WO2009113398A1 - 先端工具案内装置 - Google Patents
先端工具案内装置 Download PDFInfo
- Publication number
- WO2009113398A1 WO2009113398A1 PCT/JP2009/053452 JP2009053452W WO2009113398A1 WO 2009113398 A1 WO2009113398 A1 WO 2009113398A1 JP 2009053452 W JP2009053452 W JP 2009053452W WO 2009113398 A1 WO2009113398 A1 WO 2009113398A1
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- WO
- WIPO (PCT)
- Prior art keywords
- tip tool
- water chamber
- tool guide
- turning
- support portion
- Prior art date
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
- F22B37/005—Positioning apparatus specially adapted therefor
Definitions
- the present invention relates to a tip tool guide device provided in a water chamber of a steam generator, and more particularly to a reinforcing member that reinforces the tip tool guide device.
- Patent Document 1 includes a swivel support part provided in a water chamber of a steam generator, a slide table provided in the swivel support part, a manipulator attached to the slide table, and a tip tool attached to the tip of the manipulator.
- a provided tip tool guide device is disclosed.
- the manipulator is controlled to move (guide) the tip tool along the shot peening region on the inner peripheral surface of the nozzle provided in the water chamber. At this time, the tip tool is pressed against the inner peripheral surface by the manipulator. Thereby, the attitude
- the present invention has been made in view of the above, and an object of the present invention is to suppress lifting of the tip tool from the processing surface.
- the tip tool guide device is supported in the water chamber by pressing and stretching a stationary structural member provided in the water chamber of the steam generator.
- a turning support portion that turns around a turning axis, a tip tool that is connected to the turning support portion via a movable member and performs processing on a target processing surface, and a force that acts on the turning support portion.
- a reinforcing member provided to reinforce the swivel support portion so as to oppose the force acting in the swivel direction of the swivel support portion and provided in the water chamber.
- the tip tool guide device can reinforce the swivel support so as to resist the force acting in the swivel direction of the swivel support.
- shift amount of the said rotation support part when a moment acts on the rotation support part from the outside can be reduced. Therefore, the tip tool guide apparatus according to the present invention can suppress the lift of the tip tool from the processing surface caused by the deflection or the deviation.
- the stationary structural member constituting the water chamber is a ceiling part and a bottom part facing each other, and the turning support part places the ceiling part and the bottom part on the turning axis. It is desirable that the swivel support portion is supported in the water chamber by pushing and stretching through an existing base member, and the base member is fixed by being sandwiched between the stationary structural member and the reinforcing member in the water chamber. .
- the tip tool guide device can fix the base member that becomes the base of the turning support portion. Thereby, the deflection amount of the said base member when the moment acts on the turning support part from the outside, and the deviation
- the reinforcing member has pressing means that expands and contracts in the longitudinal direction of the reinforcing member, and a frictional force acting between one end portion of the reinforcing member and the ceiling portion is the reinforcing member.
- One end of the reinforcing member is in contact with the ceiling in a state larger than the force in the direction along the ceiling that acts on one end of the member, and the other end is one of the base members. It is desirable that the side surface of the base member that is perpendicular to the side surface and faces the one side surface of the base member is in contact with a water chamber partition plate of a stationary structural member that partitions the water chamber.
- the tip tool guide device can be fixed by sandwiching the base member serving as the base of the turning support portion between the reinforcing member and the water chamber partition plate of the water chamber. Therefore, the deflection amount of the said base member when the moment acts on the turning support part from the outside, and the deviation
- a fixing claw for fixing a lid member to a hold-down ring provided in the water chamber is the stationary structural member, and one side surface of the base member partitions the water chamber.
- the reinforcing member In contact with the water chamber partition plate, the reinforcing member has one end fitted into the fixed claw and the other end is in the water chamber with respect to the side opposite to the one side of the base member. It is desirable to contact toward the partition plate side.
- the tip tool guide device can be fixed by sandwiching the base member serving as the base of the turning support portion between the reinforcing member and the water chamber partition plate of the water chamber.
- shift amount of the said base member can be reduced. Therefore, the tip tool guide apparatus according to the present invention can suppress the lift of the tip tool from the processing surface caused by the deflection or the deviation.
- the hold down ring is located near the swivel support part rather than the ceiling part of the water chamber, the reinforcing member can be downsized. Thereby, the installation work of the said reinforcement member can be speeded up more.
- the reinforcing member has pressing means that expands and contracts in the longitudinal direction of the reinforcing member.
- the tip tool guide device can be fixed in a state in which a force is applied in a direction in which a base member serving as a base of the swivel support portion is sandwiched between the reinforcing member and the water chamber partition plate of the water chamber.
- shift amount of the said base member when a moment acts on the turning support part from the outside can be reduced more suitably.
- the tip tool guide apparatus according to the present invention is fixed in a state where a force is applied in a direction in which the base member is sandwiched, the rigidity of the base member increases. Thereby, the amount of deflection of the base member when a moment is applied to the turning support portion from the outside can be more suitably reduced. Therefore, the tip tool guide apparatus according to the present invention can suppress the lift of the tip tool from the processing surface caused by the deflection or the deviation.
- the reinforcing member is provided at a portion having a predetermined distance from the turning shaft of the turning support portion and connected to the turning support portion, and the turning shaft of the turning support portion is disposed on the turning support portion. It is desirable that the end portion is in contact with the stationary structural member with a predetermined angle with respect to the imaginary plane.
- the tip tool guide device can relieve the moment by receiving a moment from the outside that acts on the turning axis of the turning support portion. Thereby, the deflection amount and deviation
- a plurality of the reinforcing members are provided, the plurality of reinforcing members are in plane symmetry with respect to a virtual plane including the turning axis of the turning support portion, and the end portion is the stationary structure. It is desirable to contact the member.
- the tip tool guide device can relieve the moment more reliably by receiving a plurality of reinforcing members receiving an external moment acting on the turning axis of the turning support portion.
- shift amount of the said base member when a moment acts on the turning support part from the outside can be reduced more suitably. Therefore, the tip tool guide apparatus according to the present invention can suppress the lift of the tip tool from the processing surface caused by the deflection or the deviation.
- two reinforcing members are provided, and the distance between the ends of the two reinforcing members on the stationary structure member side is the turning of the turning support portion. It is desirable that the distance is larger than the distance between the end portions on the shaft side.
