JP2004298991A - Repair inspection system for structure surface - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a repair inspection system for a structure surface capable of working in a repair target structure, concretely an outer surface of an in-furnace structure, for example, a narrow place or environment in a shroud outer peripheral side wherein a jet pump is disposed. <P>SOLUTION: In the repair system 20 for the structure surface, a supporting structure 29 and a winding device 25 are installed in a working area 22. A working robot 28 is connected to a cable 26 paid out from the winding device 25, through a supporting device 27 movable along a repair target structure 21 surface. The working robot 28 is structured to move along the repair target structure 21 surface by a suction mechanism and a telescopic mechanism. On the other hand, a hoist 30 is installed in the supporting structure 29 of the working area 22, and the working robot 28 is suspended from a wire or rope 32 paid out from the hoist 30 through the supporting device 27. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a repair inspection system for a surface of a structure that inspects the surface of the structure and enables repair according to the presence of a defect.
[0002]
[Prior art]
A technique that can be used as a system for inspecting and repairing the surface of a structure includes a device that moves along the surface of the structure.
[0003]
As a conventional device that moves on the surface of a structure, a device that can move along the surface described in Japanese Patent No. 3175052 is representative.
[0004]
FIG. 12 is a plan view showing a conventional repair / inspection apparatus movable along the surface of a structure, and FIG. 13 is a suction unit provided in the repair / inspection apparatus movable along the surface of the structure shown in FIG. FIG.
[0005]
The conventional repair / inspection apparatus 1 movable along the surface of a structure has a configuration in which two suction units 3 are connected by an extendable connection means such as a cylinder mechanism 2. Each suction unit 3 is composed of a cylindrical member 4 having a suction cup-shaped flange having an inverted dish shape, a communication pipe 5 and a main body 7 to which a cylinder mechanism 6 is fastened. The communication pipe 5 is connected to a decompression source such as a vacuum pump or an ejector, and sucks a fluid such as air to form a negative pressure space 9 between the cylindrical member 4 and the structure surface 8. A running means 10 such as a wheel or a ball caster is connected to an operating rod portion of the cylinder mechanism 6 protruding into the negative pressure space 9.
[0006]
Next, a description will be given of a conventional method of moving the repair / inspection apparatus 1 movable along the surface of a structure.
[0007]
A vacuum source such as a vacuum pump or an ejector is operated while the cylinder mechanism 2 is contracted to form a negative pressure space 9 between the cylindrical member 4 and the structure surface 8. At this time, the traveling means 10 is retracted and isolated from the structure surface 8 by contracting the cylinder mechanism 6. Thereby, the cylindrical member 4 of each suction unit 3 is sucked on the structure surface 8. That is, each suction unit 3 is in an immobile fixed state.
[0008]
Next, the decompression source of one of the adsorption units 3 is released, and the traveling means 10 is pushed out by the cylinder mechanism 6 to be brought into close contact with the structure surface 8. As a result, the suction area between the cylindrical member 4 and the structure surface 8 is reduced, and the frictional force is reduced, so that one of the suction units 3 can run. By extending the cylinder mechanism 2 in this traveling state, the traveling means 10 comes into contact with the surface 8 of the structure, and the suction unit 3 on the side in the traveling state moves.
[0009]
In addition, the cylinder mechanism 6 of the suction unit 3 on the side where the traveling is possible is contracted, and the traveling means 10 is retracted from the structure surface 8 to be isolated. Further, a negative pressure space 9 is formed between the cylindrical member 4 and the structure surface 8 by a decompression source such as a vacuum pump or an ejector, and the suction unit 3 is adhered to and fixed to the structure surface 8.
[0010]
Next, the traveling means 10 of the suction unit 3 on the non-moving side is pushed out by the cylinder mechanism 6 so as to be brought into close contact with the surface 8 of the structure so as to be able to travel. The suction unit 3 on the side in which the traveling is possible moves by contracting the cylinder mechanism 2. By repeating these operations, the suction units 3 and 3 move alternately and intermittently, and the entire device 1 that can move along the surface of the structure can move in the direction of expansion and contraction of the cylinder mechanism 2.
[0011]
Further, if a difference is made in the amount of expansion / contraction stroke of the pair of cylinder mechanisms 2, it is possible to perform not only the movement in the expansion / contraction direction but also the turning movement, and the movement in any direction is possible.
[0012]
[Problems to be solved by the invention]
As an example of inspection and repair of the surface of a structure to be repaired, there is a welding machine that inspects stress corrosion cracks generated near a welded portion of a shroud, which is a reactor internal structure, and performs repair by laser welding.
