JPH0465700A - Monorail type inspection device - Google Patents

Abstract

PURPOSE:To expand the inspection range by providing a cylinder part and a notch part to a universal head part held on a moving part main body. CONSTITUTION:the universal head part 2a is fitted to the front and rear holding mechanism parts 2b of the moving part main body 2 fitted on a rail by a holding wheel 8, and a sensor for inspection, e.g. an ITV camera 3 and an elevating and swivel mechanism 4 for directing the ITV camera 3 to an optional part are mounted on the universal head part 2a. Then the universal head part 2a is cylindrical on the whole and circular having a notch 2c at the part of the support 6 of the rail 1, so that the main body 2 moves along the rail 1 without any disturbance to the support 6. In this configuration when the inspection sensor is fitted to an object to be inspected, the rail for traveling itself never becomes an obstacle and the inspection range can be expanded.

Description

[Detailed Description of the Invention] [Purpose of the Invention (Field of Industrial Application) The present invention relates to a monorail inspection device, and in particular, to expand the inspection range so that the running rail itself does not become an obstacle during inspection. The present invention relates to a monorail type inspection device that can perform

(Prior Art) In general, in order to reduce radiation exposure and improve operating efficiency in nuclear power plants, automation of various inspection operations is being promoted. A monorail inspection device has been developed as a link to this.

By the way, monorail inspection equipment moves on running rails built along the inspection route, but sufficient consideration must be taken when designing the route to ensure that the rail itself does not become an obstacle to inspection. It is necessary to keep it.

FIG. 7 is a side view showing a moving mechanism of a conventional monorail type inspection device, and FIG. 8 is a front view of FIG. 7. A conventional example will be explained based on these figures.

That is, the rail 101 installed along the inspection route is formed into a box shape, and a plurality of trolley wires 1 are installed on the inner surface of the top plate.
02 is fixedly installed. On the other hand, the main body of the monorail inspection device (hereinafter simply referred to as the main body) that moves on Rail I (11)
103 is a current collector +11 that collects current from the trolley wire 102
4 is installed. The main body 103 has wheels 1f15 on a bottom plate protruding inward on both sides of the lower end of the rail +01.
Supported through.

A motor (not shown) is built into the main body +03, and a part of a motor drive pinion 106 driven by the motor is exposed from the top plate of the main body 103. rail 1
A rack plate 107 that meshes with the drive pinion 106 is attached to the inner surface of the top plate of 01.

A pan head 108 operated by a control circuit and drive mechanism built into the main body 103 is installed on the bottom surface of the main body +03, and an ITV camera 109 is supported on the pan head 108.

The trolley wire 102 and the current collector 104 transmit signals between the main body 103 and fixed poles (not shown) and supply power to the main body 103, and do not require cables for signal transmission or power supply. Therefore, the running cross-sectional area can be reduced.

The main body 103 can be self-propelled by rotating the motor drive pinion 1 [15] and meshing with the rack plate 107, which has the advantage of not requiring a separate drive mechanism.

(Problems to be Solved by the Invention) In the monorail type inspection device having the above configuration, in order to prevent the rail 101 itself from becoming an obstacle within the inspection range by the ITV camera +09, it is necessary to
When designing the installation location, sufficient consideration must be given to the positional relationship with the object to be inspected.

For example, it was necessary to position the rail so that the object to be inspected was not looked up at as much as possible.

However, in a narrow inspection route such as inside a nuclear power plant, the rail 101 cannot necessarily be placed above each inspection target. Rail 101 like this
In the case where the object to be inspected has to be looked up from below as an installation space, in the conventional configuration, there is a possibility that the rail 101 becomes an obstacle and a sufficient inspection cannot be performed.

As a means to avoid such problems, rail I[l
It is also conceivable to install I on the upper royal road and direct the pan head 108 upward.

However, with this method, there are many objects to be inspected,
It is difficult to deal with this when using it as a book inspection route.

It is also conceivable to provide a mechanism that rotates the partial rail IGI itself to make it the upper/royal road. However, if such mechanisms are provided at various locations on the rail 101, the cost will increase and the control thereof will also become difficult.

Furthermore, as a function of the pan head 108, it is also conceivable that the ITV camera 109 can be directed upward from the side of the rail 101. However, in this case too, rail 101
Since the operating range of the pan head 108 is limited by
In order to move the V camera 1119, the pan head must be operated nearly 360 degrees. Therefore, in the conventional example, there is a problem that smooth operability cannot be obtained.

The present invention has been made in order to solve the above problems, and when inspecting a monorail type inspection operation, the traveling rail itself does not become an obstacle to the inspection, making it possible to expand the inspection range and smoothly. The object of the present invention is to provide a monorail type inspection device that can be operated.