- the tip tool guide device has one reinforcing member that relaxes the moment in one direction among the external moments acting on the turning axis of the turning support portion, and the other reinforcing member The moment opposite to the one direction is relaxed.
- the said reinforcement member can relieve
- the tip tool guide device according to the present invention can suppress lifting of the tip tool from the processing surface due to the deflection or the deviation.
- the reinforcing member is supported so as to be rotatable with respect to the portion having a predetermined distance from the turning shaft of the turning support portion and coupled to the turning support portion. Is desirable.
- the tip tool guide device when the reinforcing member of the tip tool guide device according to the present invention rotates, the tip tool guide device contacts the reinforcing member with, for example, a hold down ring when the tip tool guide device needs to be reinforced.
- the reinforcing member can be accommodated when the turning support portion is turned or when the tip tool guide device is installed. Thereby, the tip tool guide apparatus can be quickly stored by rotating the reinforcing member.
- the tip tool guide device may bring the reinforcing member into contact with a member other than the hold down ring.
- a table portion connected to the turning support portion, and a slide portion on which a manipulator that slides on the table portion and guides the tip tool to the processing surface is mounted. It is preferable that the reinforcing member is provided on the slide table which is a part having a predetermined distance from the turning shaft of the turning support portion.
- the tip tool guide apparatus has the reinforcing member on the slide table which is a part relatively away from the turning shaft of the turning support portion.
- size of the external moment which acts on the turning shaft of the turning support part which the said reinforcement member can bear improves. Therefore, the deflection amount and displacement amount of the base member when a moment is applied to the turning support portion from the outside can be more reliably reduced.
- the tip tool guide device can suppress lifting of the tip tool from the processing surface due to the deflection or the deviation.
- the tip tool guide device can suppress lifting of the tip tool from the processing surface.
- FIG. 1 is a perspective view schematically showing a tip tool guide apparatus according to the first embodiment.
- FIG. 2 is a schematic diagram illustrating the tip tool according to the first embodiment.
- FIG. 3 is a perspective view illustrating the entire tip tool guide apparatus according to the first embodiment.
- FIG. 4 is an enlarged cross-sectional view schematically illustrating the lower base side end portion of the lower base and the pressing member according to the first embodiment.
- FIG. 5 is a perspective view showing the entire tip tool guide apparatus according to the second embodiment.
- FIG. 6 is a perspective view showing the entire tip tool guide apparatus according to the third embodiment.
- FIG. 7 is a perspective view illustrating a state in which the reinforcing member according to the third embodiment is stored.
- FIG. 1 is a perspective view schematically showing a tip tool guide apparatus according to the first embodiment.
- the tip tool guide apparatus 1 according to the present embodiment is provided inside a water chamber 100 of a steam generator provided in a pressurized water light water reactor nuclear power generation facility.
- the tip tool guide apparatus 1 performs various treatments on a treatment surface 103 which is an inner peripheral surface of a welded portion between a nozzle 101 provided in the water chamber 100 and a cylindrical tube 102 connected to the nozzle 101.
- the tip tool guide device 1 includes a turning support portion 20, a slide table 30, a manipulator 40 as a movable member, a tip tool 50, and a control device 60.
- the lower side in the vertical direction is the bottom surface portion 104 and the upper side in the vertical direction is the ceiling portion 105.
- the swivel support portion 20 is provided in an upright state from the bottom surface portion 104 of the water chamber 100 to the ceiling portion 105. Further, the turning support unit 20 turns about the turning axis TL.
- the slide table 30 has a slide mechanism that allows a slide part 32 as a movable member to slide relative to the table part 31.
- the slide table 30 is connected to the turning support 20 so as to be detachable.
- the manipulator 40 guides the tip tool 50 to the processing surface 103 and presses the tip tool 50 against the processing surface 103.
- the manipulator 40 is connected to the slide table 30 so as to be detachable.
- the tip tool 50 performs processing such as shot peening processing, inspection processing, and cutting processing on the processing surface 103.
- the tip tool 50 is connected to the tip of the manipulator 40 so as to be detachable.
- the tip tool guide apparatus 1 is configured to be disassembled and assembled to the turning support unit 20, the slide table 30, the manipulator 40, and the tip tool 50, respectively.
- the control device 60 is electrically and fluidly connected to each part of the tip tool guide apparatus 1 and controls various operations of the respective parts.
- the turning support portion 20 includes a lower base 21 as a base member, a turning portion 22, and an upper support portion 23.
- the lower base 21 is installed in contact with the bottom surface portion 104 of the water chamber 100.
- the lower base 21 functions as a foundation of the swivel unit 22.
- the lower base 21 is preferably formed of a member having a relatively large surface frictional resistance, for example. Thereby, the lower base 21 can suppress the possibility that the turning portion 22 slips from the bottom surface portion 104.
- the turning part 22 is provided on the bottom face part 104 via the lower base 21.
- the turning portion 22 is formed in a column shape and can turn on the lower base 21.
- the upper support part 23 is provided between the turning part 22 and the ceiling part 105. Further, the upper support part 23 can be expanded and contracted in the direction of the turning axis TL of the turning support part 20 by an extension mechanism provided in the turning part 22.
- the installation method of the turning support part 20 will be described.
- the installation worker of the tip tool guide device 1 installs the lower base 21 on the bottom surface portion 104 of the water chamber 100.
- the installation worker of the tip tool guide apparatus 1 extends the upper support part 23 toward the ceiling part 105 by the extension mechanism.
- the upper support part 23 is pressed against the ceiling part 105 of the water chamber 100. Therefore, the turning support part 20 receives a reaction force in the turning axis TL direction from the ceiling part 105.
- the turning support unit 20 is fixed to the bottom surface portion 104 and the ceiling portion 105 of the water chamber 100 in a state of stretching in the vertical direction.
- the slide table 30 includes a table part 31, a slide part 32, a first tool changer 33, and a slide table support part 34.
- the table part 31 is connected to the turning support part 20 so that the turning support part side end part 31a, which is one end part, can turn relative to the turning support part 20, and the other end part is the slide table support part side.
- the end portion 31 b is connected to the slide table support portion 34.
- the slide part 32 slides on the table part 31 in the longitudinal direction of the table part 31 by the driving force of the drive source.