[0013]
Conventionally, in this welding machine, a mobile trolley was installed at the upper part of the reactor, and the welding machine was hung from this trolley with hanging means such as wires, and the trolley moved to approach the work area and repair work was performed .
[0014]
However, this repair method does not allow access to narrow places where the jet pump is arranged all around, such as the outer surface of the shroud, or intricate places that need to be moved back and forth and left and right, especially after suspending the welding machine. There was a problem.
[0015]
Therefore, it is conceivable to use a work robot device that can move along the surface of the structure, but there is the following problem.
[0016]
In a repair inspection of a narrow place or a bent portion where a plurality of jet pumps are arranged on the outer peripheral side of the shroud on the entire circumference, it is not possible to arrange the work robot on the outer peripheral surface of the shroud only by hanging down the work robot. That is, the work robot cannot move to the inspection and repair location because the surface of the repair target structure is discontinuous.
[0017]
Even if the work robot can be hung down by a suspending means such as a wire and placed on the surface of the repair target structure, there is a possibility that the wire will loosen due to the movement of the work robot and interfere with the repair target structure. For this reason, the movement range is limited.
[0018]
If the work robot falls off the surface of the structure to be repaired while moving or enters a narrow part, it becomes impossible to collect the work robot.
[0019]
Insufficient operability, operability, accessibility to a narrow part, or the like of the work robot results in poor workability, which increases the work time and leads to an increase in the construction period. Particularly in the environment inside a nuclear reactor, the working environment is poor, and if the working time is prolonged, there is a possibility that the amount of exposure of the worker may increase, which has a bad influence on the human body.
[0020]
The present invention has been made in order to cope with the above-described conventional circumstances, and has a narrow structure on the outer surface of a structure to be repaired, specifically, an outer surface of a furnace internal structure, for example, a shroud outer surface side on which a jet pump is arranged. It is an object of the present invention to provide a repair inspection system for a surface of a structure that enables work in a place and an environment.
[0021]
[Means for Solving the Problems]
In order to achieve the above object, a repair inspection system for a structure surface according to the present invention is provided with a support structure and a winding device in a work area as described in claim 1. A working robot is connected to the cable fed out from the device via a support device that can move along the surface of the structure to be repaired, and this work robot can move along the surface of the structure to be repaired by a suction mechanism and a telescopic mechanism On the other hand, a hoist is installed on the support structure in the work area, and a wire or a rope fed from the hoist is configured to suspend the work robot via the support device. It is.
[0022]
According to another aspect of the present invention, there is provided a system for repairing and inspecting a surface of a structure according to the present invention. And the like.
[0023]
In addition, in order to achieve the above object, the repair inspection system for a structure surface according to the present invention includes, as described in claim 3, a turning suction mechanism provided with a turning function in the suction mechanism of the work robot. It is characterized by having done.
[0024]
According to a fourth aspect of the present invention, there is provided a repair inspection system for a structure surface according to the present invention, wherein the work robot is provided with a tilt angle detector, and the work robot expands and contracts. The mechanism is provided with a sensor for detecting the amount of expansion and contraction, a timing generation function for controlling the suction timing of the work robot by using a hose and the cable, and the inclination of the work robot is controlled by the output of the inclination angle detector. And a control panel having a function of expanding and contracting the expansion and contraction mechanism.
[0025]
In addition, in order to achieve the above object, a repair inspection system for a structure surface according to the present invention has a propulsion mechanism such as an ejector for generating a propulsion force in a fluid in the support device as described in claim 5. It is characterized by having.
[0026]
According to a sixth aspect of the present invention, there is provided a repair inspection system for a structure surface according to the present invention. The work robot and the support device approach the surface of the structure to be repaired by a propulsion mechanism that generates a propulsive force in a fluid provided by the support device, and the surface of the structure to be repaired by the suction mechanism provided by the work robot and the support device. Then, the hanging tool is released, and the work robot and the support device are moved at the same time.
[0027]
In addition, in order to achieve the above object, a repair inspection system for a structure surface according to the present invention provides, as described in claim 7, a cable or a cord unreeled by a winding device arranged in the work area. The object to be repaired of the cable or the string-like object is held at an arbitrary position on the surface of the structure to be repaired by the support device capable of moving the surface of the structure to be repaired by the suction mechanism and the expansion and contraction mechanism. It is characterized in that feeding into the vicinity of a structure is performed in a work area.
