JPWO2009057217A1 - Thimble tube insertion / removal device - Google Patents

Abstract

In the thimble tube insertion / removal device, the insertion / removal operation can be performed easily and with high operational reliability. In a thimble tube insertion / removal device having a gripping part of a thimble tube and a drive part for driving the gripping part, the gripping part includes a pair of clamping heads provided with a clamping groove having a substantially semicircular cross section. The inner diameter dimension of the pair of sandwiching grooves is set to a predetermined dimension slightly smaller than the outer diameter of the thimble tube, and the thimble tube is sandwiched and held between the sandwiching grooves of the pair of sandwiching heads. . In addition, the drive unit is configured by a hydraulic cylinder, and includes a load detection unit that detects a load applied to the hydraulic cylinder, and an operation position detection unit that detects an operation position of the hydraulic cylinder. This makes it easy to insert and remove the thimble tube by cooperating the gripping structure that can obtain a large gripping force without deforming the thimble tube and the drive structure that makes it possible to control the driving force easily and appropriately. In addition, it can be performed with high reliability, and automation of the insertion / removal operation is promoted.

Description

  The present invention relates to a thimble tube insertion / removal device for inserting / removing a thimble tube as a guide tube of an in-reactor measurement device installed in a lower part of a nuclear reactor with respect to a conduit tube as an outer tube thereof. is there.

  Various proposals have been made for such thimble tube insertion / removal devices (see, for example, Patent Documents 1 to 3).

By the way, the insertion / removal of the thimble tube is performed by grasping the thimble tube, inserting it with a load and inserting or pulling out the thimble tube. This thimble tube is a thin tube (for example, about 8 mm) and long (for example, Therefore, a large insertion / removal resistance (ie, “drag”) is generated by contact with the conduit tube. For this reason, when inserting / removing the thimble tube, it is necessary to manage the gripping load on the thimble tube and the drawing / insertion load on the thimble tube.
Japanese Utility Model Publication No. 02-1226779 JP 2000-028778 A Japanese Patent Laid-Open No. 06-011594

  Here, of the management of gripping load and pull-out / insertion load, which are management items at the time of inserting / removing the thimble tube, the gripping load is not clearly described in the above publicly known example, Specifically, the following configuration is adopted.

  That is, in general, as shown in FIG. 17 (a), the thimble tube 120 is formed using a pair of gripping pieces 111 and 112 that are arranged to face each other and are loaded with a load (gripping load) in the abutting direction. Is clamped from both sides in the radial direction.

  The opposing surfaces (abutting surfaces) 111b and 112b of the gripping pieces 111 and 112 are provided with gripping grooves 111a and 112a having a semicircular cross-sectional shape and extending in a direction perpendicular to the paper surface. However, the inner diameter of each of the gripping grooves 111 a and 112 a is set larger than the outer diameter of the thimble tube 120. When the thimble tube 120 is set in the gripping grooves 111a and 112a, the circumferential center positions 111c and 112c of the gripping grooves 111a and 112a come into contact with the thimble tube 120 and the gripping grooves A predetermined gap Sa (that is, movement allowance) is ensured between the opposing surfaces 111b and 112b of the holding grooves 111a and 112a.

From the set state shown in FIG. 17A, a gripping load in the abutting direction is applied between the gripping pieces 111 and 112. Then, the gripping pieces 111 and 112 move in the approaching direction, and as shown in FIG. 17 (b), the facing surfaces 111b and 112b abut or approach each other (FIG. 17 (b)). , The entire circumference of the gripping grooves 111a and 112a is in contact with the outer peripheral surface of the thimble tube 120 in a pressed state, and the thimble tube 120 is The grooves 111a and 112a are sandwiched between the grooves 111a and 112a to obtain a required grip load.

  However, according to such a gripping structure, the thimble tube 120 is clamped by the gripping grooves 111a and 112a, and the shape of the gripping grooves 111a and 112a is changed from a perfect circle to an ellipse along the inner surface shape. Transformed. In this case, if the deformation exceeds the elastic region, the deformation of the thimble tube 120 remains as it is even when the thimble tube 120 is detached from the gripping grooves 111a and 112a. When inserting a sensor into the thimble tube 120, it may be difficult to insert the sensor, or the thimble tube 120 may need to be replaced in some cases.

  Such a problem becomes more prominent by applying a large load between the gripping pieces 111 and 112 for the purpose of obtaining a high gripping load. This is because the two demands of “inhibition of deformation of the tube” are contradictory.

  As one method for solving such a problem, for example, the length dimension of the gripping pieces 111 and 112 is increased, and the contact range between the gripping grooves 111a and 112a and the thimble tube 120 is expanded to both of them. A method for increasing the frictional force between them can be considered. However, according to this technique, a high level technique is used to uniformly apply a load to the entire gripping range of the thimble tube 120 (the entire lengthwise direction of the gripping groove) by the gripping grooves 111a and 112a. Is not realistic. Further, when slipping occurs in the gripping portion, there is a concern that the range of damage due to slipping increases by the increase in the length, and the thimble tube 120 cannot be used in some cases.

  Accordingly, in view of these circumstances, development of a technique for obtaining a large gripping load without greatly deforming the thimble tube 120 is required.

  On the other hand, the management of the pulling load or insertion load on the thimble tube has been proposed. Various proposals have been made in this regard, and one of them is disclosed in Patent Document 1. That is, the thimble insertion / removal device disclosed in Patent Document 1 uses a driving force as human power, and a person operates an operation lever to obtain a high-load driving force.

  However, with such a configuration, it is necessary to set a high gear ratio in order to reduce the operating force, but if the gear ratio is increased, the stroke that can be driven by a single lever operation is shortened. Therefore, it is expected that a heavy labor is required to pull out and insert a long thimble tube by lever operation.