- the first tool changer 33 is provided so as to be detachable from the slide portion 32.
- the manipulator 40 is attached to the slide portion 32 by the first tool changer 33.
- the slide table support portion 34 is connected to a slide table support portion side end portion 31b of the table portion 31 so that the slide table side end portion 34a, which is one end portion, can rotate with respect to the table portion 31.
- the turning support portion side end portion 34 b which is the other end portion of the slide table support portion 34 is connected to a member on the lower base 21 side of the turning support portion 20.
- the installation method to the turning support part 20 of the slide table 30 is demonstrated.
- the installation worker of the tip tool guide device 1 connects the turning support portion side end portion 31a of the table portion 31 to a portion of the turning support portion 20 on the upper support portion 23 side.
- the installation worker of the tip tool guide device 1 rotates the slide table side end 34a of the slide table support portion 34 from the storage position to the support position, and the slide table support portion 34 end of the swing support portion 34
- the part 34 b is connected to a part of the turning part 22 on the lower base 21 side. Accordingly, the slide table 30 is installed with an angle with respect to the turning support unit 20.
- the manipulator 40 is a so-called seven-axis manipulator that rotates around, for example, seven axes.
- the manipulator 40 has a second tool changer 41.
- the second tool changer 41 is formed so that the tip tool 50 can be mounted.
- One end of the manipulator 40 is a slide table side end 40 a that is detachably connected to the first tool changer 33 of the slide table 30. Further, a second tool changer 41 is provided at the end tool side end portion 40 b which is the other end portion of the manipulator 40.
- the operation of the manipulator 40 is controlled by the control device 60.
- the manipulator 40 has been described as a so-called seven-axis manipulator, but the number of movable axes of the manipulator 40 according to the present embodiment is not limited to this.
- the tip tool 50 is, for example, a tool that performs shot peening processing on the processing surface 103, a tool that inspects the processing surface 103, a tool that repairs cutting, and the like.
- the shot peening process is a process of causing a shot, which is a plurality of spheres, to collide with a metal surface at a high speed.
- a spherical recess is formed on the surface of the processing target. This increases the fatigue strength of the surface to be treated.
- the shot peening treatment has effects such as improved wear resistance, improved stress corrosion cracking resistance, improved heat dissipation, and reduced fluid resistance.
- FIG. 2 is a schematic view showing the tip tool according to the first embodiment.
- the tip tool 50 includes a tool body 51, a manipulator attachment portion 52, a shot injection port 53, an omnidirectional rolling roller 54, an air cylinder 55, a first holding member 56, 2 holding member 57 and third holding member 58.
- the tip tool 50 according to this embodiment includes three members, a first holding member 56, a second holding member 57, and a third holding member 58, and the tool body 51 rotates about three axes with respect to the manipulator 40. Is characterized in that it constitutes a rotating mechanism.
- the tool body 51 is a tool for performing shot pinning processing.
- the tool body 51 is formed in a substantially rectangular parallelepiped.
- the manipulator attachment portion 52 is a member for attaching the tip tool 50 to the second tool changer 41 shown in FIG.
- the shot injection port 53 is an opening through which a shot is emitted toward the processing surface 103. That is, when using the tip tool 50, the shot injection port 53 faces the processing surface 103.
- a plurality of, for example, six omnidirectional rolling rollers 54 are provided on the surface of the tool body 51 having the shot injection ports 53.
- the omnidirectional rolling roller 54 comes into contact with the processing surface 103 by being pressed against the processing surface 103.
- the omnidirectional rolling roller 54 functions so that the shot ejection port 53 can move along the processing surface 103 while maintaining a certain distance from the processing surface 103 by rolling in all directions.
- the air cylinder 55 has one end attached to the manipulator attaching portion 52 and the other end attached to the first holding member 56.
- the air cylinder 55 can be expanded and contracted in the axial direction of the cylinder.
- the axial direction of the air cylinder 55 coincides with the direction in which the tip tool 50 is pressed against the processing surface 103.
- the air cylinder 55 functions as a damper device between the manipulator mounting portion 52 and the first holding member 56 when the tip tool 50 is pressed against the processing surface 103.
- the first holding member 56 is connected to the tool body 51 through the second holding member 57 and the third holding member 58. Therefore, the air cylinder 55 functions as a damper device between the manipulator mounting portion 52 and the tool body 51 as a result. Specifically, the air cylinder 55 contracts due to a reaction force from the processing surface 103 when the tip tool 50 is pressed against the processing surface 103 by the manipulator 40.
- the air cylinder 55 extends when the tip tool 50 is separated from the processing surface 103 by the manipulator 40. Thereby, the air cylinder 55 keeps the distance of the shot injection port 53 with respect to the processing surface 103 constant within the movable range of the air cylinder 55. That is, the air cylinder 55 absorbs a slight shift in the gap between the tool body 51 and the processing surface 103.
- the first holding member 56 is connected to the second holding member 57 so as to be rotatable with respect to the second holding member 57 by the first rotation connecting member 56a. At this time, the second holding member 57 can rotate with respect to the first holding member 56 using the first rotation axis RL01 as a rotation axis.
- the second holding member 57 is connected to the third holding member 58 so as to be rotatable with respect to the third holding member 58 by the second rotation connecting member 57a. At this time, the third holding member 58 can rotate with respect to the second holding member 57 using the second rotation axis RL02 orthogonal to the first rotation axis RL01 as a rotation axis.
- the third holding member 58 is connected to the tool main body 51 so as to be rotatable with respect to the tool main body 51 by the third rotation connecting member 58a. At this time, the tool main body 51 can rotate with respect to the third holding member 58 using the third rotation axis RL03 orthogonal to the first rotation axis RL01 and the second rotation axis RL02 as a rotation axis.
- the first rotation connection member 56a, the second rotation connection member 57a, and the third rotation connection member 58a are members that connect the members so that they can rotate, but by applying a moment that is equal to or greater than a predetermined moment. It is preferable that the members are configured to rotate. That is, it is preferable that the first rotation connection member 56a, the second rotation connection member 57a, and the third rotation connection member 58a have a predetermined rotation resistance. Thereby, when the manipulator 40 is pressed against the processing surface 103, the rotation of the tool body 51 due to a force other than the reaction force received from the processing surface 103 can be suppressed.