[Structure of the Invention] (Means for Solving the Problems) The present invention includes a traveling rail constructed along an inspection route, an arbitrary number of trolley wires and gear racks fixedly installed on the traveling rail, and the above-mentioned Connected to the trolley wire by a current collector, it is equipped with a drive section, a circuit section for signal transmission and control, an inspection sensor, and a pan head device, and a holding mechanism section that holds the entire pan head section from both sides. It is characterized by comprising a pan head rotating mechanism for rotating the entire pan head, and a pan head portion having a cylindrical portion and a notch portion so as not to interfere with the traveling rail and its support during traveling.

(Function) In the present invention, a pan head portion that can rotate around the rail direction is configured. This prevents the traveling rail itself from becoming an obstacle during inspection, making it possible to expand the inspection range. Furthermore, the operating range of the pan head is not limited by the travel rail, allowing smooth operation.

(Embodiment) An embodiment of a monorail type inspection device according to the present invention will be described with reference to FIGS. 1 to 6.

FIG. 1 is a side view showing the overall configuration of an embodiment of the present invention. In this figure, the traveling rail 1 is installed along an inspection route. The moving unit main body 2 attached to the rail 1 by means of holding wheels includes a pan head part 2a and a holding mechanism part 2b located before and behind the pan head part 2a, which holds the pan head part 2a.

The camera platform 2a has an inspection sensor, for example, an ITV camera 3, and an elevation/elevation sensor for directing the ITV camera 3 in any direction.
It is equipped with a turning mechanism 4. A circuit section 5 consisting of a control circuit, a drive circuit, etc. is mounted on one side of the holding mechanism section 2b. The rail 1 is fixed to a structure 7 near the inspection route by a support 6.

Figure 2 is a cross section taken along the line A-A in Figure 1, and Figure 3 is a cross-section taken along the line B-A in Figure 1.
-8 arrow cross section is shown. That is, the support 6 for fixing the rail 1 is attached so as to fix the upper center of the rail 1 with a small cross section. The moving part main body 2 is suspended on the rail 1 by holding wheels 8. A gear rack 9 and a trolley 10 are defined and installed on the lower surface of the rail 1. Further, a current collector 12 for electrical connection with the traveling pinion wheel II and the trolley 10 is attached to the moving part main body 2.

Further, as is clear from FIG. 3, the pan head part 2a has a cylindrical shape as a whole, and as shown in the figure, its cross section is circular, enclosing the rail 1 and having a notch 2c at the support 6. ing. The ITV camera 3 is mounted on the camera head part 2a, and
A turning mechanism 4 is attached.

FIG. 4 is a perspective view showing a mechanism for rotating the entire pan head 2c. The pan head portion 2a is held at the front and rear by a large number of guide rollers I3.

This guide roller 13 is fixed to a holding mechanism section 2b located before and after the pan head section 2a.

Similarly, the pan head rotation motor 1 is fixed to the holding mechanism section 2b.
4 and the gear train 15, the entire pan head part 2c is connected to the rail 1.
It has a structure that allows it to rotate around.

5 and 6 show the state in which the entire pan head 2c is rotated, and FIG. 5 shows the ITV camera 3 placed on the rail 1.
Figure 6 shows the IT camera 3 located below the rail 1.
The case where it is placed above is shown in a side view.

Next, an example of the operation of the monorail type inspection device according to the present invention will be explained.

In FIG. 1, a traveling rail 1 is installed along an inspection route in a nuclear power plant, for example.
It is fixed to a structure 7 or the like along the inspection route by a support 6 attached to its upper part.

As shown in FIGS. 2 and 3, the support 6 has a small width in the cross-sectional direction of the running rail 1, and has a certain width in the longitudinal direction to obtain the strength to hold the running rail 1. It is.

A moving part main body 2 is attached to the running rail 1 in a movable state. That is, the pan head part 2a and the holding mechanism parts 2b before and after the pan head part 2a are connected to each other and are attached to the running rail 1 by the holding wheels 8 of the holding mechanism part 2b. In this case, as shown in FIG.
is provided with a cylindrical portion 2d and a notch portion 2c so as not to interfere with the traveling rail 1 and the support 6.

The pan head part 2a and the holding mechanism part 2b are connected to each other by fixing both ends of the pan head part 2a by an arbitrary number of guide rollers 13 attached to the holding mechanism part 2b, as shown in FIG.

The moving part main body 2 has an arbitrary number of trolleys 1 attached to the lower part of the traveling rail 1 by the mounted collector 12.
It is electrically connected to 0. The trolley 10 is not shown or is connected to a control device and a power supply device in a separate room, and thereby supplies power and sends/receives control signals to the moving part main body 2 at any position on the running rail 1. things are possible.

The moving part main body 2 can travel to any desired position on the running rail 1 by meshing the pinion wheel 11 of the moving part main body 2- with a gear rack 9 attached to the lower part of the running rail 1. It is possible.

In this way, the moving section main body 2 can freely maintain the running rail 1 including curves in any direction.

Next, an example of the operation of the pan head 2a will be described.