  As a method for solving such a problem, as shown in Patent Document 2, it is conceivable to obtain a driving force using an electric motor. However, in the case of using an electric motor, the initial motion speed immediately after startup is large. Depending on the gripping load or the pulling / inserting direction of the thimble tube, there is a risk that the thimble tube may be abruptly compressed or pulled due to abrupt driving. Thus, it becomes difficult to properly control the electric motor.

  Further, the driving device shown in Patent Document 1 is a manual type, and the gripping force generating mechanism part and the driving force generating part are linked by a link mechanism, so that a single operating force (that is, operation of the operating lever) Force) can simultaneously obtain a gripping load for gripping the thimble tube and a driving load for pulling out and inserting the thimble tube, which can be said to be an efficient method for the operation system.

  However, according to such a method, it is required to always maintain a proper balance between the driving load and the gripping load generated simultaneously by the operation of the operation lever. If this balance is inappropriate, for example, the gripping load is When the driving load is too small, the thimble tube slips, and conversely, when the holding load is too large with respect to the driving load, there is a concern that the holding portion may damage the thimble tube.

  Further, since the one in Patent Document 1 is configured to pull out and insert the thimble tube with a single operating force and the one in Patent Document 2 with a single electric motor, the pulling operation and insertion are performed. In the operation switching operation, it is necessary to switch the operating direction of the insertion / removal device in the former, and it is necessary to switch the rotation direction of the electric motor in the latter. In either case, there is a problem in terms of operability.

  Considering the above circumstances, the drive unit has a slow initial motion speed and simple control of the drive load in relation to the gripping load, and only the driving load is not associated with the control of the gripping load. There is a demand for development of a drive unit having a configuration that can be controlled easily.

  Therefore, in the present invention, in the thimble tube insertion / removal device, a large gripping load is obtained without deforming the thimble tube, and the driving load can be easily and appropriately controlled. .

  In the present invention, the following configuration is adopted as a specific means for solving such a problem.

  In the first invention of the present application, a gripping portion for gripping the thimble tube and a driving portion for driving the gripping portion in the axial direction of the thimble tube are provided, and the gripping portion is driven by the driving portion to In a thimble tube insertion / removal device for inserting / removing a thimble tube to / from a conduit tube, a pair of gripping portions that are opposed to each other so as to be able to come into contact with each other, and each provided with a pressing groove having a substantially semicircular cross section on the opposite surface. The inner diameter of the pair of pressing grooves is set to a predetermined dimension slightly smaller than the outer diameter of the thimble tube, and the opposing surfaces of the pair of pressing heads are abutted. Thus, the thimble tube is sandwiched and gripped from both sides in the radial direction between the respective sandwiching grooves.

  Here, the inner diameter dimension of the pair of pinching grooves is set to a predetermined dimension slightly smaller than the outer diameter dimension of the thimble tube. The predetermined dimension is obtained by holding the thimble tube with the pair of pressing heads. In the state, the dimension is set so as not to cause plastic deformation of the thimble tube (for example, when the outer diameter dimension of the thimble tube is 8.0 mm, the inner diameter dimension of the pinching groove is about 7.9 mm). Therefore, even when the thimble tube is strongly gripped by the pair of clamping heads, if the grip load disappears, the outer diameter of the thimble tube will return to its original value, and there will be nothing for the subsequent use of the thimble tube. No problem arises.

  Further, in this case, the length of each clamping groove is made to correspond to the driving load so that plastic deformation does not occur when the gripping portion is driven by a load in the driving load range of the driving portion. Is set.

In the second invention of the present application, the gripping portion for gripping the thimble tube and a drive portion for driving the gripping portion in the axial direction of the thimble tube are provided, and the gripping portion is driven by the driving portion to In the thimble tube insertion / removal device for inserting / removing the thimble tube to / from the conduit tube, the pair of clamping heads of the gripping part can be relatively displaced in the contact / separation direction around the fulcrum pin, and the first hydraulic pressure It is characterized by being attached to each of a pair of arms driven by a cylinder.

here,
Since the hydraulic cylinder has a lower initial speed immediately after startup than the electric motor and is easy to adjust the speed, the first hydraulic cylinder is used as a drive source for the pair of clamping heads as in the present invention. By adopting it, it is possible to prevent as much as possible the occurrence of a situation in which the thimble tube is damaged by a sudden compression force or tensile force applied by the rapid drive. In addition, the adjustment of the grip load by the pair of clamping heads of the grip portion with respect to the thimble tube is performed by adjusting the hydraulic pressure of the first hydraulic cylinder that drives the pair of arms. Since it is easy to adjust the hydraulic pressure of the cylinder, the grip load can be adjusted easily and accurately.

  According to a third invention of the present application, in the thimble tube insertion / removal device according to the second invention, a strain gauge is attached to a cylinder rod of the first hydraulic cylinder, and the gripping load is detected by the strain gauge. It is characterized by.

  As described above, according to the method of detecting the grip load using the strain gauge, whether the grip state is appropriate based on the detected value, for example, whether the thimble tube is gripped accurately, It is possible to accurately determine whether or not the screw is loose, and the reliability of the gripping operation is ensured. Further, for example, compared to a method in which a load applied to a cylinder rod is directly detected by a sensor, or a method in which the hydraulic pressure of the first hydraulic cylinder is detected by a pressure sensor or the like and the gripping load is detected by calculation. Is extremely simple and inexpensive, and the operation cost can be reduced by detecting the gripping load using the strain gauge.

  According to a fourth aspect of the present invention, a grip portion for gripping the thimble tube and a drive portion for driving the grip portion in the axial direction of the thimble tube are provided, and the grip portion is driven by the drive portion. In the thimble tube insertion / removal device for inserting / removing the thimble tube to / from the conduit tube, the drive unit is constituted by a second hydraulic cylinder, and further includes a load detection unit for detecting a load applied to the second hydraulic cylinder. It is characterized by that.

