JPH0129172Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an inspection traveling device and is suitable for use in ISI inspections of narrow areas in power reactors.

Nuclear-related equipment is subject to very strict maintenance and inspection work, and various inspections (ISI inspections) are conducted periodically even while it is in service. Among these, when inspecting containers contaminated with radiation such as water chambers, in order to avoid the risk of radiation exposure to workers, an inspection traveling device equipped with a support arm holding inspection equipment such as a TV camera is used. The equipment is brought in through a narrow entrance, and the support arm is driven by remote control to position the inspection equipment on the desired surface for inspection. That is, the support arm is configured to be bendable,
The support arm is extended linearly to pass through the narrow entrance of the container, and the support arm is appropriately bent inside the container to position the inspection equipment.

However, a large moment acts on the support arm of such an inspection traveling device due to the arm's own weight, the weight of the inspection equipment, etc., and therefore a large-capacity drive system is required to drive the support arm against this force. Therefore, there is a problem that the device becomes large and heavy. On the other hand, it is also possible to provide a balance device to offset the moment, but in this case, although the capacity of the drive system can be reduced, the configuration becomes complicated and the device inevitably becomes larger and heavier.

The present invention has been developed in view of the above-mentioned problems, and has a simple structure that reduces the load on the arm drive system and makes it possible to reduce its capacity. The purpose is to provide equipment.

To achieve this purpose, the inspection traveling device according to the present invention has a configuration including a traveling carriage that moves forward and backward along a guide member, a swivel table rotatably mounted on the traveling carriage, and holding inspection equipment. and a support arm that is attached to the swivel base and extends along the forward and backward direction of the traveling carriage, and a swing drive device for the swivel base that is attached to the swivel base at a position symmetrical to the support arm. A plurality of arm members are connected to each other by a bending support shaft to form the support arm, and a proximal end of the arm member extends in a direction opposite to a distal end with respect to the bending support shaft. The present invention is characterized in that a bending drive device for the arm member is attached.

An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a plan view of an embodiment of the present invention.
FIG. 2 is a partially cutaway front view showing the inside.

In the drawings, a plurality of guide rollers 2 are attached to both sides of the traveling trolley 1, which engage with guide members installed in advance in the reactor vessel (not shown), so that the traveling trolley 1 moves forward and backward along the guide members. It's getting old. Furthermore, a hanging tool 3 is provided protruding from the rear of the traveling cart 1 and is connected to a conveyor chain (not shown).

A pillar 4 is erected at the center of the upper surface of the traveling truck 1, and a swivel base 5 is rotatably attached to the pillar 4. An internal gear 6 is fixed concentrically with the support 4 within the traveling truck 1, and a pinion 7 that meshes with the internal gear 6 is pivotally supported within the swivel base 5.
The pinion 7 is connected via a gear unit 9 to a swing drive device 8 protruding from the swing base 5, and by rotationally driving the pinion 7 by the swing drive device 8, the swing base 5 is moved relative to the traveling truck 1. It is designed to rotate within the range shown by the imaginary line in the figure.

A support arm 10 is further attached to the swivel base 5 and extends along the direction in which the traveling carriage 1 moves forward and backward. The support arm 10 and the swing drive device 8 are connected to the swing base 5.
The swing drive device 8 and its gear unit 9 also function as a balance weight for the support arm 10.

The support arm 10 is a first support arm fixed to the swivel base 5.
an arm member 11, and a second arm member 12 bendably connected to the tip of the first arm member 11.
and a third arm member 13 that is bendably connected to the tip of the second arm member 12. The first arm member 11 has a bifurcated distal end, and its base end is fixed to the swivel base 5. A shaft seat 14 is provided at the tip of the bifurcated portion of the first arm member 11, and a bending support shaft 16 to which a bevel gear 15 is fixed to the shaft seat 14 is fixed across the bifurcated portion. axis 1
6 supports the proximal bifurcated portion of the second arm member 12 via the bearing 17, so that the first arm member 1
A second arm member 12 is attached to the second arm member 1 in a freely bendable manner. The proximal bifurcated portion of the second arm member 12 extends inside the bifurcated portion of the first arm member 11 by sandwiching the bevel gear 15 of the bending support shaft 16, and the bending drive device 18 is fixed to the end thereof. There is. A pinion 19 that meshes with the bevel gear 15 is connected to the bending drive device 18 via a gear unit 20, and when the pinion 19 is rotationally driven by the bending drive device 18, the pinion 19 engages with the bevel gear 15.
The second arm member 12 is bent relative to the first arm member 11 within the range shown by the imaginary line in the figure. Further, the tip of the second arm member 12 extends in the opposite direction to the bending drive device 18, gear unit 20, etc. with respect to the bending support shaft 16, so that the bending drive device 18, the gear unit 20, etc. can be connected to the second arm member 12. It also functions as a balance weight.

