KR830002113B1 - TV-type inspection device for the inside of closed cylindrical container - Google Patents

Abstract

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Description

TV-type inspection device for the inside of closed cylindrical container

1 is a front view of one embodiment of an inspection apparatus according to the invention in a working position in a reactor presser shown in cross section.

FIG. 2 is a vertical sectional view of the device used in the embodiment of FIG. 1 to generate a rotational movement, to fix the camera, and to identify the position of the camera.

3, 4 and 5 show the apparatus of FIG. 1 at various positions inside the pressurizer container during positioning of the centering device held by the camera.

The present invention relates to an apparatus for use of a television type for an inner surface of a closed cylindrical container having a vertical axis and an opening at the top.

In the field of construction of nuclear power plants, it is necessary to monitor the internal lining of large vessels, especially those with a significant height, with a single opening at the top. That is, as one example thereof, it is necessary to inspect the inner lining of the pressurizer disposed in the primary system circulation path for controlling the pressure in the circulation circuit once.

In current pressurized water reactors, the pressurizer has a height of 12 m as the shape of a cylindrical container sealed by two hemispherical end members, ie caps, of which the lower end cap is a bushing for inserting a hot plate. A bushing is provided, and the opening and closing opening part for the maintenance of the cap of the upper end part is provided. It is necessary to inspect the condition of the inner lining of the press from the upper support plate of the heating rod to the weld between the cylindrical part of the press and the upper hemispherical end cap.

This inspection is performed by a camera equipped with a plurality of floodlight sources capable of illuminating the inside of the pressurizer, which enters the pressurizer through an opening in the top cap of the pressurizer. The head of the camera is provided with a rotating mirror that radially reflects the entire inner surface of the pressurizer, which is rotated by an electric motor installed in the camera.

However, in the above apparatus, the stability of the image is not good because the camera vibrates when the motor rotates. Also, the image obtained by the reflection of the mirror is reversed on the wall of the pressurizer. In addition, since the mirror is driven to perform a continuous rotational movement, the image will be kept moving, so it is rarely difficult to accurately find detailed information from such an image. Therefore, the above described device is not efficient. That is, it is rarely difficult to inspect the inner surface of the pressurizer with the aforementioned device.

Similarly, it is impossible to find out the exact level of the image transmitted from the camera and the angular position at a predetermined time by using a device of the presently known model.

SUMMARY OF THE INVENTION An object of the present invention is to provide an inspection apparatus for an inner surface of a container that makes it possible to easily identify a predetermined portion of the inner surface of a container with respect to the level of the image and the angle shift by obtaining a stable image corresponding to a predetermined part of the inner surface of the container. Is in.

According to the present invention, the apparatus of the present invention comprises a television camera, at least one floodlight source that illuminates a region to be inspected, one flexible tube, and one end of the ends of the flexible tube. A rigid tubular guiding device extending into the vessel through an opening in the upper portion of the vessel, with a suspension device for suspending the suspension and a distal end disposed vertically within the vessel to direct and guide the flexible tube over the passage from the outside into the vessel during use. And, a driving device disposed outside the container to rotate the flexible tube to the center of the shaft, and a device that restrains the tube and the camera with respect to the axial movement but can be released to enable the vertical shift of the camera. Constrains the camera and can be released so that the vertical shift of the camera is possible. And a device for displaying the angular position and the vertical position of the camera, and a centering member disposed above the camera and free to rotate and supporting the container wall, while the flexible tube is torsionally rigid and rotated by the driving device. This allows it to be delivered accurately to the camera.

Hereinafter, with reference to the accompanying drawings will be described the present invention in more detail.

FIG. 1 shows a hemispherical cap 1 on the top of a pressurizer of a reactor using pressurized water, the cap 1 being provided with an opening 2, and on the cap 1 as described below. The support member of the apparatus for inspecting the inner surface is arranged. The support member is fixed by bolt holes 4 which are used to fix the flat plate which causes the opening 2 to be closed in use of the pressurizer. The support member of the inspection apparatus has a crown 5 which is fixed to the opening 2 by removal of the rubber block 6 by inserting it into the bolt hole 4. The block 6 is penetrated by the set screw 8, and the set screw 8 connects the block 8 and the cap 9 through the crown 5, and the cap 9 is connected by the handle 10. It works.