[0028]
In addition, in order to achieve the above object, a repair inspection system for a structure surface according to the present invention includes a repair unit or an inspection unit in at least one of the work robot and the support device. It is characterized by having been provided.
[0029]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of a repair inspection system for a structure surface according to the present invention will be described with reference to the accompanying drawings.
[0030]
FIG. 1 is a configuration diagram showing an embodiment of a repair inspection system for a structure surface according to the present invention.
[0031]
The repair inspection system 20 for the surface of a structure shows an example in which the repair target structure is applied to a device for repairing the outer surface side of a shroud 21 which is a reactor internal structure, for example.
[0032]
A control panel 23, a hydraulic pump 24, and a tension type winding device 25 are installed on an operation floor 22 in a reactor building, which is a work area. A hose and a cable 26 are fed out from the tension type winding device 25 with a constant tension, and a repair / inspection robot 28 as a work robot serving as an inspection / repair machine is connected to the end of the hose and the cable 26 via a self-propelled support device 27. Is done. Further, the control panel 23 can remotely control the moving amount, moving direction, and inclination of the self-propelled support device 27 and the repair inspection robot 28 using the hose and the cable 26.
[0033]
On the other hand, a movable refueling machine 29 as a support structure is provided on the operation floor 22, and a hoist 30 is installed on the refueling machine 29. The hoist 30 is provided with a fall prevention device 31 through which the wire 32 is fed. The tip of the wire 32 is also connected to the repair inspection robot 28 via the self-propelled support device 27 in the same manner as the hose and the cable 26. The fall prevention device 31 has a function of detecting a load and locking the wire 32 when the repair inspection robot 28 and the self-propelled support device 27 are lowered.
[0034]
A cylindrical shroud 21 is provided inside the reactor pressure vessel 33 and is filled with reactor water 34 as a fluid. The shroud 21 includes an upper shell 35, an intermediate shell 36, and a lower shell (not shown). An annulus 37 is formed between the shroud 21 and the reactor pressure vessel 33 on the outer periphery of the shroud 21. A plurality of jet pumps 38 are installed in the annulus portion 37 in the circumferential direction, but are not installed in the portions where the reactor azimuths are 0 ° and 180 °.
[0035]
While a jet pump 38 is installed along the annulus 37 between the shroud 21 and the reactor pressure vessel 33, the self-propelled support device 27 and the repair inspection robot 28 are installed in a portion where the jet pump 38 is not installed. You. The self-propelled support device 27 and the repair inspection robot 28 are suspended by a hoist 30 and a wire 32 installed in a fuel exchanger 29. Since the outer diameter of the upper body 35 of the shroud 21 is larger than the outer diameter of the intermediate body 36, the repair inspection robot 28 can be moved to the vicinity of the intermediate body 36 only by hanging down with the hoist 30 and the wire 32 installed in the refueling machine 29. It is difficult to move along.
[0036]
The repair inspection robot 28 has a function of sucking the furnace water 34 and discharging it as jet water to obtain a propulsive force in the furnace water 34 and a function of adsorbing the outer surface of the shroud 21. The repair inspection robot 28 is caused to approach the intermediate body 36 by the propulsive force generated by using the reactor water 34 by these two functions, and is adsorbed on the surface of the intermediate body 36 by the suction function. The self-propelling support device 27 is also attracted to the intermediate body 36 by the same means.
[0037]
In this way, the repair inspection robot 28 adsorbed on the surface of the intermediate portion body 36 of the shroud 21 of the annulus portion 34 is moved along a portion where repair inspection is performed, for example, along a horizontal welding line portion of the intermediate portion body 36 to perform welding or the like. Perform repair work.
[0038]
FIG. 2 is a plan view showing the configuration of the self-propelled support device 27 and the repair inspection robot 28 shown in FIG. 1, and FIG. 3 is a side view of the repair inspection robot 28 shown in FIG.
[0039]
A repair inspection robot 28 is connected to the end of the wire 32, the hose and the cable 26 via a self-propelled support device 27. Adsorption legs 41 having an expansion / contraction function and an adsorption function are arranged at four locations on both sides of the body 40 in the longitudinal direction, on the side where the wire 32 is connected and on the side where the wire 32 is not connected. Further, a hole for attaching the suction leg 41 is also provided at the center of the body 40, and the suction leg 41 is provided in this mounting hole.
[0040]
Further, a hanging ear 42 is provided on the self-propelling support device 27 side of the body 40, a tilt angle detector 43 is provided at, for example, substantially the center of the body 40, and an outer surface of the shroud 21 is repaired at another portion of the body 40. A laser welding machine 44 as repair means and an underwater camera 45 as inspection means for inspecting the outer surface of the shroud 21 are arranged. Further, a remote hanging tool 46 constituted by a working cylinder 47 as a pair of actuators is detachably attached to the hanging ear 42.