  Here, the drive unit is configured by the second hydraulic cylinder provided separately from the first hydraulic cylinder of the gripping unit, thereby controlling the gripping load by the first hydraulic cylinder, The drive load control by the second hydraulic cylinder can be individually performed, for example, a drive load corresponding to the grip load (for example, an appropriate drive load that does not cause the thimble tube to slip in the grip portion). Thus, automatic operation can be performed while the gripping control in the gripping part and the driving load control in the driving part are linked to each other.

  The first hydraulic cylinder and the second hydraulic cylinder are controlled in association with a gripping operation at the gripping portion and a driving operation at the driving portion, so that the thimble tube can be pulled out and inserted. The operation can be easily and easily switched between.

  Further, the load applied to the second hydraulic cylinder (that is, the driving load) is detected by a load detection unit, and the detected value is used for controlling the driving load, thereby operating the second hydraulic cylinder. Control can be performed more easily and with high accuracy.

  According to a fifth invention of the present application, in the thimble tube insertion / removal device according to the first, second, third or fourth invention, an encoder for detecting a moving amount of the thimble tube, and the second hydraulic cylinder And a sliding state of the thimble tube is monitored based on a detection value of the encoder and a detection value of the operation position sensor.

  Here, the detection value of the encoder (that is, the actual pulling amount of the thimble tube) and the detection value of the operating position sensor (that is, the movement amount of the gripping portion) match if the thimble tube does not slip. Should do. However, if slippage occurs, it can be determined that slipping has occurred if the detection value of the encoder is smaller than the detection value of the operating position sensor. Therefore, by reflecting this sliding state in the control of the gripping load in the gripping part and the driving load in the driving part, the thimble tube can be pulled out and inserted in an appropriate state without slipping. Reliability will be further enhanced.

  In a sixth invention of the present application, in the thimble tube insertion / removal device according to the first, second, third, fourth or fifth invention, the detection value of the load detection unit is accumulated and converted into data. It is characterized in that diagnosis of secular change and change tendency of the insertion / removal force of the thimble tube can be performed based on load data.

  Here, since the detection value of the load detection unit corresponds to the insertion / removal force of the thimble tube, the detection value is accumulated and converted into data. It is possible to easily and accurately know the degree of progress of the secular change of resistance and the tendency of change (for example, the transition of the rate of increase in insertion / removal effect). As a result, the necessity of replacement of the thimble tube, the replacement time, etc. Can be judged accurately.

  As described above, according to the thimble tube insertion / removal device of the present invention, it is possible to obtain a gripping structure capable of obtaining a large gripping force without deforming the thimble tube, and to easily and appropriately control the driving force. With the drive structure, the thimble tube insertion / removal operation can be performed easily and with high operational reliability, and automation of the thimble tube insertion / removal operation is promoted. The cost can be reduced.

  Hereinafter, the present invention will be specifically described based on preferred embodiments.

  1-3, 8 and 9 show a thimble tube insertion / removal device according to an embodiment of the present invention. This insertion / removal device is an apparatus used when a thimble tube 100 as a guide tube of an in-reactor measurement device installed in the lower part of a nuclear reactor is pulled out and inserted into a conduit tube 102 as an outer tube. More specifically, the conduit tube 102 (see FIG. 6) fixed in a protruding state on the seal table 101 (see FIG. 6. FIG. 6 shows a state in which a joint for high pressure sealing is attached to the open end of the conduit tube 102. A small diameter (outside diameter of about 8 mm) thimble tube 100 is inserted into the conduit tube 102 from the upper end opening, and the thimble tube 100 is pulled out from the conduit tube 102. 1, a base 2, an apparatus main body 3, and an extension base 8.

The thimble tube 100 is inserted / removed by a “normal pulling / inserting operation” performed by holding the thimble tube 100 with a grip portion 4 of the apparatus body 3 described later, and an end portion of the thimble tube 100. Since the end portion cannot be directly gripped by the grip portion 4, the extension rod 50 is attached to the end portion of the thimble tube 100, and the extension rod 50 is attached by the grip portion 4. There is an “initial pull-out / final insertion operation” to be performed by holding. Of the components described above, the pedestal 1, the base 2, and the apparatus main body 3 are used in any work, but the extension base 8 is used only in the “initial drawing / final insertion work”. There are also accessory equipment required for the use of the extension frame 8. Hereinafter, each of these components will be described.
A: Base 1
The said base 1 functions as an installation part of the whole insertion / removal apparatus, Comprising: As shown in FIG.3 and FIG.6, it is comprised with the flat body, and the said seal table 101 to which many conduit tubes 102 were attached. On the top, the conduit tubes 102 are disposed so as to be avoided. The pedestal 1 is fixed to the seal table 101 side using a pedestal support 38 on a pedestal mounting portion 39 provided on the seal table 101 side.
B: Base 2
As shown in FIGS. 1 and 8, the base 2 is installed on the pedestal 1 and is used as an attachment base for an apparatus main body 3 to be described later or an attachment base for an extension base 8 to be described later. . As shown in FIG. 7, the base 2 is configured by fixing a lower base plate 22 to the lower ends of a pair of left and right stringers 24, 24 and an upper base plate 23 to the upper ends thereof. The plate 22 is placed on the upper surface of the pedestal 1 and is fastened and fixed to the pedestal 1 side by a device fixing bolt 90. Then, the apparatus main body 3 to be described later is fastened and fixed on the upper base plate 23 of the base 2 directly or via the extension base 8 to be described later.

