JPS6260659B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to an apparatus for visually inspecting the inside of a container, and in particular, an object is to obtain an apparatus suitable for visually inspecting a steam generator of a nuclear reactor. As shown in Figures 1 and 2, the steam generator of a nuclear reactor consists of a secondary side (turbine side) water pressure vessel 1 with a pair of hand holes 1a and 1a formed therein, and a primary side (reactor side) water pressure vessel 1, which has a pair of hand holes 1a and 1a. The pressure vessel 2 is separated from the pressure vessel 2 by a tube plate 3, and a partition wall 2a is provided in the primary side water pressure vessel 2 to form a liquid chamber 4 having a water inlet pipe 4a and a liquid chamber 5 having a water outlet pipe 5a, respectively. At the same time, a large number of heat transfer tubes 6 passing through the secondary hydraulic pressure vessel 1 are disposed between the liquid chambers 4 and 5. In order to improve the reliability of a steam generator with such a structure, it is necessary to inspect the inner wall 1b of the container from above the tube sheet 3 inside the generator, but there are many heat transfer tubes 6 on the tube sheet 3. are arranged in a narrow space, making it difficult to inspect the top of the tube sheet 3. For this reason, in the past, a fiberscope was inserted through the hand hole 1a to perform a visual inspection, but with this method, it was difficult to arbitrarily inspect a desired location or to perform a precise inspection. The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a traveling visual inspection device that can reliably travel through narrow areas such as on the tube plate of a steam generator and visually inspect any desired area. It provides: That is, the present invention comprises a base equipped with visual inspection equipment and equipped with tracked vehicles on both sides of its lower part, a drive motor provided on the base and connected to each of the tracked vehicles, and one part of the base. Two rollers are provided on the sides via elastic members to be separated from each other in the traveling direction, a limit switch is opened and closed individually by the pressure of the rollers, and the limit switch is electrically connected to the drive motor. This traveling type visual inspection device is characterized in that it has a logic drive controller that is provided and drives and controls the base so that it travels biased to one side of the base. Hereinafter, a case will be described in which the present invention is applied to a traveling visual inspection device that travels over the tube plate 3 of a steam generator and inspects the inner wall 1b of the container. This visual inspection device is inserted through the hand holes 1a, 1a of the steam generator as shown in FIG. 3, and is inspected while running on the tube plate 3 along the inner wall of the secondary container 1. This visual inspection device
As shown in the enlarged figure, an ultra-compact television camera 8, which is a visual inspection device, is attached to the front of the base 7, a pair of tracked vehicles 9a and 9b are installed at the bottom, and a pair of tracked vehicles 9a and 9b are installed at the side. Profile rollers 10a and 10b are provided. The tracked vehicles 9a and 9b are driven separately by drive motors 11a and 11b to run on the tube plate 3, and the drive motor 11a that drives the tracked vehicle 9a along the inner wall 1b of the container is Drive motor 11b that drives the rail car 9b
It's starting to spin faster. These drive motors 11a, 11b have a worm 13 connected to their output shafts via a belt 12 as shown in FIG. A pulley 17 is attached coaxially with a driving wheel 16 provided at the bottom of the stand 7, and the pulley 17 and the pulley 15 are connected via a belt 18. Further, at the bottom of the base 7, as shown in FIG.
9 and the auxiliary wheel 21 are installed in this order, and the tracked vehicle 9a or 9b is wound around these in an engaged state. In this case, the moving guide rollers 20 have thinner shafts and have the action of a spring. Further, the above-mentioned auxiliary wheels 21 are adjusted in their positions and the tracked vehicle 9 is
This applies a predetermined tension to a or 9b. Note that 7a in the figure is a stabilizing ring provided at the bottom of the base. Further, a tracing roller 10 is provided on the side of the base 7.