[0041]
The wire 32 is connected to this remote hanging tool 46. The wire 32 can be attached to and detached from the hanging ear 42 by remotely operating the operating cylinder 47 provided in the remote hanging tool 46.
[0042]
The repair inspection robot 28 is sucked on the outer surface of the shroud 21 by the suction function and the expansion and contraction function of the suction leg 41 and can move along the outer surface of the shroud 21. Further, inspection and repair work can be performed by the laser welding machine 44 and the underwater camera 45. Further, the wire 32, the hose and the cable 26 are held at a fixed position by the self-propelling support device 27 so as not to be loosened.
[0043]
FIG. 4 is a plan view of the suction leg 41 provided in the repair inspection robot 28, and FIG. 5 is a sectional view of the suction leg 41 shown in FIG.
[0044]
The suction leg 41 has a configuration in which a hydraulic cylinder 50 and a suction mechanism 51 are connected by a mounting bracket 53 fixed to one end of an operation rod 52. The operating rod 52 is constituted by, for example, a piston rod which is reciprocated by the operation of the hydraulic cylinder 50.
[0045]
In the four suction legs 41 on the longitudinal side surface of the body 40, the direction of expansion and contraction of the hydraulic cylinder 50 is in the body width direction, for example, the horizontal direction in FIGS. 4 and 5, and the hydraulic cylinder 50 is Attached to. The suction leg 41 at the center of the body 40 is connected to the mounting hole of the repair / inspection robot 28 in such a direction that the wire 32 connection side is the suction mechanism 51 and the non-connection side is the hydraulic cylinder 50. The direction of the suction legs 41 at the center of the body 40 may be reversed, or the suction legs 41 may be arranged side by side.
[0046]
The suction force adjusting mechanism 54 is connected to the suction mechanism 51. The suction mechanism 51 includes an inverted dish-shaped suction cup 55 serving as a suction disk, and an ejector 56 serving as suction means for generating a suction force on the suction pad 55. By generating a suction force by the ejector 56, a negative pressure space 58 is formed between the outer surface 57 of the shroud and the suction pad 55. The suction pad 55 can be suctioned to the outer surface 57 of the shroud by the negative pressure in the negative pressure space 58. That is, the suction leg 41 can be fixed on the outer surface 57 of the shroud, and can be in a fixed fixed state. Further, the suction mechanism 51 has a piping path so that the reactor water 34 passes through the inner surface of the suction pad 55. Further, the ejector 56 has a propulsion function of jetting jet water from an exhaust port provided in a direction perpendicular to a surface on which the suction pad 55 is suctioned to obtain a propulsion force.
[0047]
The suction force adjusting mechanism 54 for adjusting the suction force includes an operating cylinder 59 disposed on the central convex side of the suction pad 55, and a rod 60 penetrating from the operating cylinder 59 through the center of the suction pad 55. A shaft retainer 61 is connected to the tip of the rod 60, and the shaft retainer 61 supports a support shaft 63 that rotatably supports a roller 62. When the suction pad 55 is attracted to the outer surface 57 of the shroud, the working cylinder 59 is located at the uppermost storage position side of the operation stroke, and the roller 62 is located substantially at the same position as the contact surface of the suction pad 55. This is to prevent the roller 62 from pushing up the suction pad 55 to lower the suction force. In addition, by extending the working cylinder 59 and pushing out the roller 62, the frictional force between the outer surface 57 of the shroud and the suction pad 55 is reduced, and the suction leg 41 can be made to run on the outer surface 57 of the shroud.
[0048]
The hydraulic cylinder 50 is provided with a linear gauge 64, which is used when controlling the amount of expansion and contraction.
[0049]
Next, a control method of the repair inspection robot 28 will be described with reference to FIGS.
[0050]
The operation amount of the suction leg 41 can be confirmed and adjusted by the control panel 23 shown in FIG. 1 by the linear gauge 64 of the hydraulic cylinder 50 shown in FIGS. 4 and 5. The suction timing of the suction leg 41 can be controlled by the control panel 23 shown in FIG. 1 using a timing generation function of a programmable controller or the like. Further, the inclination amount can be converted into a voltage by the inclination angle detector 43 provided in the repair inspection robot 28 shown in FIG. By controlling this output to a constant value by the control panel 23 shown in FIG. 1, attitude control can be performed.