  Here, since the device fixing bolt 90 is used at a position closest to the seal table 101, it is necessary to prevent inadvertent dropping when the device fixing bolt 90 is removed. For this reason, in this embodiment, as shown in FIG. 12, the structure peculiar to the said apparatus fixing bolt 90 is employ | adopted.

  That is, the device fixing bolt 90 is provided with a male screw 90a near the tip of the shaft portion, while the head portion is a smooth shaft portion 90b having a smaller diameter than the groove bottom diameter of the male screw 90a. On the other hand, a female screw 89 that meshes with the male screw 90a of the device fixing bolt 90 is formed on the pedestal 1 side. Further, the receiving hole 88 of the lower base plate 22 is formed with a female screw 88b only at a part near the upper surface, and the lower surface part has an inner diameter larger than the mountain diameter of the male screw 90a of the device fixing bolt 90. A smooth hole 88a is formed.

  With this configuration, in the screwed state of the device fixing bolt 90 shown in FIG. 12 (a), the male screw 90a of the device fixing bolt 90 meshes with the female screw 89 of the base 1, and the device fixing bolt The base 1 and the lower base plate 22 are fastened by 90. From this state, the device fixing bolt 90 is rotated in the loosening direction, and the male screw 90 a is removed from the female screw 89 of the base 1. Then, the device fixing bolt 90 moves in the direction of detachment of the receiving hole 88 of the lower base plate 22, but when the male screw 90a is hooked on the female screw 88b, it is prevented from coming out further. Therefore, the situation where the device fixing bolt 90 is dropped is surely prevented. In this state, when the device fixing bolt 90 is rotated in the loosening direction, the male screw 90a meshes with the female screw 88b. Therefore, the device fixing bolt 90 is further rotated in the loosening direction to fix the device. Needless to say, the bolt 90 can be removed.

  Although the structure of the device fixing bolt 90 is shown here, it is needless to say that the bolt structure is not limited to the device fixing bolt 90 and can be appropriately applied to other bolts.

C: Device body 3
The apparatus main body 3 includes a gripping unit 4, a load detection unit 5, and a driving unit 6 described below. C-1: Holding part 4
The gripping part 4 grips the thimble tube 100 and enables its extraction / insertion operation. The gripping part 4 includes an arm unit 10, a gripping head 7 and a first hydraulic cylinder 16 described below. Configured.

  The arm unit 10 includes a fixed arm 11 and a movable arm 12 whose one ends are connected by a fulcrum pin 15 arranged in the vertical direction. The fixed arm 11 includes an upper arm 11A and a lower arm 11B that are arranged to face each other at an appropriate interval in the vertical direction. In addition, the movable arm 12 includes an upper arm 12A and a lower arm 12B that are opposed to each other with an appropriate interval in the vertical direction.

  One end of the pair of upper and lower arms 11A and 11B on the fixed arm 11 side and one end of the pair of upper and lower arms 12A and 12B on the movable arm 12 side are connected by the fulcrum pin 15 so as to be relatively rotatable. ing.

  In this case, the upper arm 12A on the movable arm 12 side is positioned close to the lower surface side of the upper arm 11A on the fixed arm 11 side, and the movable arm 12B is located on the upper surface side of the lower arm 11B on the movable arm 12 side. The lower arm 12B on the arm 12 side is positioned in the proximity state.

  The upper arm 11A and the lower arm 11B on the fixed arm 11 side are fitted with a fixed base 77 (see FIG. 4) of a fixed head 71 of a gripping head 7 (described later) that is fitted and arranged inside these, and a fixing bolt. By being fastened by 88, it is integrated with the fixed-side head 71. Further, the upper arm 12A and the lower arm 12B on the movable arm 12 side are fitted and fixed with a fixed base 78 (see FIG. 4) of the movable head 72 of the gripping head 7 fitted and arranged inside them. By being fastened by a bolt 88, it is integrated with the movable head 72.

  The fixed arm 11 is integrated with the load detection unit 5 by fastening and fixing the lower arm 11B to the upper surface side of a pair of load cells 25, 25 provided on the load detection unit 5 side described later, The fixed arm 11 does not move alone. On the other hand, the movable arm 12 can be swung in a substantially horizontal plane with the fulcrum pin 15 as a rotation fulcrum.

  The other end of the fixed arm 11 is connected to a cylinder tube 16a of the first hydraulic cylinder 16 by a trunnion pin 17, and the other end of the movable arm 12 is connected to the first hydraulic pressure by a detachable connecting pin 19. The movable arm 12 is connected to the rod head 18 of the cylinder 16, and the movable arm 12 is driven in the direction of moving toward and away from the fixed arm 11 by the expansion and contraction of the first hydraulic cylinder 16.

  Thus, the fixed-side head 71 of the gripping head 7 is attached to the intermediate position of the fixed arm 11 that is relatively displaced in the contact / separation direction by the first hydraulic cylinder 16, and the intermediate position of the movable arm 12 is fixed. The movable head 72 of the gripping head 7 is attached to the above.

  The movable arm 12 is rotationally displaced by the first hydraulic cylinder 16 between a closed position indicated by a solid line in FIG. 2 and an open position indicated by a chain line indicated by reference numeral 12-1, which will be described later. In the open position, the gripping action of the thimble tube 100 by the fixed head 71 and the movable head 72 of the gripping head 7 is released. In the closed position, the fixed head 71 and the movable head 72 cause the thimble tube 100 to move. A gripping action is made. On the other hand, by removing the connecting pin 19 and releasing the connection between the rod head 18 of the first hydraulic cylinder 16 and the other end of the movable arm 12, the movable arm 12 is assigned a reference numeral 12-2. Thus, it can be freely rotated to the open position shown by the chain line.

  Here, a specific structure of the gripping head 7 will be described with reference to FIG. The gripping head 7 includes the fixed side head 71 and the movable side head 72.