a and 10b are elastic members that roll along the inner wall 1b of the secondary water pressure vessel 1, and are attached to a mounting seat 22 attached to the side surface of the base 7 as shown in FIGS. 7 and 8. The central part of the leaf spring 23 is attached, and the above-mentioned tracing rollers 10a, 10b are attached to both ends of the leaf spring 23.
is installed. Further, a pair of limit switches 24a, 24b are mounted on the base 7 on the inside of the leaf spring 23, corresponding to the rollers 10a, 10b. The limit switches 24a and 24b are drive control switches for the drive motors 11a and 11b, respectively. Based on the opening and closing operations of these switches 24a and 24b, the drive motors 11a and 11b are controlled by the travel logic shown in Table 1. Eventually, the tracked vehicles 9a and 9b will each operate. Here, the switches 24a, 24
b and the drive motors 11a, 11b are provided with a logic drive controller (not shown) in electrical communication with each other,
As a result, the drive control is performed so that the base 7 is biased toward one side of the base 7 and runs.

[Table] For example, when the tracing rollers 10a and 10b are in contact with the inner wall 1b of the container (states shown in FIG. 12A and B), the limit switches 24a and 24b are
is closed (ON), and the drive motors 11a and 11b are driven to move straight. In addition, when only the tracing roller 10b is separated from the inner wall 1b of the container and the limit switch 24b is opened (OFF) (states shown in FIG. 12C and D), the drive motor 11b stops driving, rotates to the left, and the tracing roller moves away. 10b to the inner wall of the container 1b
contact with. Conversely, only the roller 10a separates from the inner wall 1b of the container and the limit switch 24a
When it is open (OFF) (the state shown in FIG. 12 E and F), it rotates to the right and brings the tracing roller 10a into contact with the inner wall 1b of the container. Further tracing roller 10
a, 10b are both separated from the container inner wall 1b, and limit switches 24a, 24b are both OFF.
In this case (the state shown in FIG. 12), only the drive motor 11b operates to rotate to the right, and after the rotation to the right, only the drive motor 11a operates to rotate to the left, moving the rollers 10a and 10b onto the inner wall of the container 1b. It is something that brings you into contact with. Similarly, when traveling in reverse, the vehicle can go straight, turn to the right, or turn to the left based on the driving logic shown in Table 1. Furthermore, the ultra-compact television camera 8 attached to the tip of the base 7 is housed in a protective case 25 as shown in FIG. 9, and a focus adjustment lens 27 fixed to an adjustment sleeve 26 is installed on the front side of the protective case 25. . The adjustment sleeve 26 is movably provided on the outer periphery of the protective case 25, and has a protrusion on the outer periphery to form a female thread groove 26a. A focus adjustment screw 29 rotated by a lens drive motor 28 is screwed into this female thread groove 26a, and rotation of the screw 29 causes the focus adjustment lens 27 to reciprocate in the direction of the arrow. Furthermore, a guide holder 30 for guiding the sleeve 26 is provided on the outer periphery of the tip of the adjustment sleeve 26, and a filter 30a is attached to the front surface of the guide holder 30. A large number of fixed lamps 31 are attached to the outer peripheral surface of this guide holder 30, and these lamps 31 are attached to an objective mirror 31 provided at the tip of the base 7.
It is designed to irradiate in the direction. Further, a cylindrical rotating holder 33 is provided on the outer periphery of the guide holder 30.
The rotating holder 33 is provided with a gear 33a on its outer peripheral surface. This gear 33a has a fourth
As shown in the figure, a pinion 35 driven by a mirror turning motor 34 is in mesh with each other, so that the turning holder 3 is driven by the mirror turning motor 34.
3 is set to rotate. Further, a cylindrical slide holder 37 is provided on the outer periphery of the swing holder 33 via a key 36, and this slide holder 37 rotates as the swing holder 33 rotates, but is movable in its longitudinal direction. It's summery. At the tip of the slide holder 37, a rack 38 and a pair of lamp stands 39 are provided, as shown in FIG. A mirror up/down shaft 32a on which the objective mirror 32 is mounted is installed between these lamp stands 39, 39, and the rack 3 is connected to a mirror holding pinion 32b provided on the shaft 32a.
