JPS63282637A - In-piping running instrument - Google Patents

Abstract

PURPOSE:To enlarge a running range by providing a body which can freely run in a piping and an accommodating frame for rotatably and detachably accommodating the body and detaching the body by a signal from the front detector of the body in the branching part of the piping. CONSTITUTION:An in-piping running instrument 1 is constituted by a body 2, an accommodating frame 3 and an accommodating unit 4. The body 2 is provided with a telescopic revolving mechanism 12 and an arm extending mechanism 9A mounted with a wheel 31A and provided with a front detector 5, a stereoscopic television camera 6, a ultrasonic flaw detector and the like on a distal end side. The instrument 1 is run in a large inner diameter pipe while detecting an obstruction by the detector 5 and avoiding the obstruction. When the instrument 1 is moved to a medium inner diameter pipe, the body 2 and the frame 3 are separated from the accommodating unit 4 and the instrument 1 is moved by the mechanism 9A, the wheel 31A and the mechanism 12. When the instrument 1 is moved to a small inner diameter pipe, the instrument 1 is run after separating the body 2 from the frame 3 and detects a flaw and checks the inside of a piping by the flaw detector.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) The present invention relates to an in-pipe traveling device for inspecting and cleaning the inside of the pipes of a nuclear power plant, and in particular, the present invention relates to an in-pipe traveling device for inspecting and cleaning the inside of the pipes of a nuclear power plant. This invention relates to an in-pipe running device that can run freely.

(Prior Art) Conventionally, inspection and cleaning of the inside of the piping of a nuclear power plant has been carried out only under radiation levels that workers can enter and in accessible locations.

In addition, to ensure the safety of workers, a pipe traveling device with a simple traveling function was introduced to perform inspections, cleaning, etc. inside the pipes.

(Problems to be Solved by the Invention) In general, piping within a nuclear power plant is laid out within the power plant with its diameter changed by a diffuser or branched into various branches.

However, conventional in-pipe running devices run in straight pipes with relatively large diameters, and cannot pass through small-diameter pipes or pipe branches such as crosses and T-shaped pipes. , it was not possible to perform sufficient inspection and cleaning.

The present invention has been made in consideration of these points,
It is an object of the present invention to provide an in-pipe traveling device that can travel even in pipes with different diameters or in pipe branch parts, and can expand the range of travel within the pipe.

[Structure of the invention]

(Means for Solving the Problems) The present invention includes a main body that has a front detector and can move freely within the pipe, a storage frame that rotatably and detachably stores and holds the main body, and further includes a This in-pipe traveling device is characterized in that it is provided with a main body/storage frame control unit that detaches the main body from the storage frame in response to a signal from the front detector when the main body reaches the diffuser portion or the branching portion of the pipe.

(Function) According to the present invention, when the main body comes to the diffuser part or the branch part in the pipe, the main body separates from the storage body by the main body/storage frame control part, and the main body travels on its own. You can expand your driving range.

(Example) Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1 to 7 are diagrams showing an embodiment of an in-pipe traveling device according to the present invention. In the figure, the pipe traveling device 1 is
It is composed of a main body 2, a storage frame 3 for storing and holding the main body 2 in a rotatable and detachable manner, and a storage section 4 for storing and holding the storage frame 3 in a rotatable and detachable manner.

As shown in FIG. 2, the main body 2 includes a main body telescopic turning mechanism 12 and an arm telescopic mechanism 9A connected to the main body telescopic turning mechanism 12 and having wheels 31A attached thereto via a wheel control mechanism 10A. It has a front detector 5 and a pan head 7 with a stereoscopic television camera 6 on the tip side. In addition, the wheel control mechanism 10A includes a ground pressure sensor II.
A is attached. Further, a mounting mechanism 8 having an ultrasonic flaw detector 32 is provided behind the pan head 7. Furthermore, a rear monitoring camera 14 and a coupler 15A are attached to the main body 2, and the various devices of the main body 2 include a gyro 16.
The main body/storage frame control section 17 is connected to the main body/storage frame control section 17 . Further, the main body/storage frame control section 17 is connected to a cable 29 via a signal transmission device 13.

The storage frame 3 is ring-shaped and stores and holds the main body 2 therein, and is equipped with a stabilizer 43 and a coupler 15B for connecting the direction determining mechanism 19B1 and the grounding part 45, and connects the main body and the storage frame via a connector 18A. It is controlled by the control section 17.

