JPH0318923Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a remote inspection device, and is suitable for being inserted into a closed space and used for internal inspection.

One of the things that requires inspecting the inside of a sealed space is equipment inspection at a nuclear facility. There are welds. Normally, this saucer is installed in a closed space in a highly radioactive environment, so it is extremely dangerous and impossible for workers to directly inspect it. On the other hand, it is extremely dangerous if liquid leaks from the saucer, so it is desired to develop a remote inspection device that can be inspected by remote control and in which the diameter of the through hole formed in the partition wall is as small as possible.

This idea was made in view of the current situation,
The purpose is to provide a remote inspection device that can be inserted and removed from a small-diameter through hole. The structure of the present invention that achieves this purpose consists of an outer cylinder that is removably attached to a through hole drilled in a partition wall, an inner cylinder that is slidably attached to the outer cylinder, and an inner cylinder that is attached to the tip of the inner cylinder. an inspection section storage tube that can be freely attached, a cable supply device provided at the proximal end of the inner tube, and an inspection section storage tube that can be stored in the inspection section storage tube and connected to the cable supply device via a cable, and that is used for inspection. The present invention is characterized by comprising: a traveling trolley equipped with a detection section and capable of traveling; and a fixed detection section that can be stored in the inspection section storage cylinder and connected to a cable supply device via a cable to detect the position of the traveling trolley. do.

Hereinafter, one embodiment of the present invention will be described in detail based on the drawings.

FIG. 1 is a schematic diagram showing the configuration of the remote inspection device of the present invention when used to inspect a welded portion of a cell drip tray at the bottom of nuclear equipment.

A cell drip tray 2 having a welded portion 1 is arranged in a closed space partitioned by a partition wall 3, and the partition wall 3 has a through hole 4 for inspection. This device, which can be inserted into and removed from the through hole 4, has an outer cylinder 5 that can be attached to and removed from the through hole 4, and a slidable inner cylinder 6 is mounted inside the outer cylinder 5. An inspection section housing cylinder 8 capable of housing an inspection section is attached to the distal end of the outer tube 5 via a joint section 7 which can be bent at any angle, and the inspection section storage tube 8 is bent by a drive section outside the outer tube 5.
A fixed detection section is provided with a television camera 9 for inspecting the welding section 1 in the inspection section storage tube 8, and a self-propelled traveling trolley 10 is housed therein, as well as a television camera 11 for detecting the position of the traveling trolley 10. A fixed point camera 12 is housed therein. This traveling trolley 10 has four
A rotary table 15 is provided with miniature lamps 14 at regular intervals, which are equipped with a driving theory 13 and serve as a reference for detecting the position.
It is installed on top. On the other hand, the fixed-point camera 12 is attached to a rotary table, and detects the rotation angle with a potentiometer to detect the azimuth angle of the traveling truck 10, and also controls the rotating table 15 so that the interval between the miniature lamps 14 of the traveling truck 10 is maximized. This miniature lamp 1 after adjustment
The distance to the traveling trolley 10 is detected from the interval 4. Note that the relationship between this interval and distance is determined in advance.

Then, this traveling trolley 10 and fixed point camera 1
2 are each connected via a cable 16 to a cable supply device 17 attached to the base end of the inner tube 6, and the base end of the cable 16 is connected to a control and operation panel 18 equipped with a monitor television or the like. . still,
A light is provided on the traveling cart 10 for inspection in a dark place, and a television camera 19 is installed in the inspection section storage cylinder 8 to monitor the entire inspection work.

Inspection of the welded part 1 using this apparatus configured as described above is performed by first attaching the outer cylinder 5 to the through hole 4 of the partition wall 3. At this time, the inspection part housing cylinder 8 is installed so that its joint part 7 is in a straight line. There is also a running trolley 1 inside.
0 and fixed point camera 12 are stored.

Thereafter, the joint part 7 is bent, the inspection part storage cylinder 8 is directed downward, and the cable 16 is sent out from the cable supply device 17, so that the traveling cart 10 and the fixed point camera 12 are lowered by their own weight and positioned on the cell drip tray 2. . Then, while the fixed point camera 12 is fixed at a predetermined position, the traveling trolley 10 is moved along the welded part 1 and inspected with the television camera 9. The position of the traveling trolley 10 during this inspection is determined by photographing the two mini lamps 14 on the traveling trolley 10 using a fixed point camera 12, and making sure that the distance between the two miniature lamps 14 is maximized.
The rotation table 15 on which the camera 4 is attached is rotated, and the distance is determined from the interval between the small lamps 14 displayed on the monitor. The location is obtained.

On the other hand, after the inspection etc. are completed, the cable 16 is wound by the cable supply device 17 to pull the traveling trolley 10 and the fixed point camera 12, and when the cable 16 is further wound, the traveling trolley 10 and the fixed point camera 12 are suspended vertically. It became a state of
It becomes the same as the inspection section storage cylinder 8 facing downward, and can be easily stored by pulling it up as it is.
Thereafter, the joint portion 7 may be made into a straight line and pulled out from the through hole 4 together with the outer cylinder 5. Therefore, the height of the through hole 4 from the floor is such that the inspection section storage cylinder 8 has a height when the traveling trolley 10 and the fixed point camera 12 are suspended.
Make sure there is a gap between them.

By using the device of the present invention, it is possible to enter places that are normally impossible to inspect and perform remote inspections, thereby improving the reliability of facilities and equipment. In addition, since the position of the small traveling trolley can be easily determined, inspection points can be accurately determined. Furthermore, since this device can be inserted and removed through a small-diameter through hole, radioactivity leakage can be reduced as much as possible, making it safe and improving the safety and reliability of the bulkhead.

Incidentally, in the above embodiment, the position of the traveling carriage is determined from the distance between the two small lamps, but the present invention is not limited to this.

As described above in detail with the embodiments, according to the present invention, the inspection device can be easily inserted and removed from the small-diameter through hole, and the inspection position can also be accurately known. Therefore, when used in nuclear facilities, etc., inspection becomes easy and the reliability of the facilities and equipment can be improved.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of an embodiment of the remote inspection device of the present invention used for inspecting welded parts of a nuclear facility. In the drawings, 1... Welded part, 2... Cell drip tray, 3... Partition wall, 4... Through hole, 5... Outer cylinder,
6...Inner tube, 7...Joint part, 8...Inspection section storage tube, 9...TV camera, 10...Traveling trolley, 1
1...TV camera, 12...Fixed point camera, 13
... Drive theory, 14 ... Small lamp, 15 ... Turntable, 16 ... Cable, 17 ... Cable supply device, 18 ... Control and operation panel.

Claims (1)

[Scope of utility model registration request] an outer cylinder that is removably attached to a through hole drilled in a partition; an inner cylinder that is slidably attached to the outer cylinder; and an inspection part storage cylinder that is bendably attached to the tip of the inner cylinder; a cable supply device provided at the proximal end of the inner tube; and a traveling trolley that can be stored in the inspection section storage tube, is connected to the cable supply device via a cable, and is equipped with a detection section for inspection. A remote inspection device comprising: a fixed detection section that can be stored in the inspection section housing cylinder, is connected to a cable supply device via a cable, and detects the position of the traveling truck.