8 are in mesh. A slip flange 37a is formed on the outer peripheral surface of the base end of the slide holder 37, and a slide hook 40 having a U-shaped cross section is attached to the slip flange 37a so as to be sandwiched therebetween. The end of the hook 40 has a male threaded portion 40a.
is formed, and this male threaded portion 40a is screwed into a nut 42 attached to the output shaft of a mirror tilt motor 41. Accordingly, by driving the mirror tilt motor 41, the slide hook 40 and the slide holder 37 are moved along their axial directions, and the objective mirror 32 is moved face down.
A large number of illumination lamps 43 are attached to the outer periphery of the slide holder 37 to illuminate the front, and these illumination lamps 43 are energized when the slip ring 44 and the brush 45 come into contact with each other. Furthermore, illumination lamps 46 for illuminating the sides are attached to the lamp stands 39, 39, respectively, through anti-reflection covers 46a. Furthermore, at the rear of the base 7 are a cable 47 for running and visual control, and a cable 48 for a TV camera.
are connected, and a wire 49 is attached. These cables 47, 48 and wires 49 are connected to friction rollers 5 installed at appropriate intervals.
It is bound by 0. As shown in FIG. 11, this friction roller 50 is made of a material with a low coefficient of friction and is divided into two parts, and has a pair of cable through holes 50a, 50a formed therein, through which the cables 47, 48 are passed. It's becoming like that. Furthermore, a pair of recesses 50b are provided on the circumferential surface of the friction roller 50,
50b, and a through hole 50c through which the tightening bolt 51 passes is bored. This tightening bolt 51 is formed with a through hole 51a through which the wire 49 is passed, and the wire 49 is passed through the through hole 51a, and the cables 47 and 48 are passed through the through holes 50a and 50a, and then tightened with the tightening bolt 51. 47, 48 and wire 49 are fixed to friction roller 50. In this case cable 4
7 and 48 are attached in a loose state so that the tensile force is received by the wire 49. Next, the operation of the traveling visual inspection device configured as described above will be explained. First, as shown in FIGS. 2 and 3, this device is inserted through the hand hole 1a of the steam generator and placed on the tube plate 3. Next, drive motors 11a, 11b
By operating the belt 12 and worm 1
3. Power is transmitted to the worm wheel 14, pulley 15, belt 18, pulley 17, and driving wheel 16 to drive the tracked vehicles 9a and 9b, and the visual inspection device runs. In this case, the motor 1 that drives the tracked vehicle 9a located on the outer peripheral side near the inner wall 1b of the container
Since the motor 1a has a slightly higher rotation speed than the motor 11b that drives the inner tracked vehicle 9b, it can travel along the curvature of the inner wall 1b of the container. In addition, the moving guide rollers 20 of the tracked vehicles 9a, 9b have thin shafts and have a spring action, so even if the running surface has unevenness or sludge, the tracked vehicles 9a, 9b can be kept in close contact with the running surface to improve running efficiency. Increase. Furthermore, a pair of profiling rollers 10a, 1
0b and the limit switches 24a, 24b, the visual inspection device reliably travels along the inner wall 1b of the container. That is, as shown in FIGS. 12A and 12B, when the two profiling rollers 10a and 10b are in contact with the inner wall 1b of the container, the leaf spring 23 is deformed and pushes the limit switches 24a and 24b, and as a result, the first
Based on the running logic in the table, two motors 11
a and 11b are actuated to move the device forward. Further, as shown in C and D of the same figure, when the profiling roller 10b on the rear side in the direction of movement separates from the inner wall 1b of the container, the limit switch 24b opens and the motor 11b stops. Therefore, only the tracked vehicle 9b operates and turns as shown by the arrow, and the tracing roller 10b contacts the inner wall 1b of the container, and as a result, moves forward as shown in A and B of the figure. Moreover, as shown in E and F of the figure, when the front profiling roller 10a separates from the inner wall 1b of the container, the outer tracked vehicle 9
Only roller a operates and turns as shown by the arrow, and the tracing roller 10a contacts the inner wall 1b of the container, and as a result moves forward as shown in A and B in the figure. Furthermore, as shown in Figures G and H, when both of the tracing rollers 10a and 10b are separated from the inner wall 1b of the container, based on the running logic in Table 1, only the inner tracked vehicle 9b operates and the arrow The profiling roller 10a at the front turns as shown in FIG. comes into contact with the inner wall 1b of the container and moves forward as a result. In this manner, the visual inspection device reliably travels along the inner wall 1b of the container by the actions of the tracing rollers 10a, 10b and the limit switches 24a, 24b. The above describes the case of forward movement and counterclockwise movement, but in the case of reverse movement, it is also possible to travel along the inner wall 1b of the container using the control logic shown in Table 1.