Further, the storage section 4 includes a storage section telescopic rotation mechanism 21 and an arm telescopic mechanism 9C connected to the storage section telescopic rotation mechanism 21 and to which wheels 31C are attached via a wheel control mechanism 10C. A ground pressure sensor 11C is attached to the wheel control mechanism 10C. Furthermore, a direction determining ring 35 is attached to the storage section 4, and a direction determining mechanism 19C that connects with the connector 15B of the storage frame 3 is attached to this direction ring 35. These various devices in the storage section 4 are connected to the operation panel 30 by a signal transmitter 22 and controlled by a storage section controller 23.

The operation panel 30 includes a cable processing mechanism 24 and a signal transmission device 2.
5, an operation section 26, a display section 27, and a control section 28 are connected to each other, and are connected to the signal transmission device 22 of the storage section 4 via a cable 29.

Next, the main body 2 will be explained in detail with reference to FIG.

The mounting mechanism 8 has an ultrasonic flaw detector 32 at its tip, and has a structure that allows it to be deployed, stored, and rotated in the circumferential direction of the pipe.

The tip of this mounting mechanism 8 can be replaced as necessary.

The wheels 31A attached to the arm telescoping mechanism 9A are e-f.
Expansion and contraction in directions and steering in the h-g direction are possible. Moreover, the main body telescopic turning mechanism 12 is a --
It is possible to move within the pipe by turning in the b direction and expanding and contracting in the c-d directions. Furthermore, the three-dimensional television camera 6 is mounted on a pan head 7 so as to be able to move up and down and rotate freely. The rear monitoring camera 14 is connected to the cable 2
It is installed at a position where the processing of step 9 and the connection (recovery) and separation status of the entire pipe running device can be seen.

Connector 15A provided at the rear of main body 2 (lower part in Figure 3)
, connector 18. A is installed and this connector 18
A is connected to the orientation device +N 19 B of the storage frame 3.

Next, the connection portion between the main body 2, the storage frame 3, and the storage section 4 will be described in detail with reference to FIG.

The direction determining ring 35 is driven by the drive mechanism 91 into the storage section 4.
It is attached so that it can be tilted up and down freely.

The cable 92 of the directional ring 35 passes through the drive part 33 and the hollow part of the piston 34, is connected to the cable 93, passes through the cylinder 37, and is connected to the connector 18B in the connection part 15B.
connected to.

The cylinder 37 is configured to be connected to the piston 34 and expand and contract while being guided by the guide rod 36 without being deviated in direction. Piston 34 and cylinder 3
The expansion and contraction movement of 7 is carried out by the pneumatic unit (
(not shown). Further, the cylinder 37 has a key 38 and is connected along the key groove of the connecting portion 15B.

The key 38 has a notch so that it can be fixed with a claw 39. The pawl 39 moves forward and backward by the expansion and contraction of an electrically controlled shape memory alloy spring 40, and the cylinder 37 is fixed or released by the forward and backward movement of the pawl 39.

Although not shown, the connecting portion 15A of the main body 2 that connects the main body 2 and the storage frame 3 and the orientation mechanism 1 of the storage frame 3
9B also has the same configuration as the connecting portion 15B of the storage frame 3 and the orientation mechanism 19C of the storage portion 4.

In addition, in the storage frame 3, the push rod 4 is pushed out by the drive unit 42.
4 is pushed out, and the grounding portion 45 of the stabilizer 43 is brought into contact with the inner surface of the pipe, thereby fixing the storage frame 3.

Details of the stabilizer 43 are shown in FIGS. 5a and 5b.

The rack member 50 provided in the storage frame 3 has an axle 48 to which a wheel 47 movable along a guide groove 51 is attached, and further has an extrusion rod 44 . This extrusion rod 44
A stabilizer 43 is attached to the tip of the rack member 50, and the rack member 50 is caused to reciprocate by driving a gear 52 to unfold or store the stabilizer 43.

Moreover, the storage frame 3 has a ring-like shape and has a structure that does not impede the rotational movement of the main body 2 stored therein.

Next, FIG. 6 shows the arm telescoping mechanism 9A that controls the wheels 31A.
The arm extension mechanism 90 also has a similar configuration.

In FIG. 6, the arm extension mechanism 9A is a hollow T-shaped shaft 8.
8, and a gear 62 is rotatably attached to this hollow T-shaped shaft 88. Further, a gear 63 that engages with the gear 62 is provided above the hollow T-shaped shaft 88, and this gear 63 is provided above the hollow T-shaped shaft 88.
3 is a second shaft 6 that is orthogonal to the rotation axis (not shown) of the gear 62;
4, the second shaft 64 is further connected to the retainer 6
5 to the third shaft 66.