[0051]
FIG. 6 is a plan view of the self-propelled support device 27 shown in FIG. 2, and FIG. 7 is a side view of the self-propelled support device 27 shown in FIG.
[0052]
The self-propelling support device 27 is an assist device that assists the traveling movement of the repair inspection robot 28.
[0053]
The self-propelled support device 27 has a configuration in which two suction mechanisms 71 provided with a suction force adjustment mechanism 70 are connected by two expansion / contraction mechanisms 72 forming a pair. The suction mechanism 71 includes a suction pad 73 and an ejector 74 as suction means.
[0054]
Further, a mounting seat 75 is provided on the suction pad 73. The expansion / contraction mechanism 72 has a configuration in which a spherical surface of a rod 77 with a spherical surface is connected to both ends of an operation cylinder 76. On the other hand, the fixed side of the rod 77 with a spherical surface is connected to the mounting seat 75 of the suction pad 73.
[0055]
In addition, a support shaft 78 is provided for the two telescopic mechanisms 72 forming a pair. The support shaft 78 is provided with a guide 80 rotatably supported by a bearing 79. Further, a frame 81 is fixed to the support shaft 78. A holding roller 83 rotatably supported by a support shaft 82 is provided on the frame 81. The hose, the cable 26 and the wire 32 are sandwiched between the guide 80 and the pressing roller 83.
[0056]
The self-propelling support device 27 can be adsorbed on the outer surface of the shroud 21 by the attraction force adjusting mechanism 70 and the attraction mechanism 71 in the same manner as the repair inspection robot 28, and can be brought into a movable state or an immovable fixed state. Further, it is possible to move along the shroud outer surface 57 by the expansion and contraction mechanism 72. In addition to the outer surface 57 of the shroud, the ejector 74 can move while swimming in the reactor water 34 of the reactor pressure vessel by the propulsive force generated in the reactor water 34.
[0057]
Next, a method of moving the repair inspection robot 28 will be described.
[0058]
First, the self-propelled support device 27 and the repair inspection robot 28 are suspended from a portion of the annulus portion 37 where the jet pump 38 is not installed. Next, the self-propelling support device 27 approaches the intermediate body 36 of the shroud 21 by the propulsive force generated by the ejector 74, and is adsorbed on the outer surface of the shroud 21 above the position to be repaired by the adsorption mechanism 71. Then, the repair inspection robot 28 is sucked by a means similar to the self-propelled support device 27 to a position below the self-propelled support device 27 near a position where repair inspection is to be performed. At this time, the hydraulic cylinders 50 of all the suction legs 41 are kept in a contracted state.
[0059]
Next, the repair inspection robot 28 is moved by the suction leg 41 along the outer surface 57 of the shroud to a position where repair inspection is to be performed. A method of moving the repair inspection robot 28 along the outer surface 57 of the shroud will be described.
[0060]
When the repair / inspection robot 28 is moved in the circumferential direction of the outer surface 57 of the shroud, for example, in the width direction of the body 40, first, of the four suction legs 41 on the side surface in the longitudinal direction of the body 40, two suction legs on the movement direction side are used. By extruding the five rollers 62, which are running means of the suction leg 41 at the center of the body 41 and the suction leg 41, the suction force is reduced until the vehicle is ready to run. Then, the hydraulic cylinders 50 provided on the four suction legs 41 on the side surface in the longitudinal direction of the body 40 are extended, and the three suction legs 41 on the movement direction side and the center of the body 40 are moved. Thereafter, the rollers 62 of the three suction legs 41 on the moving direction side and the center of the body 40 are pulled up to make the space surrounded by the suction legs 41 and the shroud outer surface 57 a negative pressure, and the suction legs 41 are fixed and immovably fixed. Increase the suction force until the condition is reached.
[0061]
Next, by pushing out the roller 62 of the suction leg 41 on the side opposite to the moving direction, the suction force is reduced until the vehicle can be driven. Then, the hydraulic cylinders 50 provided on the four suction legs 41 on the longitudinal side surface of the body 40 are contracted, and the suction legs 41 on the side opposite to the moving direction are moved. Thereafter, the roller 62 of the suction leg 41 on the side opposite to the moving direction is pulled up, and the space surrounded by the suction leg 41 and the outer surface 57 of the shroud is set to a negative pressure, and suction is performed until the suction leg 41 is fixed and immovably fixed. Increase power.
[0062]
By repeating this operation, the repair inspection robot 28 can be intermittently moved in the circumferential direction of the shroud outer surface 57.