Also, when running clockwise, the tracing rollers 10a, 10b
It is only necessary to change the mounting side of the limit switches 24a, 24b and the drive motor 11.
Since the operational relationship between the limit switches 24a and 11b is reversed, a changeover switch (not shown) provided on the base 7 is used to reverse the connection of the limit switches 24a and 24b. As this device runs, the cables 47, 4
8 are inserted into the secondary water pressure vessel 1 of the steam generator, so it is necessary to pull them. However, these cables 47 and 48 are held at predetermined intervals by friction rollers 50 with a small coefficient of friction. This reduces the frictional force during running, allowing for smoother running and longer travel distances. Further, since the cables 47 and 48 are loosely attached, the wire 49 takes on the tensile force, thereby preventing accidents such as disconnection of the cables 47 and 48. Furthermore, if this device becomes unable to run due to a failure or the like, it can be pulled out without any trouble by the action of the wire 49 and the friction rollers 50. Also, the friction roller 50 is 2
The cables 47 and 48 are separated even if there are large objects such as connectors at the ends of the cables.
48, and the roller itself can be made small. In order to perform a visual inspection using the visual inspection device that has been moved to a desired position on the inner wall 1b of the container in this way,
As shown in FIG. 15, the objective mirror 32 is tilted and rotated in accordance with the inspection location, and the focus of the focus adjustment lens 27 is adjusted. That is, when the mirror tilt motor 41 is rotated, this is converted into reciprocating motion by the male threaded portion 40a attached to the slide hook 40, and the slide holder 3
7 and the rack 38 reciprocate, the mirror holding pinion 32b rotates, and the objective mirror 32 moves face down.
Therefore, depending on the depression angle θ of the objective mirror 32, the 14th
From the front shown in the figure (θ=0°) to the side shown in Fig. 13 (θ=45°), and even to the rear of the range unobstructed by the visual inspection device itself as shown in Fig. 15 (θ>45°).゜) can be included in the field of view. Further, when the mirror rotation motor 34 is driven, the pinion 35 rotates, the rotation holder 33 connected to the pinion by a gear rotates, and the objective mirror 32 fixed thereto also rotates. Therefore, this operation expands the field of view from below to above, and as a result, the visible field of view becomes all directions including the front, side, top, and bottom, including a portion of the rear. Further, focus adjustment can be performed by converting the rotation of the lens drive motor 28 into reciprocating motion with the focus adjustment screw 29 and sliding the adjustment sleeve 26. Note that during visual inspection, the fixed lamp 31 is directed toward the objective mirror 32 and is reflected by the mirror 32 to illuminate the object 52, so that the object 52 can be illuminated regardless of its position. In addition, front illumination lamps 43 and side illumination lamps 46 are used as auxiliary lights to powerfully illuminate the front and sides. In this case, the lamp luminous flux spreads out at an angle, so the front
Sufficient illumination can be obtained even in the middle of the sides if the distance is far enough. If the distance is short, on the other hand, illumination using only the fixed lamp 31 with low light diffusion loss is sufficient. In this way, sufficient illumination can be provided over the entire field of view. Note that 53 and 54 in Figure 13