The fixed-side head 71 includes a main body 73 having the fixed base 77 extended on the back side thereof,
A gripping piece 74 fastened and fixed to the front side of the main body 73 is provided. A sandwiching groove 81 having a semicircular cross section is provided over the entire height of the gripping piece 74 on the opposing surface 74 a located on the front surface of the gripping piece 74. The movable-side head 72 includes a main body 75 having the fixed base 78 extended on the back side thereof, and a gripping piece 76 fastened and fixed to the front side of the main body 75. A clamping groove 82 having a semicircular cross section is provided over the entire height of the gripping piece 76 on the opposing surface 76 a located on the front surface of the gripping piece 76.

  As shown in FIG. 5A, the fixed-side head 71 and the movable-side head 72 include a facing surface 74a of the holding piece 74 on the fixed-side head 71 side and a holding piece 76 on the movable-side head 72 side. In the state where the opposed surfaces 76a are in contact with each other (that is, in the state where the movable arm 12 of the gripping head 7 is set to the closed position), the pressing groove 81 on the gripping piece 74 side and the gripping piece 76 side The pinching groove 82 continuously forms a substantially perfect gripping hole 83.

  The thimble tube 100 is gripped in the gripping hole 83. In this embodiment, the diameter of each of the pinching grooves 81 and 82, that is, the inner diameter of the gripping hole 83 is set as the thimble. The dimensions are set slightly smaller than the outer dimensions of the tube 100. Specifically, for example, when the outer diameter of the thimble tube 100 is 8.0 mm, the inner diameter of the gripping hole 83 is set to about 7.9 mm. The setting of the inner diameter dimension of the gripping hole 83 is set as a dimension that does not cause plastic deformation of the thimble tube 100 in a state where the thimble tube 100 is gripped in the gripping hole 83. . Therefore, in a state where the movable arm 12 is set at the closed position and the thimble tube 100 is gripped in the gripping hole 83 portion, the thimble tube 100 is elastically deformed along the inner surface shape of the gripping hole 83. However, when the movable arm 12 is set to the open position and the gripping action on the thimble tube 100 in the gripping hole 83 is released (that is, when the state shown in FIG. 5 (a) is reached), the thimble tube 100 is restored to the original outer diameter.

  As shown in FIG. 5 (b), the movable arm 12 is set to the open position, and the opposing surface 74a of the gripping piece 74 on the fixed head 71 side and the gripping piece 76 on the movable head 72 side. The opposing surface 76a on the side is separated by a dimension S. The dimension S is equal to or smaller than the outer diameter dimension of the thimble tube 100, preferably the outer diameter dimension of the thimble tube 100 as illustrated in FIG. It is set to about half. This is because the thimble tube 100 moves more than necessary in a state where the movable arm 12 is set to the open position and the gripping piece 74 and the gripping piece 76 are separated from each other. When the movable arm 12 is again set to the closed position and the gripping piece 74 and the gripping piece 76 collide with each other to grip the thimble tube 100 in the gripping hole 83, the gripping failure occurs. This is to prevent it from occurring.

  Referring back to FIG. 2, the cylinder tube 16a portion of the first hydraulic cylinder 16 has an extension limit position of the first hydraulic cylinder 16 (that is, a limit of movement of the movable arm 12 toward the open position). And a limit switch 93 that defines a reduction limit position (that is, a limit of movement of the movable arm 12 toward the closed position). The detection signals of these limit switches 92 and 93 are used, for example, for confirming the current operating state of the gripping part 4 and for preventing erroneous operation, as well as for automatic operation of the apparatus.

On the other hand, a strain gauge 91 is mounted on the cylinder rod 16b of the first hydraulic cylinder 16, and the strain gauge 91 obtains a strain signal corresponding to the amount of strain in the cylinder rod 16b, thereby holding it. The load can be acquired accurately and easily.
C-2: Load detection unit 5 and drive unit 6
The drive unit 6 drives the gripping unit 4 up and down to apply a pulling load and an insertion load to the gripping unit 4. In this embodiment, as shown in FIGS. Base material 30
This is composed of a pair of left and right second hydraulic cylinders 35, 35 which are fixed upright on the top.

  The load detector 5 detects the pull-out load and insertion load of the thimble tube 100 applied to the gripper 4 side by the second hydraulic cylinders 35, 35 of the drive unit 6. In this embodiment, as shown in FIGS. 1 to 3, a pair of load cells provided on the base members 26 and 26 at the upper ends of the cylinder rods of the second hydraulic cylinders 35 and 35 of the drive unit 6, respectively. 25 and 25 constitute this. Then, the drawing load and the insertion load detected by the load cells 25, 25 are reflected in the drawing and insertion control of the thimble tube 100, thereby realizing the drawing and insertion operations under an appropriate drawing load and insertion load. It is what is done.

  Furthermore, in this embodiment, the pull-out load and insertion load detected by the load cells 25 are used for trip control. For example, the trip load at the time of the drawing operation and the insertion operation is set in advance according to the situation of the thimble tube 100 to be the object of the drawing and insertion work. When the pull-out load or insertion load detected by 25, 25 exceeds the trip load, necessary measures such as forcibly stopping the hydraulic pump are executed to ensure the safety or reliability of the work. is there.

  The second hydraulic cylinder 35 is provided with an operating position sensor 94 that detects its operating position. The detection signal of the operating position sensor 94 is used, for example, for checking the current extraction or insertion progress state, determining whether the thimble tube 100 is slipping in the gripping portion 4, and further automating the apparatus. .

  Further, a thimble tube holding metal fitting 31 is provided at an intermediate position between the second hydraulic cylinders 35 and 35 of the drive unit 6. The thimble tube holding metal fitting 31 is used when the thimble tube 100 gripped by the grip portion 4 and pulled out by the drive portion 6 may fall as the grip portion 4 is released. This is for holding the pressure. Accordingly, when there is no fear of dropping the thimble tube 100 and at the time of insertion, the thimble tube 100 is simply replaced with a support fitting having a function of supporting the thimble tube 100.

