JPS60201250A - Underwater inspecting device - Google Patents

Abstract

PURPOSE:To facilitate the control over the position and attitude of a diving device body and provision of a probe, by adding a screw for each direction to the diving device body. CONSTITUTION:The underwater inspecting device 21 is drooped into water from a crane, etc., and then holds itself vertically constant in the water because its specific gravity is 1 and the device is positioned below the center of buoyance. Then, the underwater inspecting device 21 moves down in the water with a screw 36 and also moves right and left on a horizontal plane with screws 32 and 33 to generate a thrust to a desired position in a nuclear reactor pressurized container 22 and further in the opposite direction with a screw 34, so that the device is rotated. Then, the probe 43 is set at a desired flaw detection position by a manipulator 42 and a manipulator mechanism 44 for balancing after the device moves to a desired position on the internal wall of the container 22.

Description

DETAILED DESCRIPTION OF THE INVENTION Komei Komei relates to an underwater inspection device used, for example, to detect or collect flaws on the wall surface of a nuclear reactor pressure vessel (hereinafter referred to as a vessel).

Conventionally, there is a flaw detection device shown in FIG. 1 that detects flaws on the wall surface of a container. On this flaw detection device, three support legs 5 with a swinging rail 4 arranged above are attached to a flange 3 formed on the upper part of the container 2, and a swinging rail 4 is mounted on the rail 4 so as to be able to swing freely. A main pillar 7 hanging down inside the container 2 is attached to the three swing legs 6 provided, and a manipulator 10 movably attached to the main pillar 7 is attached. The support legs 5 are each formed into a cylindrical shape,
It is guided by a guide stud bolt 11 and provided on the flange portion 3 . A support seat is provided at the lower end of the support leg 5, and this support seat is fixed to the guide stud bolt 11 to fix the support leg 5. Moreover, the above-mentioned turning rail 4 has support legs 5...
The flange portion 3 is joined to the flange portion 3 via a spacer, and is disposed on the upper inner side of the flange portion 3.

This flaw detection device accurately positions the flaw detection member 9 with respect to the weld line of the container 2, which is the ratio inspection part, by positioning the main column 7 using the support legs 5, rails 4, etc. It is installed from a reference point and maintains its orientation, but it requires a lot of effort and a long time to assemble.
In addition, in order to reduce radiation exposure to workers and increase work speed, it is required to be as small, simple, and lightweight as possible, but this was not desirable in this respect either.

In order to solve this problem, a flaw detection device equipped with a diving device has been considered. That is, a diving device main body that moves underwater by a propulsion mechanism is provided, and the diving device main body is provided with, for example, a probe and is moved underwater to perform flaw detection.

However, with the above configuration, it is not easy to control the position and attitude of the diving device main body, and improvements have been required.

The present invention has been made based on the above points, and an object of the present invention is to provide an underwater inspection device that can facilitate handling such as controlling the position and posture of the diving device main body.

That is, the underwater inspection device according to the present invention is an underwater inspection device suspended from a lifting device installed above the water surface, which includes a main body of the underwater test device, and a vertical axis of the underwater test device provided at the upper end of the main body of the underwater test device. an upper transverse propulsion device that is rotatable around the vertical axis of the underwater inspection device body and is rotatably connected to a hanging member; a transverse propulsion device;
a pair of side transverse propellers installed on both sides of the underwater inspection device main body; a manipulator mechanism provided on the underwater inspection device main body and equipped with a flaw detection device or a collection device at the tip;
This configuration includes a drive mechanism that moves the underwater inspection device main body in the vertical direction.

A first practical example of the present invention will be described below with reference to FIGS. 2 to 9. FIG. 2 is a sectional view showing the inner wall of the container 22 being inspected for flaws by the underwater inspection device 21 according to the first embodiment. The underwater inspection device 21 of this embodiment has a weight equal to the buoyancy in the water and
The center of buoyancy is located above the center of gravity when 1 is upright. Further, the container 22 is located at the bottom of the cavity bit 23, and is surrounded by a concrete wall 22.
Surrounded by 4. Flange portion 25 at the top of the container 22
is sealed at the bottom of the cavity bit 1-23, and during work, this container 22 and cavity bit 23 are filled with water to shield radiation.