[0063]
When the repair / inspection robot 28 is moved below the outer surface 57 of the shroud, first, four rollers 62 as running means of the four suction legs 41 on the longitudinal side surface of the body 40 are pushed out until the running state becomes possible. , Contact the outer surface of the shroud 57.
[0064]
Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is operated to be extended, and the four suction legs 41 on the side surface in the longitudinal direction of the body 40 are moved under the outer surface 57 of the shroud. Thereafter, by pulling up the rollers 62 of the four suction legs 41 on the side surface in the longitudinal direction of the body 40, the suction legs 41 are sucked and fixed to the outer surface 57 of the shroud so as to be in an immobile fixed state.
[0065]
Next, the roller 62 of the suction leg 41 at the center of the body 40 is pushed out, so that the suction force is reduced until the vehicle 40 becomes ready to run. Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is contracted to move the suction leg 41 at the center of the body 40. Thereafter, by pulling up the roller 62 of the suction leg 41 at the center of the body 40, the repair / inspection robot 28 is fixed at a lower position, and is in an immobile fixed state.
[0066]
By repeating this operation, the repair / inspection robot 28 can be intermittently moved to travel below the shroud outer surface 57.
[0067]
When the repair inspection robot 28 is moved in the upward direction of the outer surface 57 of the shroud, for example, by first pushing out the roller 62 of the suction leg 41 at the center of the body 40, the suction force is reduced until the vehicle becomes ready to run. The roller 62 is set to be able to run. Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is extended to move the suction leg 41 at the center of the body 40. Thereafter, by pulling up the roller 62 of the suction leg 41 at the center of the body 40, the suction force is increased until a stationary state is achieved.
[0068]
Next, by pushing out the rollers 62 of the four suction legs 41 on the longitudinal side surface of the body 40, the suction force is reduced until the vehicle is ready to run, and each roller is set to run. Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is contracted, each roller 62 is rolled, and the four suction legs 41 on the side surface in the longitudinal direction of the body 40 are moved. Thereafter, by pulling up the rollers 62 of the four suction legs 41 on the side surface in the longitudinal direction of the body 40, the suction force is increased until a stationary state is attained.
[0069]
By repeating this operation, the repair / inspection robot 28 can be intermittently moved in the upward direction of the outer surface 57 of the shroud.
[0070]
Further, it is also possible to change the diagonal movement or the direction of the repair inspection robot 28 by changing the expansion / contraction stroke of the hydraulic cylinder 50 provided on the four suction legs 41 on the longitudinal side surface of the body 40. .
[0071]
Next, a repair inspection method of the repair inspection robot 28 will be described.
[0072]
After the repair inspection robot 28 is moved to a position where repair inspection is to be performed, the repair inspection unit is inspected by the underwater camera 45 provided in the repair inspection robot 28. When repair is necessary as a result of the inspection, welding is performed by a laser welding machine 44 provided in the repair inspection robot 28 to perform repair work.
[0073]
When the repair work is completed, the repaired part is further inspected by the underwater camera 45 to confirm the construction status. When the inspection of the repaired part after the repair is completed, the repair inspection robot 28 is moved to the next position where the repair inspection is to be performed.
[0074]
Thus, the repair inspection robot 28 can perform necessary repair inspection work on the outer surface of the shroud 21 by repeating the movement and the repair inspection.
[0075]
FIG. 8 is a plan view showing a modification of the self-propelled support device 27 and the repair inspection robot 28, and FIG. 9 is a side view of the repair inspection robot 28 of FIG.
[0076]
In the repair / inspection robot 28, two suction legs 41 are arranged at the center of the body 40 and on the side of the longitudinal direction of the body 40 where the wire 32 is connected. Further, on the side of the body 40 in the longitudinal side that is not connected to the wire 32, two swing suction legs 90 are arranged as a swing suction mechanism. In other respects, as in FIGS. 2 and 3, an inclination angle detector 43 is arranged at, for example, substantially the center of the body 40, and a hanging ear 42 is arranged on the self-propelling support device 27 side. Further, a remote hanging member 46 constituted by a pair of operating cylinders 47 is detachably attached to the hanging ears 42. The hose 32, the cable 26, and the wire 32 are connected to the remote hanging device 46 via the self-propelled support device 27, so that the repair inspection robot 28 is suspended.
[0077]
In this modified example, by arbitrarily turning the swing suction leg 90, it is possible to perform a traveling movement or a turning movement in an oblique direction with a smaller number of operations than in the case of traveling by the suction leg 41.