- the first rotation axis RL01 is in the direction of gravity and that the second rotation connecting member 57a has no rotation resistance.
- gravity acts on the tool body 51 in the direction of the first rotation axis RL01. Therefore, there is a possibility that the tool body 51 rotates about the second rotation axis RL02.
- the tool main body which the operation operator who operates the tip tool guide apparatus 1 does not want because the 1st rotation connection member 56a, the 2nd rotation connection member 57a, and the 3rd rotation connection member 58a have predetermined
- the rotation of 51 can be suppressed.
- the rotation of the tool body 51 that is not desired by the operator is a rotation that causes the tip tool 50 to interfere with other members, or a rotation that causes a processing failure by the tip tool 50.
- first rotation axis RL01, the second rotation axis RL02, and the third rotation axis RL03 are configured to be orthogonal at one point, and the tip tool so that the center of gravity of the tool main body 51 coincides with the one point. 50 is more preferable.
- the tip tool 50 can maintain the posture of the tool body 51 even if the rotational resistance of the first rotational connection member 56a, the second rotational connection member 57a, and the third rotational connection member 58a is relatively small. .
- the tip tool 50 can further suppress the rotation due to the gravity of the tool body 51 which is not desired by the operator of the tip tool guide device 1.
- the tip tool 30 may be provided with a stopper that mechanically restricts the rotation of the first rotation connection member 56a, the second rotation connection member 57a, and the third rotation connection member 58a to a predetermined range. . Even if comprised in this way, the tip tool 50 can further suppress the rotation by the gravity of the tool main body 51 which the operator of the tip tool guide apparatus 1 does not want.
- the mechanism in which the tool main body 51 rotates about the three axes with respect to the manipulator 40 only needs to be movable within a range in which the deviation of the gap between the tool main body 51 and the processing surface 103 can be corrected.
- the rotation range of the first rotation axis RL01, the second rotation axis RL02, and the third rotation axis RL03 is set to a range in which the deviation can be corrected.
- the tool body 51 is arranged in order from the manipulator 40 via the manipulator mounting portion 52, the air cylinder 55, the first holding member 56, the second holding member 57, and the third holding member 58. Connected. Furthermore, the tool main body 51 is mounted on the second tool changer 41 of the manipulator 40 shown in FIG. 1 so as to be rotatable with respect to the manipulator 40 about three rotation axes that are orthogonal to each other.
- the air cylinder 55 functions as a damper device. Further, the omnidirectional rolling roller 54 contacts the processing surface 103.
- the tip tool 50 is connected to the manipulator 40 through a mechanism in which the tool main body 51 rotates with respect to the manipulator 40 about three axes. As a result, the tool 50 is rotated relative to the manipulator 40 about the three rotation axes when the tip tool 50 is pressed against the processing surface 103 with the predetermined force.
- the tip tool guide apparatus 1 suppresses a gap shift between the tool main body 51 and the processing surface 103. That is, the tip tool guide apparatus 1 can suppress the lift of the tip tool 50 from the processing surface 103.
- the predetermined force means that the air cylinder 55 can absorb the force within the movable range of the air cylinder 55, and the first rotation connection member 56a, the second rotation connection member 57a, and the third rotation connection member. This refers to the force within the range in which 58a can rotate.
- the tip tool 50 has been described as having a mechanism in which the tool main body 51 rotates with respect to the manipulator 40 about three axes as a rotation axis.
- the present embodiment is not limited to this. Even if the tip tool 50 is not provided with the rotating mechanism, the gap described between the tool main body 51 and the processing surface 103 can be suppressed within a range that does not cause processing failure by the configuration described below.
- the number of rotating shafts is not limited to three, and the rotating mechanism may be configured by one or two axes in consideration of the shape of the processing surface 103.
- the structure of the tip tool 50 can be simplified.
- the tip tool 50 is configured such that the tool main body 51 rotates about the three axes as rotation axes, so that the gap between the tool main body 51 and the processing surface 103 can be more preferably suppressed.
- the first holding member 56, the second holding member 57, and the third holding member 58 constitute a mechanism in which the tool main body 51 rotates with respect to the manipulator 40 about three axes.
- a mechanism in which the tool body 51 rotates with respect to the manipulator 40 may be configured by a ball that rotates in all directions and a holding member that holds the ball.
- the tip tool guide apparatus 1 shown in FIG. 1 presses the tip tool 50 against the processing surface 103 which is a stationary structural member by the manipulator 40.
- the stationary structural member is a member that does not move even when a force is applied from the outside.
- the stationary structural member is a nozzle 101, a cylindrical tube 102, a bottom surface portion 104, a ceiling portion 105, a water chamber partition plate 106 shown in FIG. 3 described later, a hold down ring 107 shown in FIG. 5 described later, and the like.
- the tip tool guide device 1 When the tip tool 50 is pressed against the processing surface 103 by the manipulator 40, the tip tool guide device 1 receives a reaction force from the processing surface 103. At this time, depending on the direction of the reaction force, the tip tool guide device 1 may be bent or twisted. Specifically, the rigidity of the tip tool guide apparatus 1 with respect to the reaction force in the direction along the surface on which the turning support portion 20, the slide table 30, and the slide table support portion 34 exist is relatively high. However, the rigidity of the tip tool guide device 1 with respect to the force in the direction perpendicular to the surface, that is, the reaction force in the direction in which the turning support portion 20 turns is relatively low.
- the inside of the water chamber 100 has a higher radioactivity level than the normal environment. Therefore, the installation worker of the tip tool guide device 1 is limited in the time for staying in the water chamber 100 in order to ensure safety. The limit is about 2 minutes, for example. Therefore, the tip tool guide device 1 is configured so that the tip tool guide device 1 can be installed and the tip tool guide device 1 can be reinforced quickly.
- FIG. 3 is a perspective view illustrating the entire tip tool guide apparatus according to the first embodiment.
- the lower base 21 of the tip tool guide apparatus 1 according to the present embodiment is characterized in that it is pressed and restrained against the water chamber partition plate 106 existing inside the water chamber 100.
- the restriction of the lower base 21 is a state where the lower base 21 is fixed so as not to move with respect to the bottom surface portion 104, a state where the rigidity of the lower base 21 is enhanced, and the deflection of the lower base 21 is suppressed.
- the tip tool guide apparatus 1 includes a pressing member 10A as a reinforcing member.