Furthermore, an extensible tube 67 is attached between the third shaft 66 and the hollow T-shape shaft 88 by a third shaft side stop pin 68 and a hollow T-shape side stop pin 69, and is attached from the hollow T-shape shaft side. Pneumatic pipe (
(not shown) by air pressure to steer the wheels 31A. Furthermore, a wheel 87 is rotatably attached to the tip side of the third shaft 66 by a retaining ring 86 and a wheel bearing 73. The wheel 87 has a frame 79 made of shape memory alloy and a wheel 31 made of a covering material 78.

On the other hand, the hollow T-shaped shaft 88 has a cable (not shown) in its hollow part, and the cable supplies power and transmits signals to the ground pressure sensor 11A and the transmission section 74 on the distal end side. Further, a cap 77 is provided on the distal end side of the third shaft, and the ball 75 of the cap 77 is held within the bearing 76 with a portion of the ball 75 protruding outward.

In this arm telescoping mechanism 9A, the rotation of the gear 61 attached to the drive shaft 60 is transmitted to the second shaft 64 via the gear 62.
from the gear 63 to the third shaft 66.
is transmitted to the gear 70 on the distal end side. This gear 70
The rotation is transmitted to the wheel rack 72 via the gear 71 attached to the retaining ring 86, causing the wheel 87 to rotate. As a result, the wheel 31 attached to the wheel 87
rotates.

Further, the shape memory alloy frame 79 constituting the wheel 31 is adapted to electrically change its shape (broken line in FIG. 6).

Next, referring to FIG. 7, the operation of this embodiment having such a configuration will be explained.

First, the pipe traveling device initially enters the large diameter pipe 80C and travels inside the pipe. Traveling is performed by the wheels 31C of the storage section 4 and the storage section telescoping and turning mechanism 21. Since the wheels 31C of the storage section 4 and the storage section telescopic turning mechanism 21 have the same functions as the wheels 31A of the main body 2 and the vehicle body telescopic turning mechanism 12, the traveling action will be explained with reference to FIG.

The main body 2 in FIG. 3 has the function of rotating in the a-b direction and extending and contracting in the c-d direction of the main body telescoping and turning mechanism 12.

On the other hand, the arm extension mechanism 9A extends and contracts in the e-f direction and h -
The wheel 31A has the rotating function of the wheel 31A, and is deformable by the shape memory alloy as described above. .

When traveling continuously using the wheels 31A, the vehicle travels with the outer periphery of the wheels 31A in contact with the inner peripheral surface of the pipe.

When moving rapidly, the axis of the wheels 31A is made perpendicular to the inner circumferential surface of the pipe. Next, one of the two sets of arm extension/contraction mechanisms 9A located at the front or rear (upper or lower in FIG. 3), for example, the upper arm extension/contraction mechanism 9A, is pressed against the pipe in the e-f direction. Next, the lower arm telescopic mechanism 9A is retracted and the main body telescopic rotation mechanism 12 is retracted and moved in the c-d direction, and then the lower arm telescopic mechanism 9A is moved in the e-f direction.
The pressing is fixed in the direction. Next, the upper arm extension mechanism 9
After storing A and extending the main body telescopic rotation mechanism 12 in the c-d direction, move the upper arm telescopic mechanism 9A to the e-f direction.
The pressing is fixed in the direction. Repeat this process to move the animal.

As shown in FIG. 6, the wheel 31 at the tip of the arm telescoping mechanism is deformed as shown by the broken line by electrically controlling the shape memory alloy arm 79 via the transmission section 74. The shape can be changed to a case where only the ball 75 contacts the inner surface of the pipe, or a case where the ball 75 contacts the side surface of the covering material 78 of the wheel 31A shown by a solid line. Therefore, it can be moved and fixed without depending on the expansion and contraction of the arm expansion and contraction mechanism 9A.

Traveling is performed while predicting the future by comparing travel route conditions input in advance with the current location using the front detector 5, the stereoscopic television camera 6, the gyro 16, the rotation speed of the wheels 3A, and the like.

If there are no travel route conditions in advance, the vehicle moves while driving each part by organizing information detected by the front detector 5, the stereoscopic television camera 6, the gyro 16, the rotation speed of the wheels 3A, and the like.

If there is an obstacle on the traveling route while traveling, the front detector 5 detects the obstacle, rotates the arm extension/contraction mechanism 9A in the h-g direction, and then uses the rotation mechanism of the main body rotation/extension mechanism 12 to avoid the obstacle. . After passing the obstacle, the vehicle returns to its original route by the opposite effect.

Subsequently, when transferring from the large diameter pipe 80C to the medium diameter pipe 80B via the cross branch pipe, the in-pipe traveling device first approaches the cross branch pipe from the large diameter pipe 80C, and moves to the storage section 4 at the cross branch pipe.
is fixed by the wheels 31C of the lower arm extension/contraction mechanism 90.