[0078]
FIG. 10 is a plan view of the swing suction leg 90 shown in FIG. 8, and FIG. 11 is a side view of the swing suction leg 90 shown in FIG.
[0079]
The swing suction leg 90 has a configuration in which a swing drive mechanism 91 is connected to a hydraulic cylinder 50 which is a component of the suction leg 41. The turning drive mechanism 91 is attached to the repair inspection robot 28. The turning drive mechanism 91 has a configuration in which a convex portion of a frame 94 is fitted into a concave body 93 in which a motor 92 is disposed. The frame 94 is connected to the fixed side of the hydraulic cylinder 50 of the suction leg 41. A gear 95 is connected to the output shaft of the motor 92, and a gear 97 is rotatably supported by a support shaft 96 on the projection of the frame 94 so as to mesh with the gear 95.
[0080]
The turning drive mechanism 91 can turn the suction leg 41 by transmitting the torque of the motor 92 by the gear 97.
[0081]
8 and 9, if the turning suction leg 90 is provided on the longitudinal side surface of the body 40 of the repair / inspection robot 28 on the connection side of the wire 32, the operation in the oblique direction can be performed with less operation than when the suction leg 41 is provided. In addition to being able to travel and turn, the repair inspection robot 28 can be narrowed by turning the swing suction leg 90 and moving it to the side where the wire 32 is connected to the repair inspection robot 28 and to the side not connected to the wire 32. be able to. For this reason, not only the accessibility of the narrow part is improved, but also the posture at the time of suction can be stabilized, and the state of the construction part can be inspected from a short distance to perform repair work.
[0082]
【The invention's effect】
In the repair inspection system for the surface of a structure according to the present invention, the repair inspection is performed even on the outer surface of the structure to be repaired, specifically, the outer surface of the furnace internal structure, for example, a narrow place on the outer peripheral surface side of the shroud where the jet pump is arranged. Since the repair / inspection robot that performs the work can be moved along the surface of the repair target structure by the suction mechanism and the expansion / contraction mechanism, the repair / inspection work of the repair target structure is possible.
[0083]
In addition, even if it is a bent part or a narrow part that cannot be directly accessed only by hanging down the repair inspection robot by hanging means such as wires and ropes, it is limited to the movable range of the wire and rope if it is in a liquid such as water. It is possible to approach the surface of the repair target structure by the drain jet propulsion generated by the ejector built in the repair inspection robot without being performed.
[0084]
In addition, not only can the swivel leg of the repair / inspection robot be swiveled on the wall surface while being sucked by the swivel suction leg, but the stroke travel can be performed with a small number of operations by turning the suction leg arbitrarily.
[0085]
The operation amount of the suction leg of the repair inspection robot can be confirmed and adjusted by the control panel using the linear gauge provided in the hydraulic cylinder, and the suction timing can be controlled by the timing generation function of a programmable controller or the like. . In addition, the repair inspection robot is provided with a tilt angle detector for detecting a posture, and can convert the tilt amount into a voltage. By controlling this output to a constant value, arbitrary positioning accuracy is improved. Further, by controlling a swing suction leg having a swing axis, quick attitude control of the repair / inspection robot can be performed.
[0086]
In addition, the self-propelled support device runs alongside the repair inspection robot and maintains a state of rest on the surface of the structure, so that even when the repair inspection robot moves away from the surface of the structure and descends, the hoist and the fall prevention device can be used. Can be stopped instantaneously. Furthermore, even if it enters a narrow part, it can be collected. Since the self-propelled support device has excellent startability and also has a function as a support device, the startability of the repair / inspection robot is improved.
[0087]
In addition, the wires, cables, and hoses fed from the self-propelled support device do not loosen at a constant tension, so that they can run stably without interfering with the object to be repaired or other structures. For this reason, the accessibility to the narrow portion is improved, and the repair inspection work can be performed by driving only the inspection means such as an underwater camera mounted on the repair inspection robot or the repair means such as a laser welding machine. This leads to a reduction in working time.
[0088]
In addition, since the device is equipped with inspection means such as a TV camera, it is possible to visually check the construction part from within a short distance in the work area. A decision can be made. For this reason, the construction period can be shortened.
[0089]
Further, when the working time is shortened, the working time of the worker is shortened when working in a place such as a nuclear reactor where electromagnetic waves are generated, which leads to a reduction in exposure.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an embodiment of a repair inspection system for a structure surface according to the present invention.
FIG. 2 is a plan view showing a configuration of a self-propelled support device and a repair inspection robot shown in FIG.
FIG. 3 is a side view of the repair / inspection robot shown in FIG. 2;
FIG. 4 is a plan view of a suction leg provided in the repair inspection robot.