A pedestal 26 is installed above the cavity bit 23, and a control device 28 is installed on this pedestal 26. This control device 28 is connected to the underwater inspection equipment company via a signal transmission and power cable 29 which also serves as a hanging wire. Further, a receiver 30 for position detection, which will be described later, is attached to the pedestal 26, and is configured to be able to exchange signals with the underwater inspection device 1 using sound waves, light, or the like.

The underwater inspection device L1 is configured as shown in FIG. Reference numeral 31 in the figure indicates the main body of the underwater inspection device (hereinafter referred to as the main body). An upper transverse propulsion device 32 and a lower transverse propulsion device 33 are installed at the upper and lower ends of the main body 31, respectively. Underwater inspection equipment, 2 - above are these propellers 32 and 3
3 to move to any position on the horizontal plane. Further, the propellers 32 and 33 are located at the center of gravity of the main body 31 (a-a in the figure).
It can be rotated around an axis (indicated by an axis). A pair of lateral transverse propulsors 34, 34 (only one on one side is shown in the figure) are installed on both sides of the main body 31, and a pair of vertical propulsors 36, 36 are also installed on both sides. It is being The propellers 34 and 34 generate horizontal thrust in opposite directions to rotate the underwater inspection device, and the propellers 36 and 36 generate vertical thrust to rotate the underwater inspection device in the vertical direction. It is configured to move up and down.

The propeller 32 is constructed as shown in FIG. That is, a cylindrical container 32C having a pair of rectifying plates 32A and 32B at both ends is rotatably attached to the main body 31, and a propeller 32D and a motor 32E are integrally housed within this cylindrical container 32C. The cable 29 is also rotatably connected to the main body 31 via a slip ring 41, as shown in FIG. Further, the propeller 34 is constructed as shown in FIG. Reference numeral 34A in the figure indicates a space formed on the side of the main body 31, and a propeller 34B and a motor 34G are housed integrally within this space 34A.

A pair of rectifying plates 340 are provided at both ends of the space 34A.
and 34E are installed respectively. Further, the propeller 36 is constructed as shown in FIG. That is, main body 3
1, a cylindrical container 36A is attached coaxially with the main body 31. A propeller 36B and a motor 36G are integrally attached within this cylindrical container 36A. Further, a pair of rectifying plates 4 are provided at both ends of the cylindrical container 36A.
36D and 36E are @-attached.

A manipulator 42 having six degrees of freedom is attached to the lower part of the main body 31. A probe 43 is attached to the tip of this manipulator 42.
3 to detect flaws on the inner wall of the container 22. As mentioned above, the manipulator 43 has six degrees of freedom, so even if a slight error occurs in controlling the position of the main body 31, this error can be sufficiently absorbed, and the desired position can be achieved. The probe 43 can be reliably placed oppositely at a constant angle. A balance manipulator machine 11 is mounted on the main body 31 at a position facing the manipulator 42.
44 is attached. The balance manipulator mechanism 44 includes a balance manipulator 45 having three degrees of freedom and a balance weight 4.6.

This balance manipulator mechanism 44 is configured to appropriately change the positions of the center of buoyancy and the center of gravity of the main body 31 to control the attitude of the main body 31 in two directions orthogonal to the a-a axis.

The operation will be explained based on the above configuration. First, the underwater inspection equipment is lowered into the water using a crane or the like.

At that time, as mentioned above, the underwater inspection device 21 has a specific gravity of 1
And since it is configured so that the center of gravity is located below the center of buoyancy, the vertical direction is kept constant independently. The underwater inspection device LL moves downward underwater by driving the propeller 36. Next, the propulsors 32 and 33 are driven to move back and forth and left and right on a horizontal plane to oppose the container 22 at a desired position. Note that the underwater inspection device IL is rotated by generating thrust in opposite directions using the propellers 34 and 34. When the probe 43 is moved to a desired position on the inner wall of the container 22, the manipulator 42 causes the probe 43 to be opposed to the desired flaw detection position.