Further, an encoder 32 having a detection roller 33 that rolls in contact with the thimble tube 100 is attached to the thimble tube holding bracket 31 portion. The insertion length is detected. Then, by comparing the detection value of the encoder 32 with the detection value of the operation position sensor 94 on the drive unit 6 side, it can be determined whether or not the thimble tube 100 is slipped.
D: Extension stand 8
As shown in FIGS. 10 and 11, the extension base 8 has a pair of long left and right stringers 43, 43 fixed with a lower base member 41 at the lower end and an upper base member 42 at the upper end. A number of pin holes 44 are provided at predetermined intervals in the length direction on the front and back surfaces of the stringers 43, 43.

Further, as shown in FIGS. 8 and 9, the extension frame support 55b described below is detachably attached to the extension frame 8 at a predetermined interval. As shown in FIG. 11, the extension frame support 55 is divided into a two-part structure comprising a first member 55A that abuts on the front side of the extension frame 8 and a second member 55B that abuts on the back side. It has. The first member 55A and the second member 55B are set on the extension frame 8 side so as to sandwich the extension frame 8 from both the front and rear sides, and further, the first member 55A and the second member 55B are disposed on both sides. Detachable tablet 56 provided in each part,
By being connected by 56, it is detachably fixed to the extension frame 8 side.

  In addition, support pieces 57 and 58 are respectively provided on the inner surfaces of the first member 55A and the second member 55B in the center in the width direction, and the first member 55A and the second member 55B are connected to the removable tablet. In the state connected by 56, the front ends of the first member 55A and the second member 55B are brought into contact with each other, and a guide hole 59 for inserting and supporting an extension rod 50 described later is formed in this contact portion. Further, the extension frame support 55 is formed by superposing the pin holes 44 of the extension frame 8 and the pin holes 45 formed in the first member 55A and the second member 55B, respectively, and driving a stop pin 60 therein. The positioning and the position holding are performed. FIGS. 8 and 9 show a state in which the extension frame support 55 is attached to the extension frame 8.

  An extension bar 50 is provided for use with the extension base 8. The extension rod 50 is a straight rod body having the same diameter as the thimble tube 100, and a gripping jig body 51 is detachably attached to the lower end thereof. The gripping jig main body 51 is for gripping the joint portion 100a of the thimble tube 100, and has a reverse U-shaped shape, and the joint portion 100a of the thimble tube 100 is allowed to enter inside thereof. It comprises a tool 52 and a gripping tool 53 attached to the lower end side of the fixing tool 52 in a horizontally installed state. Then, the extension rod 50 is connected to the end of the thimble tube 100 by fixing the gripper 53 to the fixing tool 52 side in a state where the gripping tool 53 is hooked on the joint portion 100 a of the thimble tube 100. Is done. Accordingly, by pulling out or inserting the extension bar 50, the thimble tube 100 is pulled out or inserted integrally with the extension bar 50.

In this embodiment, the apparatus main body 3 and the base 2 can be separated. In the apparatus main body 3, the gripping portion 4, the load detection portion 5, and the drive portion 6 are also 2 parts. It can be disassembled into individual parts. Furthermore, depending on the case, the load detection unit 5 and the drive unit 6 can be disassembled into two parts. By enabling disassembly into a plurality of parts in this way, disassembly / assembly according to the situation at the work site becomes possible, and improvement in workability can be expected.
E: Explanation of usage state of the insertion / removal device E-1: Initial drawing / final insertion work In the initial drawing work and final insertion work of the thimble tube 100, the joint portion 100a portion of the thimble tube 100 is on the seal table 101 side. Since the joint portion 100a cannot be directly gripped by the grip portion 4 of the apparatus body 3, the extension base 8 and the extension rod 50 are used. It becomes work. The initial drawing work and the final insertion work are substantially the same in the work order except that the work order is reversed. Therefore, the initial drawing work will be described here, and the description of the final insertion work will be omitted.

  As shown in FIGS. 8 and 9, first, the base 2 is attached to the base 1 fixed on the seal table 101, and the extension base 8 is attached to the base 2. Further, the apparatus main body 3 is mounted on the upper base member 42 of the extension base 8.

  Thereafter, the grip jig body 51 provided at the lower end of the extension rod 50 is connected to the joint portion 100a of the thimble tube 100, and the extension rod 50 is taken out to the grip portion 4 side of the device body 3, The holding head 7 is held.

Further, the extension frame support 55 is attached to the extension frame 8 side at a predetermined interval, and the extension rod 50 is supported by the extension frame support 55 to prevent buckling or shaking thereof. In addition, since the extension rod 50 does not buckle during the drawing operation, it is not necessary to attach the extension frame support 55 in practice. Then, the drive unit 6 is operated on the insertion side, and as a result, the extension rod 50 may be buckled. From the viewpoint of ensuring safety, not only during the insertion operation but also in the extraction operation. Also, the extension rod 50 is attached.

  Moreover, although it is the arrangement | positioning space | interval of the said extension frame support 55, this is set to a dimension smaller than one stroke of the said drive part 6. FIG. For example, when the stroke of the drive unit 6 is set to 50 mm, the arrangement interval of the extension frame support 55 is set to 50 to 60 mm.

  After confirming the completion of work preparation, the drawing operation is started. That is, the first hydraulic cylinder 16 of the grip portion 4 is operated, and the extension rod 50 is gripped by the grip head 7 with a predetermined grip load. And each 2nd hydraulic cylinder 35 of the said drive part 6 is act | operated to an expansion | extension direction, and the said holding part 4 is raised only 1 stroke. As the grip 4 is raised, the thimble tube 100 is pulled out by one stroke through the extension rod 50.

