of the rodless cylinder 54 using air as the drive source, thereby moving the yoke 5.
1.Walk across one pitch of the entrance/exit pipe while keeping the 52 lifted up.

The sliding position of the yoke is detected by a microswitch (not shown) provided at the end of the cylinder stroke. By driving the slide mechanism, lift mechanism, and clamp mechanism in alternating combinations, it is possible to move between the pipe groups.

Figure 6 is a diagram for explaining the X-axis drive mechanism that drives various sensors installed in the inspection device in the circumferential direction of the pipe. be. In the figure,
61 is a DC motor, 62 is a timing belt, 63 is a C
A gear, 64.65 is a pinion, and 66 is a clamp claw.

The X-axis drive mechanism of this embodiment uses a timing belt drive system in which the C gear is rotated by two pinions from the output shaft of a DC motor 61 via a timing belt 62.
In any position, at least one pinion is in C
Make sure it meshes with gear 63. Further, it can rotate 370 degrees (10 degrees wrap) in the X-axis direction, and the rotation speed (peripheral speed) is, for example, 100 to 500 wm/min. X
The stroke end of the shaft is determined by automatically stopping movement in the X-axis direction by operating a micro-sinch via a lever by a dog to which a C gear is attached. Further, the position in the X-axis direction is detected by an encoder attached to the rear of the DC motor 61, and a detection pulse signal is transmitted to the control device and digitally displayed on a position display device on the control panel.

FIG. 7 is a diagram for explaining the Y-axis drive mechanism in the piping direction, where 71 is a DC motor, 72 is a spur gear, 73 is a ball screw, 74 is a Y-axis drive member, 75 and 76 are guides, and 77
．． 78 is a yoke, and 79 is a slide drive member.

As shown in the figure, the Y-axis drive mechanism in this embodiment uses two guides 75 and 76 as guides, and connects the ball screw 7 from the output shaft of the Y-axis drive DC motor 71 via the spur gear 72.
This is a ball screw drive system in which the Y-axis drive member 74 is moved in the Y-axis direction by rotating the Y-axis drive member 74. In this case, the yoke 78 is clamped, the yoke 77 is unclamped, and the DC motor 7 is
1, the yoke 77 is pushed and moved in the pipe axis direction via the Y-axis drive member 74 and the slide drive member 79. Also, clamp the yoke 77 and
By unclamping the yoke 8 and driving the DC motor, the yoke 78 can be moved in the axial direction of the pipe. In this case, the stroke end is detected by the micro-sinch, and the movement in the Y-axis direction is automatically stopped by the operation of the micro-sinch.

Further, the position in the Y-axis direction is detected by an encoder (not shown) attached to the rear of the DC motor 71, transmitted as a pulse signal to the control device, and digitally displayed on a position indicator on the control panel. In this way, the sensor can be moved in the Y-axis direction.

In addition, the position correction for the amount of deviation in the Y-axis direction that occurs when the pipe group automatic inspection device moves from one pipe to another is
Using an axial drive mechanism, the position can be corrected by moving in the opposite direction by the amount of deviation in the Y-axis direction.

In the above embodiment, a case was explained in which sensors such as a TV camera and an ultrasonic probe are installed in the main body of the inspection device, but in addition to this, welding jigs and repair jigs for maintaining piping It goes without saying that it may be mounted on the main body of the inspection device as necessary.