At this time, even if the position of the upper ball of the underwater inspection device is slightly shifted, it can be sufficiently absorbed by driving the manipulator 42, so that the probe 43 can be reliably placed opposite the desired flaw detection position at a constant angle. can. Further, posture control accompanying the movement of the underwater inspection device L1 is performed by appropriately changing the positions of the center of buoyancy and the center of gravity of the underwater inspection device L1 using the balance manipulator ti11144. 7 to 9 show various states of the underwater inspection device m underwater.

According to the underwater inspection apparatus m according to the present embodiment, the manipulator 42 having six degrees of freedom is provided, and the probe 43 is mounted at the tip thereof.
Since the probe 43 is attached to the container 22, even if a slight error occurs in the position control of the main body 31, this error can be sufficiently absorbed by the manipulator 42.
It is possible to reliably place the main body 31 at a desired flaw detection position on the inner wall of the main body 31 at a constant angle, thereby greatly improving the flaw detection accuracy and making it easier to control the position of the main body 31.

In addition, since the balance manipulator mechanism 44 is provided and the balance manipulator mechanism 44 appropriately changes the positions of the center of buoyancy and the center of gravity to control the attitude of the underwater inspection device LL, the attitude control by the propeller becomes unnecessary. Control can also be facilitated in this respect. Further, the specific gravity of the underwater inspection device 21 of this embodiment is approximately 1, and since it is lightweight, it is easy to handle.

Next, a second embodiment will be described with reference to FIGS. 10 to 12. Note that the same parts as in the first embodiment are denoted by the same reference numerals, and the explanation thereof will be omitted. In contrast to the first embodiment, in which the vertical movement of the underwater inspection equipment was carried out by a propulsion device, this second embodiment uses a winch 4 to raise and lower the vertical movement, and to apply thrust in the vertical direction. The idea is to use a propulsion device that generates This will be explained below.

FIG. 10 is a sectional view showing a state in which the inner wall of the container 22 is inspected for flaws by the underwater inspection device 21 according to this embodiment. A pedestal 26 is installed on the top of the carriage tiffit 23, and a lifting winch 27 and a control device 28 are installed on the pedestal 26. The control device 28
is connected to the underwater inspection device L1 via a signal transmission and power cable 29 which also serves as a hanging wire.

In addition, the above cable 29 is an underwater inspection device! The underwater inspection device 121 is wound around the winch 27, which is disposed between the cable 21 and the control device 28, and is configured to move the underwater inspection device 121 up and down in the vertical direction by winding up and lowering the cable 29 with the winch 27.

The underwater inspection device L1 is configured as shown in FIG. 11. The underwater inspection device 1f21 has a gravity equal to the buoyancy in the water. The underwater inspection device IL includes the first
This is a configuration in which the balance manipulator mechanism is removed from the underwater inspection apparatus in the second embodiment, and the other configurations are the same as in the first embodiment.

The operation will be explained based on the above configuration. First winch 2
7 to suspend the underwater inspection device 21 into the water. At this time, as mentioned above, the underwater inspection device 2 is configured so that the buoyancy and gravity in the water are balanced, so by generating a downward thrust with the thruster 36 and applying tension to the cable 29, It can stand still at any position in the vertical direction. Next, the propellers 32 and 33 are driven to move on a spherical surface centered on the winch 27 (indicated by dashed lines in the figure) as shown in FIG. 12, and to a desired position on the inner wall of the container 22. . After moving to a desired position, the manipulator 42 having six degrees of freedom is driven to place the probe 43 opposite the flaw detection position on the wall surface for flaw detection. In addition, underwater inspection equipment
When rotating to change the direction of the propeller 34.3
This is done by generating thrust in opposite directions. Similarly, the winch 27, propulsion device 32.33.3
4 and 36 as appropriate to sequentially inspect the inner wall of the container 22 for flaws. At this time, as shown in FIG. 12, the underwater inspection device 1- may be tilted, but by driving the manipulator 42, which has six degrees of freedom, this can be sufficiently absorbed and the probe 43 can be moved to the desired position. It can be reliably placed opposite the flaw detection position at a certain angle.