- the pressing member 10 ⁇ / b> A is provided in a curved shape along the inner wall surface of the water chamber 100. Further, the pressing member 10 ⁇ / b> A is provided with a lower base side end portion 10 ⁇ / b> Aa which is one end portion in contact with the lower base 21. Further, the pressing member 10 ⁇ / b> A is provided such that the other end portion of the ceiling surface side end portion 10 ⁇ / b> Ab is in contact with the ceiling portion 105 of the water chamber 100.
- the ceiling surface side so that the frictional force acting between the ceiling surface side end portion 10Ab of the pressing member 10A and the ceiling portion 105 is larger than the force along the ceiling portion 105 acting on the ceiling surface side end portion 10Ab.
- the end portion 10Ab is preferably in contact with the ceiling portion 105.
- the ceiling surface side end portion 10 ⁇ / b> Ab of the pressing member 10 ⁇ / b> A is preferably in substantially vertical contact with the ceiling portion 105. That is, the ceiling surface side end portion 10Ab is in contact with the ceiling portion 105 so that the virtual line VL01 that is a virtual line extending in the longitudinal direction near the ceiling surface side end portion 10Ab of the pressing member 10A and the ceiling portion 105 are orthogonal to each other. It is preferable. Thereby, the possibility that the ceiling surface side end portion 10Ab slides on the surface of the ceiling portion 105 can be suppressed.
- the pressing member 10 ⁇ / b> A may be formed in a shape including a straight line, or may be provided away from the inner wall surface of the water chamber 100.
- the pressing member 10A is provided so as to be curved along the inner wall surface of the water chamber 100, the inner wall surface of the water chamber 100 functions as a reinforcing member of the pressing member 10A, and the pressing member 10A is more reliably connected to the lower base 21. Can be restrained.
- FIG. 4 is a cross-sectional view schematically showing an enlarged lower base side end portion of the lower base and the pressing member according to the first embodiment.
- the lower base 21 is provided in contact with the water chamber partition plate 106.
- the surface of the lower base 21 which contacts the water chamber partition plate 106 be the water chamber partition plate side contact surface 21a.
- the lower base side end portion 10Aa of the pressing member 10A is disposed in contact with a pressing member side contact surface 21b which is a surface of the lower base 21 facing the water chamber partition plate side contact surface 21a.
- the lower base side end portion 10Aa of the pressing member 10A is perpendicular to the pressing member side contact surface 21b of the lower base 21. That is, the imaginary line VL02, which is a virtual line extending in the longitudinal direction near the lower base side end portion 10Aa of the pressing member 10A, and the pressing member side contact surface 21b of the lower base 21 are orthogonal to each other. 10Ab is preferably in contact with the ceiling 105.
- the lower base side end portion 10Aa of the pressing member 10A is preferably formed in accordance with the shape of the pressing member side contact surface 21b of the lower base 21. That is, it is preferable that the thickness of the tip of the lower base side end portion 10Aa is formed substantially the same as the thickness of the lower base 21 near the pressing member side contact surface 21b.
- the gap between the lower base 21 and the member constituting the water chamber 100 due to the thickness of the tip of the lower base side end portion 10Aa being smaller than the thickness of the lower base 21 near the pressing member side contact surface 21b.
- the possibility that the lower base side end portion 10Aa of the pressing member 10A slips can be suppressed.
- the lower base side end portion 10Aa of the pressing member 10A is connected to the turning portion 22 because the thickness of the tip portion of the lower base side end portion 10Aa is larger than the thickness of the lower base 21 near the pressing member side contact surface 21b. The possibility of interference can be suppressed.
- the pressing member 10A has a pressing cylinder 11A as pressing means between the lower base side end 10Aa and the ceiling surface side end 10Ab.
- the pressing cylinder 11A can be expanded and contracted along the longitudinal direction of the pressing member 10A.
- the length in the longitudinal direction of the pressing member 10A including the pressing cylinder 11A in a state where the pressing cylinder 11A is extended is set to be larger than the length along the inner wall surface of the water chamber 100 from the lower base 21 to the ceiling portion 105.
- the lower base 21 receives force from the pressing member 10 ⁇ / b> A toward the water chamber partition plate 106. That is, the lower base 21 receives a force sandwiched between the water chamber partition plate 106 and the pressing member 10A. Thereby, the lower base 21 is restrained by the water chamber partition plate 106 and the pressing member 10A.
- the tip tool guide apparatus 1 can suppress the bending, twisting, and displacement of the lower base 21. Therefore, the tip tool guide apparatus 1 can suppress the possibility that the gap between the tip tool 50 and the processing surface 103 is displaced, that is, the risk that the tip tool 50 is lifted from the processing surface 103.
- the tip tool 50 has been described as performing shot peening, but the present embodiment is not limited to this.
- the tip tool 50 may be a tool that performs cutting and grinding.
- the cutting and grinding processes require more rigidity from the tip tool guide device 1 than the shot peening process.
- the rigidity of the lower base 21 is increased by the pressing member 10A. Therefore, the tip tool guide apparatus 1 according to the first embodiment can also suppress processing failures in cutting and grinding.
- the pressing cylinder 11A is provided at a position where an installation worker of the tip tool guide device 1 can easily work. As described above, the working time in the water chamber 100 by the worker is limited from the safety aspect of the worker. Therefore, the installation work of the tip tool guide apparatus 1 can be speeded up by providing the pressing cylinder 11A at a position where an operator can easily work.
- the ceiling surface side end portion 10Ab of the pressing member 10A is preferably formed by a member having a relatively large surface frictional resistance, for example.
- the pressing member 10 ⁇ / b> A is stretched, the possibility that the ceiling surface side end 10 ⁇ / b> Ab slips from the ceiling portion 105 can be suppressed.
- the installation work of the tip tool guide apparatus 1 can be speeded up.
- the work time for installing the tip tool guide apparatus 1 is limited. Therefore, even if it is a short time, the effect which can speed up the installation work of the tip tool guide apparatus 1 is large.
- FIG. 5 is a perspective view showing the entire tip tool guide apparatus according to the second embodiment.
- the pressing member 10A of the tip tool guide apparatus 1 according to Embodiment 1 presses the lower base 21 against the water chamber partition plate 106 by stretching between the lower base 21 and the ceiling portion 105, but according to the present embodiment.