〔Effect of the invention〕

As described above, according to the present invention, the inspection device is simply installed at a position (initial setting position) that is easily accessible to workers on the outer periphery of the piping group, such as inlet/outlet pipes, and then the inspection device is automatically or manually operated from the control panel. Because the system automatically moves between groups of pipes by remote control or by using a built-in microcomputer, inspections of many other inlet and outlet pipes do not require human intervention, and radiation exposure can be significantly reduced compared to manual flaw detection. Conventionally, it has been difficult to inspect welds on the outer periphery of a pipe group or areas outside of the reach, but the device of the present invention can automatically walk around the inside of a pipe group and inspect each time. This makes it possible to inspect all welded areas, greatly expanding the inspection range. In addition, since the present invention has the function of moving between pipes, even if the pipe pinches are different, it is possible to move between groups of pipes without being affected by the accuracy of pipe installation, and compared to conventional methods, it is possible to move between groups of pipes. Since the movement of the clamp mechanism during this process requires only a small space, it is possible to further expand the inspection range inside the pipe group. Furthermore, since it can also be moved in the axial direction of the piping, inspection is possible even if the welding location is misaligned.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an embodiment of a sliding type automatic piping group inspection device according to the present invention, and FIG. 2 is a diagram showing how the sliding piping group automatic inspection device of FIG. 1 moves from one pipe to another.
Figure 3 is a front view showing the clamp mechanism, Figure 4 is a diagram for explaining the lift mechanism, Figure (A) is a front view of the lift mechanism, Figure (B) is a side view, and Figure 5 is a diagram for explaining the lift mechanism. These are diagrams for explaining the slide mechanism. Figure (A) is a plan view of the slide mechanism, Figure (B) is a side view, and Figure 6 shows how various sensors installed in the inspection device are driven in the circumferential direction of the pipe. This figure is for explaining the X-axis drive mechanism.
is a plan view, Fig. 7 is a diagram for explaining the Y-axis drive mechanism in the piping direction, Fig. 8 is a perspective view showing the reactor-subcooling system, and Fig. 9 is the entire remote automatic inspection device for outlet pipes. FIG. 1O, which is a diagram showing the configuration, is a diagram showing how the remote automatic inspection device for outlet pipes moves between pipes. 1.2... Yoke, 3... Slide drive member, 4...
...Rail, 5.6...Lift drive section, 7.8.9
．． 10... Clamp device, 11.12... Air cylinder, 13... Inspection device, 14... Y-axis drive member,
15.16... Guide, 17.18... End plate, 19.20.21... Piping, 31... Fixed claw,
32...Air cylinder, 33...Gear, 34.35
...Clamp claw, 36.37...Piping, 41...
DC motor, 42...Yoke, 43.44...Clamp claw, 45...Cylinder, 46...C gear, 47
...Sensor, 48...TV camera, 51.52...
- Yoke, 53... Slide drive member, 54... Rodless cylinder, 55... Drive unit, 56... Slide rail, 57.58... Clamp claw, 59...
Piping, 61...DC motor, 62...Timing belt, 63...C gear, 64.65...Pinion,
66... Clamp claw, 71... DC motor, 72...
...Spur gear, 73...Ball screw, 74...Y-axis drive member, 75.76...Guide, 77.78...Yoke, 79...Slide drive member.

Claims (9)

[Claims] (1) A set of clamp devices is provided, and a first and a second device are provided with a drive unit for lifting the clamp device, and at least one of which is provided with an inspection device that scans and inspects the piping circumferential direction and the piping axial direction. a slide drive member provided between the first and second yokes and having a rail on which the first yoke slides, and piping fixed to the slide drive member and movably connected to the second yoke. an axial drive member, the clamping device of one yoke is in a clamped state,
After unclamping the other yoke, lift up the clamp device outside the piping to be inspected, slide it using the slide drive member, and when the inspection position is set, lift it down to the piping to be inspected and clamp it, then unclamp the one yoke. A sliding type automatic piping group inspection device that moves and inspects a piping group by sequentially performing operations such as lifting up, lifting down to the pipe section to be inspected, and clamping the pipe group. (2) The sliding type automatic pipe group inspection device according to claim 1, wherein the inspection device is equipped with various sensors such as a TV camera and an ultrasonic probe. (3) The slide movable automatic pipe group inspection device according to claim 1, wherein the inspection device includes a welding jig and a repair jig. (4) The sliding type automatic pipe group inspection device according to claim 1, wherein the inspection device is driven in the circumferential direction of the pipes by a C-shaped gear that meshes with a pinion driven by a motor via a timing belt. . (5) The slide movable automatic piping group inspection device according to claim 4, wherein a plurality of said pinions are provided, and at least one is always engaged with a C-shaped gear. (6) The slide movable automatic pipe group inspection device according to claim 1, wherein the inspection device is driven in the pipe axial direction by a ball screw driven by a motor. (7) The slide movable pipe group automatic inspection device according to claim 1, wherein the clamping by the clamping means is performed by a clamping claw directly operated by an air cylinder. (8) The sliding type automatic pipe group inspection device according to claim 1, wherein the lifting up or down is performed by directly driving the yoke by a motor with a speed reducer. (9) The sliding type automatic pipe group inspection device according to claim 1, wherein the sliding is performed by driving a yoke with an air cylinder.