An ITV camera 3 and an elevation/swivel mechanism 4 are mounted on the camera platform 2a. The elevation/swivel mechanism 4 has the function of directing the ITV camera 3 to any desired angle. As long as the movement range is ±135 degrees with respect to the vertically downward direction and the turning is about 180 degrees with respect to the forward direction, a sufficiently wide inspection range can be obtained.

The whole pan head part 2a (as shown in FIG. Its both ends are held by an arbitrary number of guide rollers I3 shown in the figure.And, the gear provided in the pan head part 2a is controlled by the pan head rotation motor 14 and the gear train 15 provided at one end or both ends of the holding mechanism part 2b. It engages with the row 15 so that the entire pan head 2a can be rotated to any desired position.

When the entire pan head part 2a is rotated in this way, it is a prerequisite that there is no support 6 above the pan head part 2a. The presence or absence of this support 6 can be easily detected, for example, by using a proximity sensor or the like, although not shown.

Next, an example of an actual inspection operation according to this embodiment will be explained.

When inspecting any inspection target on the inspection route using the monorail type inspection device of this embodiment, the moving unit main body 2 first drives the pinion wheel 11 shown in FIG. Move to position. During this move, the third
As shown in the figure, the pan head 2a is fixed at a position where the notch is vertically above the running rail 1. This makes it possible to move without interfering with the support 6 of the traveling rail 1.

Furthermore, by configuring the cylindrical inner diameter of the pan head part 2a to be somewhat larger than the cross-sectional shape of the running rail 1, it is possible to move freely even when the running rail 1 is curved in an arbitrary direction. It has become.

When the moving unit main body 2 reaches the target inspection position, the elevation/swivel mechanism 4 and the pan head rotation motor 14 are operated to move the ITV camera 3 to an arbitrary position, and the target inspection target is inspected. capture. That is, at the position of the pan head 2a during traveling, the pan head 2a can mainly inspect objects to be inspected located below the traveling rail 1. If the object to be inspected is above the running rail 1, the entire pan head is rotated to move the ITV camera 3 above the running rail 1, as shown in FIG. Thereby, objects to be inspected located above the running rail 1 can also be inspected freely. In this case, the IT
The vertical direction of the V camera 3 is changed by 180 degrees. This can prevent the image from being upside down.

Note that the present invention is not limited to the above embodiments,
The following measures can be taken:

(2) For example, when the support 6 of the traveling rail 1 is detected by the proximity sensor as described above, the system can use the detection signal for correcting the position of the moving part main body 2.

■By using a direction changer to change direction during the inspection route without using a curved rail, the shape of the platform can be made smaller.

■The direction of the support can be any direction, not just above the running rail. Also, there is no need to always keep it in the same direction.
If the relationship between the position of the moving part main body on the traveling rail and the support direction is stored in advance as data, it is possible to orient the notch of the pan head part in that direction only when passing the data.

This may be a method of moving while detecting the support angle using a proximity sensor or the like.

■Instead of the guide roller, a notched friction ring or a bearing-like member may be used to connect the pan head and the holding mechanism located before and after it.

This can reduce rattling.

■The traveling pinion wheel may be a friction wheel, which allows a configuration that does not use a gear rack.

[Effects of the Invention] According to the present invention, the traveling rail itself does not become an obstacle when directing the inspection sensor toward the object to be inspected, making it possible to expand the inspection range. In addition, the operating range of the pan head is not limited by the running rail,
Inspection can be performed freely in any direction.

Therefore, the present invention can provide a monorail type inspection device with higher reliability and higher performance than conventional ones.

[Brief explanation of drawings]

FIG. 1 is a side view showing an embodiment of a monorail inspection device according to the present invention, FIG. 2 is a cross-sectional view taken along the line A-A in FIG. 1, and FIG. 4 is a perspective view showing the rotation mechanism of the pan head in FIG. 1, and FIGS. 5 and 6 are side views showing the rotating state of the pan head in FIG. 1, respectively. FIG. 7 is a side view showing a conventional monorail type inspection device, and FIG. 8 is a front view of FIG. 7. 1...Running rail. 2a... Pan head part. 2c...notch part. 3...ITV camera. 5...Circuit section. 7...Structure. 9... Gear rack. 11...Pinion car. 13...Guide roller. 15...Gear train. 2...Moving unit main body. 2b... Holding mechanism section. 2d...Cylindrical part 4...Elevation/swivel mechanism. 6...Support. 8... Holding wheel. 1G...Trolley 12...Electronic collector. I4...Motor for rotating the pan head. (8733) Agent: Yoshiaki Inomata, patent attorney (and others)
1 person) Figure 1 Figure Figure Figure Figure Figure Figure

Claims (1)

[Claims] a traveling rail constructed along an inspection route; a moving part main body that is attached to the traveling rail by a holding wheel and has a pan head portion and a holding mechanism that holds the pan head portion;
A monorail type inspection device comprising a cylindrical portion and a notch portion provided in the pan head portion.