are safety limit switches that prevent the focus adjustment screw 29 or the male threaded portion 40a from becoming jammed. As described above, according to the above embodiment, the visual inspection device can reliably run along the inner wall 1b of the container and freely run over the narrow tube plate 3 without being obstructed by the heat exchanger tubes 6. Furthermore, since the cables 47 and 48 are held by the friction rollers 50, the running resistance is significantly reduced, allowing them to run over long distances, and since the cables 47 and 48 are pulled by the wire 49, no tensile force is applied to the cables 47 and 48, improving reliability. In addition, visual inspection can be performed in a visual field that includes the front, left and right, and the top and bottom, including a portion of the rear. As a result, it has become possible to conduct visual inspections remotely and automatically. Note that the present invention is not limited to the above-mentioned embodiment, but may be one in which a long fiberscope is attached in place of the ultra-small television camera 8. In this case, color visual inspection is possible. Alternatively, a magnetic ring may be used instead of the tracing rollers 10a, 10b, and the rollers may be attached to a wall while traveling. In this case, the running logic of the limit switch is the opposite of that shown in Table 1. As explained above, according to the present invention, the tracked vehicle is controlled by a pair of rollers and a switch provided on the side of the base so that it runs reliably along the wall, and can be controlled by remote control. A visual inspection device can be guided to a desired position in a vessel, and is particularly suitable for visual inspection on a tube sheet of a steam generator of a nuclear reactor.

[Brief explanation of the drawing]

Figure 1 is a partially cutaway perspective view of the steam generator of the nuclear reactor, Figure 2 is an enlarged sectional view of the main parts of the generator, Figure 3 is a sectional view taken along the - line in Figure 2, and Figure 4 is A perspective view of a traveling visual inspection device showing one embodiment of the present invention, FIGS. 5 to 8 are explanatory diagrams showing the mechanism for driving the tracked vehicle of the device, and FIG. 9 is an equipment installed in the device. A sectional view showing the focus adjustment mechanism and the tilting and rotating mechanism of the objective mirror of the visual inspection equipment,
Figure 10 is a side view showing the friction roller with the cable fixed, and Figure 11 is the XI-XI of the same roller.
Cross-sectional view along the line, Figure 12 A, B, C, D, Ho,
F, G, and G are explanatory diagrams showing the running logic of the visual inspection device, respectively, and FIGS. 13 to 15 are the focus adjustment mechanism and the tilting and rotating mechanism of the objective mirror of the visual inspection equipment installed in the same device, respectively. FIG. 1...Secondary side water pressure vessel, 1a...Hand hole, 1b...Inner wall of the container, 7...Base, 8...Visual inspection equipment (ultra small television camera), 9a, 9b...
... Track vehicle, 10a, 10b... Drive motor,
23...Plate spring, 24a, 24b...Limit switch (drive control switch), 27...Focus adjustment lens, 30...Guide holder, 31...Fixed lamp, 32...Objective mirror, 33...Swivel holder, 37...Slide holder, 43...Illumination lamp, 46...Illumination lamp, 47, 48...Cable, 49...Wire, 50...Friction roller.

Claims (1)

[Claims] 1. A base equipped with visual inspection equipment and equipped with tracked vehicles on both sides of the lower part, a drive motor installed on this base and connected to each of the tracked vehicles separately, and a base on one side of the base. The base is electrically connected to two rollers separated in the traveling direction via an elastic member, a limit switch that is opened and closed separately by the pressure of the rollers, and the drive motor. A traveling visual inspection device characterized by having a logic drive controller that controls the drive so that the table runs biased toward one side.