The crown 5 is equipped with support members 12 and 13, which support member 12 is connected to the main shaft 14 on which the frame 18 is placed, and the support member 13 is an articulated arm 15. ) Is connected. One end of the arm 15 is connected to the upper side of the frame 18 by a screw 17. The rigid tubular guide member 20 is fixed to the frame 18 by the structure 21 and also the level of the elbow 22 which allows the end of the guide member 20 to take a vertical direction in the container. Only through the opening 2 penetrates into the pressurizer in the horizontal direction.

The frame 18 also holds a structure 25 that rotates the flexible tube 26 that holds the camera 36. The end of the tube 26 disposed outside of the container is shown in FIG. 1. The structure 25 has a device for axially fixing the tube 26 to prevent the camera from moving vertically within the container by the translational movement of the tube.

The structure 25 will be described later in detail with reference to FIG.

A socket 28 is provided at the end of the guide member 26 located inside the container, to which the hook 29 of the articulation type is fixed to the horizontal axis. The hook 29 can be rotated about the horizontal axis by pulling the cable 30 connected to the operating member 31 which operates itself by the cable 32 connected to the handle 33 disposed outside of the container. . The handle 33 allows the hook 29 to be operated from a position proximate the opening in the top of the pressurizer. When the hook 29 is in the lowest position, the hook 29 mates with the tubular member 34 and the collar 35 disposed on top of the tubular member. The camera 36 is connected to the end of the tube 26 via the tubular support member 37, and the lower portion of the tubular support member 37 is detachable from the camera 36 by the hook lever 38. The power supply cable and other cables are connected to the camera through the tube 26.

The tube 26 is, for example, corrugated to have flexibility for easy deformation in the level of the elbow of the guide member 20, and the outer layer of the tube is made of a double metal piece, increasing strength. This extremely strong and commercially available tube allows the camera to be suspended in an extremely safe manner and at the same time constitutes a passage through which the elbow 22 of the guide member 20 is present. This tube also allows transmission of rotational motion along its full length and does not cause any deformation even when a torsional strain is applied.

The support member 37 and tubular member 34 of the camera hold a centering device consisting of three arms 40 segmented at a constant 41 of the support member 37. The arm 40 has at least one roller 42 at an end to which the support member 37 is not connected, which is in contact with the inner surface of the container during the movement of the camera.

The arm 40 is connected to the rod 43, wherein one end of the two ends of the rod 43 is segmented on the arm 40, and the other end is segmented on the collar 35. The base of the tubular member 34 is mated to the top of the support member 37 when the camera is in the illustrated position of FIG. 1, where the arm 40 causes the roller 42 to contact the inner surface of the pressurizing vessel. .

The camera 36 has two floodlight sources 45 that illuminate the inspection target area thereon. An apparatus for rotating a flexible tube holding a camera and an apparatus for fixing the tube against translation will be described with reference to FIG.

2 is an enlarged cross-sectional view of FIG. The device for generating the rotational movement is composed of a motor-type reduction gear 46, the pinion 47 is fixed to the output shaft of the reduction gear 46, the pinion 47 is engaged with the pinion 48. The pinion 48 is fixed to a movable structure consisting of three parts 49, 50, and 51.

The portion 49 is a sleeve to which the pinion 48 is fixed and is rotatably mounted by the bearing 52 to produce a rotational motion. The tubular member 50 secured to the tubular sleeve 49 holds the device 54 to accurately determine the vertical position of the camera as will be described later. The tubular member 50 also holds a device consisting of a sleeve 51 to secure the flexible tube against translational motion. The sleeve 51 is mounted to slide on the tubular member 50 and has a screw 55. The end of the screw 55 facing inwardly of the sleeve 51 is in contact with the eccentrically mounted member 56 during the movement of the sleeve 51 in the axial direction with respect to the tubular member 50 in the flexible tube 26. ). Thus, in one axial movement of the sleeve 51 the holding member 56 will be in a fixed position relative to the flexible tube 26 and in other axial movements the holding member 56 will be in the interior of the solid member 50. The displacement of the tube 26 will be in a position where it can be freed.