- the pressing member 10B of the tip tool guide apparatus 2 is characterized in that the lower base 21 is pressed against the water chamber partition plate 106 by stretching between the lower base 21 and the fixed claw 107a of the hold down ring 107.
- symbol is attached
- the nozzle 101 of the water chamber 100 is provided with a hold-down ring 107 as shown in FIG.
- the hold down ring 107 is a member for attaching a lid so that an installation worker, a maintenance worker, or the like of the tip tool guide device 2 does not fall into the cylindrical tube 102 during the work. Accordingly, the hold-down ring 107 is formed with a fixing claw 107a which is a recess for fixing the lid.
- the tip tool guide apparatus 2 includes a pressing member 10B.
- the pressing member 10 ⁇ / b> B is provided, for example, curved in a shape along the inner wall surface of the water chamber 100.
- the pressing member 10 ⁇ / b> B is provided such that the lower base side end 10 ⁇ / b> Ba, which is one end, is in contact with the lower base 21. Further, the pressing member 10 ⁇ / b> B is fixed by fitting the holding down ring side end portion 10 ⁇ / b> Bb, which is the other end portion, to the fixing claw 107 a of the holding down ring 107.
- the hold-down ring side end portion 10Bb is fitted to the fixing claw 107a of the hold-down ring 107. Therefore, it is preferable that the fitting portion 10Bc, which is a fitting portion of the hold down ring side end portion 10Bb with the hold down ring 107, is formed in accordance with the shape of the fixed claw 107a. Thereby, the possibility that the hold down ring side end portion 10Bb may come off from the fixed claw 107a can be suppressed.
- a plurality of fixing claws 107 a are provided on the hold-down ring 107.
- the fixing claw 107a into which the fitting portion 10Bc of the hold-down ring side end portion 10Bb is fitted can be appropriately selected from the plurality.
- the fitting portion 10Bc It is preferable to select a fixed claw 107a that is difficult to come off from the fixed claw 107a.
- the pressing member 10B according to the present embodiment includes, for example, jack bolts 11B as pressing means instead of the pressing cylinder 11A of the pressing member 10A according to the first embodiment.
- the jack bolt 11B is composed of a bolt and a nut, and the length of the jack bolt 11B in the longitudinal direction is changed by rotating the nut.
- the pressing member 10B has a jack bolt 11B between the lower base side end portion 10Ba and the hold down ring side end portion 10Bb. Furthermore, the jack bolt 11B is provided so that the longitudinal direction of the jack bolt 11B and the longitudinal direction of the pressing member 10B coincide. Thereby, the length of the longitudinal direction of 10 A of pressing members changes by rotating the nut of jack bolt 11B.
- the present embodiment is not limited to this, and the pressing member 10B may include a pressing cylinder 11A.
- the pressing member 10B is in a state of being stretched between the pressing member side contact surface 21b of the lower base 21 and the fixing claw 107a of the hold down ring 107. Therefore, the lower base 21 is pressed against the water chamber partition plate 106 by the pressing member 10B. As a result, the lower base 21 is restrained by the water chamber partition plate 106 and the pressing member 10B.
- the present embodiment is not limited to this.
- the pressing member 10B can reduce the amount of deflection of the lower base 21. That is, the pressing member 10B may not include pressing means.
- the rigidity of the lower base 21 is improved when the pressing member 10B is provided with pressing means. Therefore, the tip tool guide apparatus 2 can more suitably suppress the lifting of the tip tool 50 from the processing surface 103 due to the deflection or the deviation.
- the tip tool guide apparatus 2 can suppress the deflection, twist and deviation of the lower base 21. Therefore, the tip tool guide apparatus 2 can suppress the possibility that the gap between the tip tool 50 and the processing surface 103 is displaced, that is, the risk that the tip tool 50 is lifted from the processing surface 103.
- the pressing member 10B according to the present embodiment is more than the pressing member 10A according to the first embodiment. Can be downsized. Thereby, the installation work of the tip tool guide apparatus 2 can be speeded up.
- the pressing member 10A according to the first embodiment and the pressing member 10B according to the present embodiment are common in that they are stretched between stationary structural members.
- the stationary structural member has been described by taking the ceiling portion 105 and the water chamber partition plate 106 and the hold down ring 107 and the water chamber partition plate 106 as examples.
- the present embodiment is not limited thereto. .
- the pressing member 10A and the pressing member 10B may be provided between any members.
- FIG. 6 is a perspective view showing the entire tip tool guide apparatus according to the third embodiment.
- the lower base 21 is restrained by the pressing member.
- the reinforcing member 10C of the tip tool guide device 3 according to the present embodiment restrains the slide table 30 by the reinforcement member.
- symbol is attached
- the tip tool guide apparatus 3 includes a reinforcing member 10C having a reinforcing function against a force in a direction in which the turning support portion 20 turns as shown in FIG.
- the reinforcing member 10 ⁇ / b> C is provided in the table portion 31 of the slide table 30, for example.
- this embodiment is not limited to this,
- 10 C of reinforcement members may be provided in the slide table support part 34 of the slide table 30.
- FIG. The reinforcing member 10 ⁇ / b> C may be provided at a portion having a predetermined distance from the turning axis TL of the turning support portion 20. At this time, the greater the predetermined distance, the greater the magnitude of the external moment acting on the turning axis TL of the turning support portion 20 that can be borne by the reinforcing member 10C.
- two reinforcing members 10C are provided in plane symmetry with respect to the virtual plane including the turning axis TL so as to have, for example, a substantially square shape.
- the regular letter C is the distance between the hold down ring side end portions 10Cb, which are the respective end portions on the hold down ring 107 side, of the end portions of the two reinforcing members 10C.
- 10 C of reinforcement members may be provided in linear form so that it may mutually oppose.
- the number of the reinforcing members 10C installed is not limited to two.
- the number of reinforcing members 10C installed may be two or more, or one.
- the force borne by the reinforcing member 10C is only one of the reaction forces in the direction in which the turning support portion 20 turns.
- the tip tool guide device 3 may be increased in size. Therefore, when the two reinforcing members 10 ⁇ / b> C are provided, it is possible to achieve both the reinforcing effect of the tip tool guide device 3 and the suppression of the possibility of increasing the size of the tip tool guide device 3.