The tip of the second arm member 12 is also bifurcated like the first arm member 11, and a shaft seat 21 is provided at the tip of the bifurcated portion, and a bent support shaft 23 with a bevel gear 22 fixed to the shaft seat 21 is provided. is fixed across the bifurcated portion, and the proximal bifurcated portion of the third arm member 13 is supported there via the bearing 24. Further, similarly, the proximal bifurcated portion of the third arm member 13 extends inside the bifurcated portion of the second arm member 12, and the bending drive device 25 is fixed to the end thereof, and a pinion that meshes with the bevel gear 22. 26
is connected to the bending drive device 25 via the gear unit 27, and the pinion 26 is rotated by the bending drive device 25, thereby moving the third arm member 13 relative to the second arm member 12 in the range shown by the imaginary line in the figure. It is designed to be bent. The tip of the third arm member 13 extends in the opposite direction to the bending drive device 25, gear unit 27, etc. with respect to the bending support shaft 23, thereby balancing the bending drive device 25, gear unit 27, etc. with respect to the third arm member 13. It also functions as a weight.

The third arm member 13 is equipped with a TV as an inspection device.
A camera (not shown) is built in, and an illumination device 28 equipped with a lamp and a mirror is attached to the tip of the third arm member 13. Also, 2
A cable 9 is connected to a TV camera and a lighting device 28, and a cable 29 is led to an operation panel and a control panel (not shown).

In the inspection travel device according to the present invention configured as described above, the second and third arm members 12 and 13 are extended so that the support arm 10 is linear,
The traveling carriage 1 is moved along the longitudinal direction of the support arm 10 to pass through the narrow part. Thereafter, the rotation of the support arm 10 by the rotation drive device 8 and the bending of the second and third arm members 12 and 13 by the bending drive devices 18 and 25 are combined and operated, and the illumination device 28 is made to face the desired surface to be inspected. A visual inspection is performed using a TV camera. Here, in driving the second and third arm members 12 and 13, the bending drive device 1
8 and 25 are the second and third arm members 1, respectively.
2 and 13, the load on their drive systems is reduced.

As described above in detail with reference to one embodiment, according to the present invention, a support arm is formed by connecting a plurality of arm members to each other in a flexible manner by a bending support shaft, and the base end portion of the arm member is Since the bending support shaft extends in the direction opposite to the tip and the bending drive device of the arm member is attached there, the bending drive device acts as a balance weight for the arm member, reducing the load during bending drive. The capacity of the drive system can be reduced, and the device can be made smaller and lighter.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of the embodiment of the present invention, and FIG. 2 is a partially cutaway front view showing the inside thereof. In the drawing, 1 is a running trolley, 2 is a guide roller, 3
1 is a hanging tool, 4 is a column, 5 is a swivel base, 8 is a swing drive device, 10 is a support arm, 11 is a first arm member, 12 is a second arm member, 13 is a third arm member, 14, 21 is a shaft seat, 15 and 22 are bevel gears, 16 and 23 are bending support shafts, 18 and 25 are bending drive devices, 19 and 26 are pinions, 20 and 27 are gear units, 28 is a lighting device, and 29 is a cable.

Claims (1)

[Scope of utility model registration request] a traveling carriage that advances and retreats along a guide member; a swivel base that is rotatably mounted on the traveling carriage; and a support that holds inspection equipment and is attached to the swivel base and extends along the direction of movement of the traveling carriage. In an inspection traveling device having an arm and a rotation drive device for the rotation table attached to the rotation table at a position symmetrical to the support arm, a plurality of arm members are connected to each other by a bending support shaft so as to be able to bend. A traveling device for inspection characterized in that a supporting arm is formed, and a proximal end of the arm member extends in a direction opposite to a distal end with respect to the bending support shaft, and a bending drive device for the arm member is attached thereto. .