FIG. 5 is a sectional view of the suction leg shown in FIG. 4;
FIG. 6 is a plan view of the self-propelled support device shown in FIG. 2;
FIG. 7 is a side view of the self-propelled support device shown in FIG. 6;
FIG. 8 is a plan view showing a modification of the self-propelled support device and the repair inspection robot.
FIG. 9 is a side view of the repair / inspection robot shown in FIG. 8;
FIG. 10 is a plan view of the swing suction leg shown in FIG. 8;
FIG. 11 is a side view of the swing suction leg shown in FIG. 10;
FIG. 12 is a plan view showing a conventional repair inspection device movable along the surface of a structure.
FIG. 13 is a cross-sectional view of a suction unit provided in the repair / inspection apparatus movable along the surface of the structure shown in FIG.
[Explanation of symbols]
20 Structural surface repair inspection system
21 Shroud
22 Operation floor
23 Control panel
24 hydraulic pump
25 tension type winding device
26 Hose and cable
27 Self-propelled support device
28 Repair inspection robot
29 Refueling machine
30 Hoist
31 Fall prevention device
32 wires
33 reactor pressure vessel
34 Reactor water
35 Middle trunk
36 Upper torso
37 Annulus
38 jet pump
40 body
41 Suction legs
42 Hanging ears
43 Tilt angle detector
44 Laser welding machine
45 Underwater Camera
46 Remote hanging equipment
47 Working cylinder
50 hydraulic cylinder
51 Suction mechanism
52 Operating rod
53 Mounting bracket
54 Suction force adjustment mechanism
55 suction pads
56 Ejector
57 Shroud outer surface
58 Negative pressure space
59 Working cylinder
60 rod
61 Shaft holding
62 rollers
63 spindle
64 linear gauge
70 Suction force adjustment mechanism
71 Suction mechanism
72 Telescopic mechanism
73 Suction pad
74 Ejector
75 Mounting seat
76 Working cylinder
77 Spherical rod
78 spindle
79 bearing
80 Information Guide
81 frames
82 spindle
83 rollers
90 Swivel suction legs
91 Swing drive mechanism
92 motor
93 body
94 frames
95 gear
96 spindle
97 gears

Claims (8)

In the work area, a support structure and a winding device are installed, and a cable fed from the winding device is connected to a work robot via a support device that can move along the surface of the structure to be repaired. The work robot is configured to be movable along the surface of the repair target structure by a suction mechanism and a telescopic mechanism, while a hoist is installed on the support structure in the work area, and a wire or a rope pulled out from the hoist is connected to the support device. A repair inspection system for a surface of a structure, wherein the work robot is suspended from the system. 2. The system for repairing and inspecting a surface of a structure according to claim 1, wherein the work robot is provided with a propulsion mechanism such as an ejector for generating a propulsion force for swimming in the fluid. 2. The repair inspection system for a surface of a structure according to claim 1, wherein the suction mechanism of the work robot includes a swing suction mechanism having a swing function. The work robot is provided with a tilt angle detector, the telescopic mechanism of the work robot is provided with a sensor for detecting the amount of expansion and contraction, and a timing generation function for controlling suction timing of the work robot by using a hose and the cable. 2. The structure surface according to claim 1, further comprising a control panel having a function of controlling the inclination of the work robot by an output of the inclination angle detector and a function of extending and retracting the extension mechanism. Repair inspection system. 2. The repair and inspection system for a surface of a structure according to claim 1, wherein the support device includes a propulsion mechanism such as an ejector for generating a propulsion force in a fluid. The work robot and the support device are suspended inside the fluid by the suspension tool in the work area, and the propulsion mechanism that generates a propulsion force in the fluid provided by the work robot and the support device approaches the surface of the structure to be repaired, The work robot and the support device are attached to a surface of the structure to be repaired by a suction mechanism, and then the hanging tool is released to move the work robot and the support device at the same time. A repair inspection system for a structure surface according to any one of claims 2 to 5. The cable or the cord-like object fed out by the winding device arranged in the work area can be moved at any position on the surface of the structure to be repaired by the support device capable of moving the surface of the structure to be repaired by a suction mechanism and a telescopic mechanism. The repair inspection system for a structure surface according to claim 5, wherein the cable or the string-like object is sent near the repair target structure in a work area by holding the cable or the string-like object. 2. A repair inspection system for a structure surface according to claim 1, wherein a repair unit or an inspection unit is provided in at least one of the work robot and the support device.

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