- One end of the reinforcing member 10C is a slide table side end 10Ca, and the other end is a hold down ring side end 10Cb.
- the slide table side end portion 10Ca is connected to the table portion 31 of the slide table 30 so as to be rotatable with respect to the slide table 30 about the rotation axis RL04.
- the rotation axis RL04 has a predetermined angle with respect to a line orthogonal to the longitudinal direction of the slide table 30. Thereby, the two reinforcing members 10C are rotated so as to have a substantially positive C shape.
- the substantially square C shape means that when the hold down ring side end portion 10Cb of the reinforcing member 10C is in contact with the hold down ring 107, the slide table side end portion 10Ca is changed to the hold down ring side end portion 10Cb.
- the hold down ring side end portion 10 ⁇ / b> Cb contacts the hold down ring 107 when the slide table side end portion 10 ⁇ / b> Ca rotates with respect to the slide table 30.
- the portion of the hold-down ring side end portion 10Cb that contacts the hold-down ring 107 is preferably formed of a member having a relatively high frictional resistance.
- part which contacts the hold down ring 107 of 10 Cb of hold down ring side parts may have a suction means, such as a suction cup and a magnet, and may be comprised. Thereby, the possibility that the hold-down ring side end portion 10 ⁇ / b> Cb slips on the surface of the hold-down ring 107 can be suppressed.
- the hold down ring side end portion 10 ⁇ / b> Cb is in contact with the hold down ring 107. Therefore, the rotation of the reinforcing member 10C can be restricted without a stopper for restricting the rotation of the reinforcing member 10C.
- the reinforcing member 10C may include a stopper that restricts the rotation of the reinforcing member 10C.
- the reinforcing member 10 ⁇ / b> C receives the reaction force in the direction in which the turning support portion 20 turns when the tip tool 50 is pressed against the processing surface 103.
- the twist of the slide table 30 provided with the reinforcing member 10C is restrained.
- the rigidity against the reaction force in the direction in which the turning support portion 20 of the tip tool guide device 3 turns is improved. Therefore, the tip tool guide device 3 can suppress the possibility that the gap between the tip tool 50 and the processing surface 103 is displaced, that is, the risk that the tip tool 50 is lifted from the processing surface 103.
- FIG. 7 is a perspective view showing how the reinforcing member according to the third embodiment is stored.
- the slide table side end portion 10Ca of the reinforcing member 10C can rotate with respect to the slide table 30 about the rotation axis RL04. Therefore, the reinforcing member 10C can be stored adjacent to the slide table 30 as shown in FIG. 7 when the turning support portion 20 turns, or when the tip tool guide device 3 is installed by an installation worker.
- the tip tool guide apparatus 3 can simplify, that is, speed up the installation and removal work by the installation worker of the tip tool guide apparatus 3.
- the reinforcing member 10C may include an electric motor at the slide table side end portion 10Ca.
- the control device 60 shown in FIG. 1 controls the electric motor, whereby the tip tool guide device 3 can be reinforced by the reinforcing member 10C when necessary automatically.
- the reinforcing member 10C according to the present embodiment has been described as rotating with respect to the slide table 30 about the rotation axis RL04, the present embodiment is not limited thereto.
- the reinforcing member 10 ⁇ / b> C according to the present embodiment may be configured such that the slide table side end portion 10 ⁇ / b> Ca of the reinforcing member 10 ⁇ / b> C can be attached to and detached from the slide table 30.
- the tip tool guide apparatus is useful for being provided in the water chamber of the steam generator, and is particularly suitable for suppressing lifting of the tip tool from the processing surface.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
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- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
10A 押付部材
10Aa 下部ベース側端部
10Ab 天井面側端部
10B 押付部材
10Ba 下部ベース側端部
10Bb ホールドダウンリング側端部
10Bc 嵌合部
10C 補強部材
11Ca スライドテーブル側端部
11Cb ホールドダウンリング側端部
11A 押付シリンダ
11B ジャッキボルト
20 旋回支持部
21 下部ベース
21a 水室仕切板側接触面
21b 押付部材側接触面
22 旋回部
23 上部支持部
30 スライドテーブル