  When the first pull-out operation is completed, the extension frame support 55 that may interfere with the grip jig main body 51 is removed in preparation for the second pull-out. Further, the holding of the extension rod 50 by the holding head 7 on the side of the holding unit 4 is released, and the second hydraulic cylinder 35 of the driving unit 6 is contracted to lower the holding unit 4. After that, the second extraction operation is executed. The thimble tube 100 is sequentially pulled out by repeating such pulling operation for each step.

  In this case, the extraction length is detected by the encoder 32. In addition, the pull-out load is detected by the load cell 25 of the load detection unit 5. Furthermore, the movement amount of the gripping portion 4 can be known by an operation position sensor 94 provided in the second hydraulic cylinder 35. Therefore, based on the detection value of the encoder 32 and the amount of movement of the grip portion 4, it can be determined whether or not the extension rod 50 has slipped at the grip portion 4 portion. When it is determined that slipping has occurred, the grip load is adjusted by adjusting the amount of expansion / contraction of the first hydraulic cylinder 16 of the grip portion 4.

When the thimble tube 100 is pulled out to a predetermined length by several pulling operations, it is determined that the initial pulling has been completed, and the process proceeds to the normal pulling / inserting operation described below.
E-2: Normal Extraction / Insertion Operation When shifting to the normal extraction operation, first, the apparatus main body 3 is removed from the extension base 8. Further, the holding jig main body 51 of the extension rod 50 is removed from the joint portion 100 a of the thimble tube 100, and the extension frame supports 55 are removed from the extension frame 8. Thereafter, the extension base 8 is removed from the base 2 side.

  Next, as shown in FIGS. 1 and 3, the apparatus main body 3 is directly fixed on the base 2. Thereafter, the thimble tube 100 is gripped by the gripping head 7 of the gripping portion 4 of the apparatus main body 3.

  After confirming the completion of work preparation, the drawing operation is started. That is, the first hydraulic cylinder 16 of the gripping portion 4 is operated, and the thimble tube 100 is gripped by the gripping head 7 with a predetermined gripping load. And each 2nd hydraulic cylinder 35 of the said drive part 6 is act | operated to an expansion | extension direction, and the said holding part 4 is raised only 1 stroke. As the grip portion 4 is raised, the thimble tube 100 is pulled out by one stroke.

When the first pulling-out operation is completed, the gripping head 7 on the gripping part 4 side is released from the gripping head 100, and the second hydraulic cylinder 35 of the driving part 6 is contracted to reduce the gripping part. The holding part 4 is lowered.

  Thereafter, the thimble tube 100 is again gripped by the gripping head 7 of the gripping unit 4, and the second hydraulic cylinder 35 of the drive unit 6 is further extended to pull out the thimble tube 100. The thimble tube 100 is sequentially pulled out by repeating such pulling operation for each step.

  In this case, the extraction length is detected by the encoder 32. In addition, the pull-out load is detected by the load cell 25 of the load detection unit 5. Furthermore, the movement amount of the gripping portion 4 can be known by an operation position sensor 94 provided in the second hydraulic cylinder 35. Accordingly, it is possible to determine whether or not the thimble tube 100 has slipped at the grip portion 4 based on the detection value of the encoder 32 and the amount of movement of the grip portion 4. When it is determined that slipping has occurred, the grip load is adjusted by adjusting the amount of expansion / contraction of the first hydraulic cylinder 16 of the grip portion 4.

At the end of the pulling operation and the end of the inserting operation, the gripping head 7 of the gripping section 4 is opened to release the gripping load on the thimble tube 100. However, immediately after the pulling and inserting, the thimble tube 100 is released. Since there is a residual load on the surface, if the gripping load is released as it is, the thimble tube 100 expands and contracts due to the residual load, which may rub against the gripping head 7 portion and cause scratches on the surface thereof. In the embodiment, the residual load is automatically divided into several times and gradually reduced, and then the grip load is released. F: Storage of insertion / removal device In this embodiment, together with the development of the above-described insertion / removal device, a storage case 61 for the apparatus main body that can store the insertion / removal device was developed. The storage case 61 is a portable storage case, and has three placement surfaces including a top surface 61A, a middle step surface 61B, and a lower step surface 61C in the height direction. The top surface 61A functions as an original ceiling surface, and is placed and fixed in an operable form in which the pedestal 1, the base 2, and the device main body 3 are sequentially assembled. It can be used as a trial run and adjustment place, or it can be used as a temporary placement stand for temporarily placing only the apparatus main body 3. Further, the guide 62 provided on the top surface 61A can also be used as a winding storage portion for an electric cord or the like.

  The middle step surface 61B and the lower step surface 61C function as original storage portions. For example, the middle step surface 61B can store the parts in which the base 1 and the base 2 are assembled and the apparatus main body 3 can be stored. . The lower step surface 61C can be used as a storage space for the extension frame support 55, the extension frame 8, and the like.

  FIG. 16 shows a hydraulic device housing case 64 for housing hydraulic devices such as a hydraulic pump 65, an operation valve 66, an oil cooler 67, and pressure gauges 68 and 69, which are accessories of this insertion / removal device. Since the storage case 64 is also portable, and stores the above-described devices so that they can be operated as they are, it is extremely useful in the field installation work of the insertion / removal device.

  Furthermore, although not shown, a storage case for electrical products has also been developed, and this storage case is also portable and can be stored in an operable state. Therefore, it is only necessary to bring in these three storage cases when installing the insertion / removal device in the field, which is preferable in terms of workability.