In practice, three fasteners such as devices 55 and 56 are arranged at regular intervals over the outer periphery of the sleeve 51. Accordingly, the flexible tube 26 is fixed to the inside of the member 50 by a simple axial movement of the member 50 which is performed manually, and the axial movement of the tube 26 inside the guide member 20. It can be seen that, as a result, the vertical movement of the camera inside the container is prevented.

In a position where the tube 26 is fixed relative to the tubular member 50 and the sleeve 49, the tube 26 can be rotated in accordance with the operation of the reduction gear 46.

The pinion 48 drives the second pinion 58, the pinion 58 drives the visible encoding device, and the visible encoding device makes it possible to measure the angular position of the tube 26 and the camera extremely accurately. Since the tube 26 is not easily deformed by the torsional deformation force, the camera accurately follows the rotational movement of the tube 26 inside the container. In fact, the torsional strain required to allow the camera to be rotated is extremely small, so that the rotation of the tube 26 matches the rotation of the camera very precisely because the tube 26 is not deformed under the influence of this strain.

Therefore, by the measurement performed at the level of the optical encoder 60, the information on the angular position of the camera in the container can be obtained very accurately.

The reduction gears 46, pinions 47 and 48 are provided so that the rotation angle of the camera can be 370 ° before the reverse rotation. This slightly above one rotation results in some superimposed scans, so that a full scan of the interior of the container may be performed at any level where the camera is located.

The reduction gear device 46, which is matched with the variable speed device, can easily achieve extremely slow rotation of the camera to quickly change the speed as needed. Thus, for the levels at which the camera is located, it is possible to inspect the inner surface over the height h shown in FIG.

When the inspection over the height h is completed, the sleeve 51 is moved in the axial direction to release the tube 26, and the camera is moved to a new level by the manual operation of the tube 26 in the vertical direction.

The vertical position, i.e. vertical level indicator 54, with the roller rotated when the tube 26 performs the translational movement, allows the position of the camera to be read directly with high accuracy in terms of level in the vessel.

Therefore, inspection of the whole container is possible by vertically shifting a camera, overlapping in the height h range. In this case, for example, about 1 mm is allowed for the middle lead.

The structure causing the rotational movement of the camera is protected by the protective cover 61. The lid 61 allows the operator to see the level indicator when positioning the camera at the level to be inspected.

The centering member will be described with reference to FIGS. 3, 4 and 5.

FIG. 3 shows the entire device having a tube 26 and a camera 36 in two positions 36a and 36b, which position 36a inserts the camera through the opening 2. While the position 36b corresponds to the working position of the camera.

When the inspection device is inserted into the pressurizer, the camera is in position 36a and the tube 26 extends from the guide member 20 by a predetermined length to allow for maintenance of the centering member, and the tubular member 34. Is connected to the end of the guide member 20 and the hook 29 is in mating position with the collar 35. In this state, the camera, the tube 26 and the guide member 20 are arranged inside the container 1 as shown in FIG. 3, and the centering device is kept in a folded state. The crown 5 is fastened to the opening by the fasteners 6, 8, 9 of FIG. 1.

After the release of the devices 51, 55 and 56 which hold the tube in place against the translational movement, the camera is manually lifted by the pulling action of the tube 26 as shown in FIG. The arm 40 spreads slightly by the articulated rod 43.

Then, when the camera is fully raised and placed at the top as shown in FIG. 5, the hook 29 is released by the pulling action of the handle 33 which can be operated outside the container.

When the hook 29 is released in this way, the tubular member 34 is freed from the guide member 20, and the tubular member 34 is on top of the support member 37 for the camera 36.

When the camera is lowered by allowing the tube 26 to be moved into the guide member 20 by the weight of the camera itself, the tubular member 34 accompanying the camera and the camera support member is the arm of the centering device. 40 is kept in a spread state, in which the roller 42 contacts the inner wall surface of the pressurizer.