31 テーブル部
31a 旋回支持部側端部
31b スライドテーブル支持部側端部
32 スライド部
33 第1ツールチェンジャ
34 スライドテーブル支持部
34a スライドテーブル側端部
34b 旋回支持部側端部
40 マニピュレータ
40a スライドテーブル側端部
40b 先端工具側端部
41 第2ツールチェンジャ
50 先端工具
51 工具本体
52 マニピュレータ取付部
53 ショット射出口
54 全方向転動ローラ
55 エアシリンダ
56 第1保持部材
56a 第1回動連結部材
57 第2保持部材
57a 第2回動連結部材
58 第3保持部材
58a 第3回動連結部材
60 制御装置
100 水室
101 管台
102 円筒管
103 処理面
104 底面部
105 天井部
106 水室仕切板
107 ホールドダウンリング
107a 固定爪
RL01 第1回動軸
RL02 第2回動軸
RL03 第3回動軸
RL04 回動軸
TL 旋回軸
VL01 仮想線
VL02 仮想線
図1は、実施形態1に係る先端工具案内装置を模式的に示す斜視図である。図1に示すように、本実施形態に係る先端工具案内装置1は、加圧水型軽水炉原子力発電設備に設けられる蒸気発生器の水室100の内部に設けられる。先端工具案内装置1は、水室100に設けられる管台101及び管台101に接続した円筒管102の間の溶接部分の内周面である処理面103に各種処理を施す。
図5は、実施形態2に係る先端工具案内装置の全体を示す斜視図である。実施形態1に係る先端工具案内装置1の押付部材10Aは、下部ベース21と天井部105との間で突っ張ることにより、下部ベース21を水室仕切板106に押付けたが、本実施形態に係る先端工具案内装置2の押付部材10Bは、下部ベース21とホールドダウンリング107の固定爪107aとの間で突っ張ることにより、下部ベース21を水室仕切板106に押付ける点に特徴がある。なお、上述の実施形態と同一の効果を奏する構成には、同一の符号を付す。また、上述の実施形態と同一の構成及び効果は説明を省略する。
図6は、実施形態3に係る先端工具案内装置の全体を示す斜視図である。上述の実施形態に係る先端工具案内装置は、押付部材によって下部ベース21を拘束したが、本実施形態に係る先端工具案内装置3の補強部材10Cは、補強部材によってスライドテーブル30を拘束する点に特徴がある。なお、上述の実施形態と同一の効果を奏する構成には、同一の符号を付す。また、上述の実施形態と同一の構成及び効果は説明を省略する。
Claims (10)
- 蒸気発生器の水室内に設けられている静止構造部材を押し付けて突っ張ることで前記水室内に支持されると共に、旋回軸を軸として旋回する旋回支持部と、
前記旋回支持部に可動部材を介して連結され、対象とする処理面に処理を施す先端工具と、
前記旋回支持部に働く力であって、前記旋回支持部の旋回方向に働く前記力に対抗するように前記旋回支持部を補強すると共に前記水室内に設けられる補強部材と、
を備えることを特徴とする先端工具案内装置。 - 前記水室を構成する静止構造部材は、互いに対向し合う天井部と底面部であり、前記旋回支持部は前記天井部と前記底面部とを前記旋回軸上に存在する土台部材を介して押し付けて突っ張ることで前記旋回支持部は前記水室内に支持され、前記土台部材は、前記水室内の静止構造部材と前記補強部材とで挟んで固定されることを特徴とする請求項1に記載の先端工具案内装置。
- 前記補強部材は、前記補強部材の長手方向に伸縮する押付手段を有し、前記補強部材の一方の端部と前記天井部との間に働く摩擦力が前記補強部材の一方の端部に働く前記天井部に沿う方向の力よりも大きい状態で前記補強部材の一方の端部が前記天井部に対し接触すると共に、他方の端部が前記土台部材の一方の側面に対して垂直に接触し、前記土台部材の前記一方の側面と対向する前記土台部材の側面は、前記水室を区分けする静止構造部材の水室仕切板に接触することを特徴とする請求項2に記載の先端工具案内装置。
- 前記水室内に設けられているホールドダウンリングに蓋部材を固定する固定爪は前記静止構造部材であり、前記土台部材の一方の側面は、前記水室を区分けする水室仕切板に接触し、前記補強部材は、一方の端部が前記固定爪に嵌め合わされると共に他方の端部が前記土台部材の一方の側面とは反対側の側面に対して前記水室仕切板側に向かって接触することを特徴とする請求項2に記載の先端工具案内装置。
- 前記補強部材は、前記補強部材の長手方向に伸縮する押付手段を有することを特徴とする請求項4に記載の先端工具案内装置。
- 前記補強部材は、前記旋回支持部の前記旋回軸から所定の距離を有すると共に前記旋回支持部に連結される部位に設けられ、前記旋回支持部の前記旋回軸を含む仮想の面に対して所定の角度を有して端部が前記静止構造部材に接触することを特徴とする請求項1に記載の先端工具案内装置。
- 前記補強部材は複数設けられ、前記複数の補強部材は前記旋回支持部の前記旋回軸を含む仮想の面に対して面対称な状態で前記端部が前記静止構造部材に接触することを特徴とする請求項6に記載の先端工具案内装置。
- 前記補強部材は2つ設けられ、前記2つの補強部材の端部のうち、前記静止構造部材側のそれぞれの端部間の距離は、前記旋回支持部の前記旋回軸側のそれぞれの端部間の距離よりも大きいことを特徴とする請求項6または請求項7に記載の先端工具案内装置。
- 前記補強部材は、前記旋回支持部の前記旋回軸から所定の距離を有すると共に前記旋回支持部に連結される前記部位に対して回動できるように支持されることを特徴とする請求項6から請求項8のいずれか一項に記載の先端工具案内装置。
- 前記旋回支持部に連結されるテーブル部と、
前記テーブル部上をスライド移動すると共に前記先端工具を前記処理面に誘導するマニピュレータが装着されるスライド部と、
から構成されるスライドテーブルを備え、前記補強部材は、前記旋回支持部の旋回軸から所定の距離を有する部位である前記スライドテーブルに設けられることを特徴とする請求項6から請求項9のいずれか一項に記載の先端工具案内装置。
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US12/918,738 US8297093B2 (en) | 2008-03-11 | 2009-02-25 | Tip tool guide apparatus |
EP09720058.8A EP2253883B1 (en) | 2008-03-11 | 2009-02-25 | Device for guiding front end tool |
CN2009801084410A CN101970936B (zh) | 2008-03-11 | 2009-02-25 | 前端工具导向装置 |
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WO2011093191A1 (ja) * | 2010-01-27 | 2011-08-04 | 三菱重工業株式会社 | 水室内作業装置 |
US9341366B2 (en) | 2010-01-15 | 2016-05-17 | Mitsubishi Heavy Industries, Ltd. | Water-chamber working apparatus and water-chamber working method |
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JP2015017808A (ja) * | 2013-07-08 | 2015-01-29 | 株式会社東芝 | 燃料集合体の上部タイプレートの把持装置および把持方法 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9341366B2 (en) | 2010-01-15 | 2016-05-17 | Mitsubishi Heavy Industries, Ltd. | Water-chamber working apparatus and water-chamber working method |
WO2011093191A1 (ja) * | 2010-01-27 | 2011-08-04 | 三菱重工業株式会社 | 水室内作業装置 |
JP2011153925A (ja) * | 2010-01-27 | 2011-08-11 | Mitsubishi Heavy Ind Ltd | 水室内作業装置 |
US8884613B2 (en) | 2010-01-27 | 2014-11-11 | Mitsubishi Heavy Industries, Ltd. | Water-chamber working apparatus |
EP2530679A4 (en) * | 2010-01-27 | 2015-11-11 | Mitsubishi Heavy Ind Ltd | DEVICE FOR WORKING IN A WATER CHAMBER |
Also Published As
Publication number | Publication date |
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CN101970936A (zh) | 2011-02-09 |
KR20100114534A (ko) | 2010-10-25 |
US8297093B2 (en) | 2012-10-30 |
KR101255888B1 (ko) | 2013-04-17 |
JP5118515B2 (ja) | 2013-01-16 |
CN101970936B (zh) | 2012-12-26 |
EP2253883A4 (en) | 2014-03-12 |
EP2253883A1 (en) | 2010-11-24 |
EP2253883B1 (en) | 2016-05-25 |
US20100326157A1 (en) | 2010-12-30 |
JP2009216310A (ja) | 2009-09-24 |
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