Next, the storage section rotating/expanding mechanism 21 is rotated, and the storage frame 3 is inserted into the medium diameter pipe 80B using the direction determining ring 35, and the main body 2 and the storage frame 3 are separated from the storage section 4. The main body 2 and the storage frame 3 after separation are attached to the arm extension mechanism 9A of the main body 2.
, is moved continuously or gradually within the medium diameter pipe 80B by the wheels 31A and the main body rotation/extension mechanism 12.

Next, when approaching the T-shaped branch pipe of the small diameter pipe 80A, the stabilizer 43 of the storage frame 3 is extended, the storage frame 3 is fixed to the medium diameter pipe 80B, and the direction determining mechanism 19B is connected to the small diameter pipe 80A.
After oriented in the 0A direction, the main body 2 is inserted into the small diameter pipe 80A to separate the main body 2 from the storage frame 3.

In this way, the main body 2 is passed through the branch pipe to the large diameter pipe 80.
The C1 medium diameter pipe 80B and the small diameter pipe 80C can be inserted and run.

While the main body 2 is traveling, the inside of the piping is inspected and inspected using an ultrasonic flaw detector 32 attached to the tip of the mounting mechanism 8. Note that other detection devices other than the ultrasonic flaw detector 32 may be provided on the distal end side of the mounting mechanism 8.

After inspecting the inside of the specified piping, the main body 2 is stored in the storage frame 3 in the reverse order as described above, and then the main body 2 and the storage frame 3 are
is stored in the storage section 4. During this storage work, the driving state of each part is monitored by images from the rear monitoring camera 14, and in the event of an abnormality, the operator manually stops the operation.

On the other hand, the cable 29 is wound up by the cable processing mechanism 20 in synchronization with the movement of the main body 2.

In this way, according to this embodiment, the main body 2 can be inserted and run even into branching parts of piping and small-diameter pipes, so the inspection target area can be expanded to a wide range, and the inside of the piping can be detected and inspected. You can expand the scope of your work.

Another embodiment of the present invention will be explained in FIG. As shown in FIG. 8, a cleaning jet nozzle 10 and an ITV camera 102 are provided at the distal end of the main body 2, and a clamp 104 for holding a water hose 103 is attached to the cable 29.

According to this embodiment, the jet nozzle 101 can clean the interior of the pipe over a wide range.

In each of the above embodiments, an example has been shown in which the arm extension mechanism and the like are driven by pneumatic pressure, but the present invention is not limited to this, and electric, hydraulic, hydraulic, or other drive devices may be used.

Moreover, the number of storage frames 3 may be plural instead of one.

Furthermore, although an example has been shown in which the in-pipe traveling device is configured in three stages by the main body 2, the storage frame 3, and the storage part 4, the present invention is not limited to this, and it may be configured in two stages by the main body 2 and the storage frame 3.

〔Effect of the invention〕

According to the present invention, it is possible to travel even in a pipe whose diameter is small or in a branched pipe, and therefore the range of travel within the pipe can be expanded.

For this reason, the safety of the equipment can be improved by enhancing regular inspections of nuclear power plants.

[Brief explanation of the drawing]

Fig. 1 is an external view showing an embodiment of the in-pipe traveling device according to the present invention, Fig. 2 is a system configuration diagram, Fig. 3 is a detailed view of the main body, and Fig. 4 is a connection of the main body, storage frame, and storage section. Fig. 5a is a detailed view of the stabilizer of the storage frame, Fig. 5b is a cross-sectional view taken along the line V-V in Fig. 5a, Fig. 6 is a detailed view of the arm extension mechanism and wheels of the main body, Fig. 7 8 is a diagram showing the operation of the present invention and shows an example of application to a branch pipe, and FIG. 8 is a diagram showing another embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... In-pipe traveling device, 2... Main body, 3... Storage frame, 4... Storage part, 5... Front detector, 9... Arm extension mechanism, 17... Main body・Storage frame control unit. Applicant's agent Sato - Yuyuu Figure 2 $ 3 Figure i Figure z Figure 6

Claims (1)

[Claims] It has a main body that has a front detector and can move freely inside the pipe, and a storage frame that rotatably and detachably stores and holds this main body, and further includes a main body that has a front detector and can move freely in the pipe, and further includes a main body that can freely rotate and detach the main body and store and hold the main body. An in-pipe traveling device characterized in that a main body/storage frame control unit is provided that causes the main body to detach from the storage frame in response to a signal from the storage frame.