The arm 40 is used as an aluminum tube for the purpose of making the centering device lightweight and rigid. The camera is therefore centered at any level within the pressurizer, in which case the roller 42 is in contact with the inner surface of the pressurizer when the arm is fully spread.

When the inspection of the press is completed and the camera is raised again, the hook 29 is placed in a position where the tubular member 34 is connected with the base 35 of the guide member 20. The camera is then lowered again against the tube 26 by an amount sufficient to allow the centering device to be fully folded before removal of the crown from the opening 2. The camera can then be manually positioned at position 36a and fully withdrawn through the opening 2 of the pressurizer 1.

For operations related to the inspection of pressurized water reactors currently in use, it is necessary to have a flexible tube having a stainless steel sheath with a corrugation of about 12 meters in length. In general, the inspection is performed in the direction from the upper side to the lower side of the pressurizer, and the camera is raised in a continuous step as described above. Two light sources are usually used to illuminate the inspection area, which are supplied with a low voltage current and arranged in a horizontal plane positioned at the level of the object in the camera.

Therefore, the image transmitted directly to the operator who performs the inspection work is utilized as a direct and effective means of monitoring the area irradiated by the camera. The identification of the inspection subject area is extremely accurate since the optical encoder 60 generates the camera rotation angle as detailed data in units of one tenth of a second when the camera is rotated so that all successive positions are accurately represented.

Similarly, the level of the camera is also known by the roller device 54 as high accuracy. As can be seen clearly from the above, the inspection apparatus according to the present invention, since the tube is not deformed even under the influence of the torsional deformation force, the rotation by the camera rotating device located outside of the container is transmitted with high accuracy and unnecessary addition to the camera. It does not cause any physical movement, the position in the radial direction is accurately set by the centering device, and there is an advantage that the level can be known in an extremely accurate manner.

In this way, a stable image is obtained and the position of the image is also correctly and completely identified. In addition, since the structure and operation of the apparatus are extremely simple, the time required to inspect the inner lining of the pressurizer is relatively short.

While the present invention has been described with reference to specific embodiments, various modifications may be made without departing from the spirit and scope of the invention without being limited thereto, and these various modifications will belong to the rights of the present invention. By way of example, in the above, the vertical movement is carried out manually, which may be automated by way of example a driving wheel which engages the tube for the translational movement of the tube.

In addition, in the above-described centering device, a simple segmented arm was used, but mechanical, hydraulic and gaseous devices may be used.

In addition, as a device for identifying the level and angle position of the camera, it is also possible to use a different form of the device as described above.

In addition, the apparatus for guiding the flexible tube may be used in a different form from the apparatus described above, and the mounting method for the opening in the container to be inspected may be different.

In addition, the above-described flexible tube, which has a stainless steel sheath which has a corrugation to allow the tube to be satisfactorily deformed and has considerable strength against torsional force, is also adapted to the rotational motion of the other flexible tube, ie the drive. It is possible to substitute a tube having a considerable hardness against torsional force so that it can be accurately transmitted to the camera.

Apparatus according to the present invention is not only applied to pressurizer inspection of pressurized water reactor, but also to inspection of cylindrical vessel which can be used in chemical industry or energy generation industry as a large-scale closed cylindrical vessel having a vertical axis and an opening at the top. Can be.

Claims (1)

A television-type inspection device for an inner surface of a closed cylindrical container having an opening at the top and having a vertical axis, having a camera fixed to a suspension device having a cable for feeding, and a light source illuminating the inspection target area. It is rigid and extends into the vessel through a flexible tube and opening that can accurately transmit the rotational distance from the drive to the camera, and has a distal end, the distal end being disposed vertically in the vessel during use and extending over the passage from the outside into the vessel. Rotate the flexible tube with a rigid guide member and shaft center to guide and set the direction, and constrain the tube and camera to the driving device and thrust movement located outside of the container during use. Restraints located on the outside of the container, TV expression testing device for sealed cylindrical container inner surface, it characterized in that the camera's are positioned in a vertical position and above the device for displaying the angular position camera Roasting rotation is free made in addition provided with a centering device which is supported on the wall of the container.

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