It is a front view which shows the state at the time of the normal drawing insertion / extraction of the thimble tube insertion / removal apparatus which concerns on embodiment of this invention. It is an II-II arrow line view of FIG. It is the III-III arrow line view of FIG. FIG. 4 is an exploded perspective view of the gripping head shown in FIG. 3. FIG. 4 is an explanatory diagram of a holding state of the holding head shown in FIG. 3. It is a top view of the seal table and pedestal shown in FIG. It is structure explanatory drawing of the base shown in FIG. It is a front view which shows the state at the time of desired extraction | drawer and final insertion of the thimble tube insertion / removal device. It is the IX-IX arrow directional view of FIG. It is structure explanatory drawing of the extension mount frame shown in FIG. It is XI-XI sectional drawing of FIG. It is structure explanatory drawing of an apparatus fixing bolt. It is a storage state explanatory drawing of the storage case for apparatus main bodies. It is a XIV-XIV arrow line view of FIG. It is a XV-XV arrow line view of FIG. It is a storage state explanatory view of a hydraulic device storage case. It is explanatory drawing of the clamping state of the conventional thimble tube.

Explanation of symbols

1 .. Base 2 .. Base 3 .. Device main body 4 .. Gripping part 5 .. Load detecting part 6 .. Drive part 7 .. Gripping head 8 .. Extension stand 10 .. Arm unit 11. Arm 11A ・ ・ Upper arm 11B ・ ・ Lower arm 12 ・ ・ Moving arm 12A ・ ・ Upper arm 12B ・ ・ Lower arm 15 ・ ・ Supporting pin 16 ・ ・ First hydraulic cylinder 17 ・ ・ Trunnion pin 18 ・ ・ Rod Head 19 ·· Connecting pin 22 ·· Lower base plate 23 ·· Upper base plate 24 · · Girder material 25 · · Load cell 26 · · Base material 27 · · Fixing bolt 28 · · Fixing bolt 29 · · Fixing bolt 30 .. Base material 31 .. Thimble tube holding bracket 32 .. Encoder 33 .. Detection roller 35 .. Second hydraulic cylinder 36. Scale 38 Seat support 39 ·· Base mounting portion 41 ·· Lower base material 42 ·· Upper base material 43 · · Stringer material 44 · · Pin hole 50 · · Extension rod 51 · · Grab jig body 52 · · Fixing tool 53 .. Supporting tool for extension frame 56 .. Detachable lock 57 .. Supporting piece 58 .. Supporting piece 59 .. Guide hole 60 .. Stopping pin 61 .. Storage case for device main body 62 .. Guide 64 · · Hydraulic equipment storage case 65 · · Hydraulic pump 66 · · Operation valve 67 · · Oil cooler 68 · · Pressure gauge 69 · · Pressure gauge 71 · · Fixed head 72 · · Movable head 73 · · Main body 74 ·・ Holding piece 75 ・ ・ Main body 76 ・ ・ Holding piece 77 ・ ・ Fixed base 78 ・ ・ Fixed base 81 ・ ・ Holding groove 82 ・ ・ Holding groove 83 ・ ・ Holding hole 88 ・ ・ Receiving hole 89 ・・ Female thread 90・ ・ Device fixing bolt 91 ・ ・ Strain gauge 92 ・ ・ Limit switch 93 ・ ・ Limit switch 94 ・ ・ Operating position sensor 100 ・ ・ Thimble tube 101 ・ ・ Seal table 102 ・ ・ Conduit tube

Claims (6)

A gripping portion for gripping the thimble tube; and a driving portion for driving the gripping portion in the axial direction of the thimble tube. The driving portion drives the gripping portion to connect the thimble tube to the conduit tube. A thimble tube insertion / removal device for insertion / removal,
The gripping portion includes a pair of pinching heads that are opposed to each other so as to be able to come into contact with and separate from each other and each provided with a pinching groove having a substantially semicircular cross section on the opposite surface.
The inner diameter dimension of the pair of clamping grooves is set to a predetermined dimension slightly smaller than the outer diameter dimension of the thimble tube, and the opposing surfaces of the pair of clamping heads are brought into contact with each other so that the thimbles are interposed between the respective clamping grooves. A thimble tube insertion / removal device characterized in that the tube is clamped from both sides in the radial direction. A gripping portion for gripping the thimble tube; and a driving portion for driving the gripping portion in the axial direction of the thimble tube. The driving portion drives the gripping portion to connect the thimble tube to the conduit tube. A thimble tube insertion / removal device for insertion / removal,
The pair of clamping heads of the gripping portion is attached to each of a pair of arms that are relatively displaceable in the contact / separation direction around the fulcrum pin and driven by the first hydraulic cylinder. A thimble tube insertion / removal device. In claim 2,
A thimble tube insertion / removal device, wherein a strain gauge is attached to a cylinder rod of the first hydraulic cylinder, and a grip load of the grip portion is detected by the strain gauge. A gripping portion for gripping the thimble tube; and a driving portion for driving the gripping portion in the axial direction of the thimble tube. The driving portion drives the gripping portion to connect the thimble tube to the conduit tube. A thimble tube insertion / removal device for insertion / removal,
A thimble tube insertion / removal device characterized in that the drive unit is constituted by a second hydraulic cylinder and a load detection unit for detecting a load applied to the second hydraulic cylinder. In claim 1, 2, 3 or 4,
An encoder for detecting the amount of movement of the thimble tube and an operating position sensor for detecting the operating position of the second hydraulic cylinder are provided, and the thimble tube is based on the detected value of the encoder and the detected value of the operating position sensor. A thimble tube insertion / removal device characterized by monitoring the sliding state of the tube. In claim 1, 2, 3, 4 or 5,
The insertion value of the thimble tube is characterized in that the detection value of the load detection unit is accumulated and converted into data, and the secular change and change tendency of the insertion / removal force of the thimble tube can be diagnosed based on the load data. Escaper.

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