According to the present example above, the underwater inspection device m is the winch 27.
Since it moves on a spherical surface centered on , it is easy to control its position. In addition, the underwater inspection device [21 is configured so that the gravity in the water is equal to the buoyant force, and the vertical position of the cable 29 is controlled by applying tension to the cable 29 by generating a downward thrust using the thruster 36. Because
For example, there is no need for a mechanism to adjust the balance between the m-horn, which is required for underwater inspection equipment that is configured so that gravity underwater is greater than buoyancy, and the underwater inspection equipment LL itself is lightweight. Since it can be digitized, its handling becomes easy. Furthermore, when the underwater inspection device ff1f21 moves, it may tilt, but this can be sufficiently absorbed by the manipulator 42, which has 6 degrees of freedom, so that the probe 43 is securely placed at the desired probe 11 position on the inner wall at a constant angle. This allows the flaw detection accuracy to be improved.

Next, a third embodiment of the present invention will be described with reference to FIGS. 13 to 15. Note that the same parts as in the first and second embodiments are denoted by the same reference numerals, and the explanation thereof will be omitted. FIG. 13 is a sectional view showing a state in which the inner wall of the container 22 is inspected for flaws by the underwater inspection device ll according to this embodiment. A pedestal 26 is installed above the cavity bit 23, and a lifting winch 27 and a control device 28 are installed on the pedestal 26. This control device 28 is connected to the underwater inspection device LL via a signal transmission and power cable 29 which also serves as a hanging wire, and is also connected to the underwater inspection device LL interposed between the control device 28 and the underwater inspection device LL. The cable 29 is hoisted up and down by a winch 27 to move the underwater inspection device m up and down in the vertical direction.

Further, as shown in FIG. 14, a pair of guide rails 51, 51 are attached to the pedestal 26, and the winch 27 can be moved in the horizontal direction via these guide rails 51. That is, when the underwater inspection device 21 moves horizontally underwater, the winch 27 also moves horizontally following the movement, thereby preventing the underwater inspection device IL from tilting and maintaining a constant vertical position.

The underwater inspection device LL is constructed as shown in FIG. 15. This underwater inspection device iL ball has a specific gravity that is sufficiently larger than that of water, and therefore, the cable 29 has a structure that has sufficient strength to withstand this. The underwater inspection device LL has a configuration in which the propeller 34 and the propeller 36 of the underwater inspection device LL in the first embodiment are removed, and a pair of transverse propellers 52 and 52 are attached to the sides of the main body 31. , the other configurations are the same as the underwater inspection apparatus LL in the first embodiment.

The operation will be explained based on the above configuration. First, cable 2
9, the underwater inspection device L1 is suspended into the water. Then, the cable 29 is lowered by the winch 27 and the underwater inspection device L1 is moved to a desired position in the vertical direction. Position detection at that time is performed by a position detection mechanism (not shown). After moving to a desired position in the vertical direction, the propellers 32 and 33 are driven to move the underwater inspection device 2J- back and forth and left and right on a horizontal plane to a desired position on the inner wall of the container 22. At this time, as described above, the winch 27 follows the horizontal movement of the underwater test bag [LL and moves horizontally via the guide rail 51. Thereafter, the manipulator 42 is driven to place the probe 43 at a desired flaw detection position and perform flaw detection.

Note that when changing the direction of the underwater inspection device 2-, the direction is done by generating thrust in the opposite direction using the thrusters 51 and 51. Further, the balance manipulator mechanism 44 appropriately changes the positions of the center of gravity and the center of buoyancy of the underwater inspection device 21 to control the attitude of the underwater inspection device 21.

Thereafter, the winch 27, propeller 32, 33, 51, and manipulator 42 are driven in the same manner to sequentially perform flaw detection on the inner wall of the container 22.

According to the above configuration, since the vertical position control of the underwater inspection device LL is performed only by hoisting and lowering the cable 29 using the winch 27, there is no need for a propeller that generates thrust in the vertical direction. It can be simplified and its control also becomes easier. Also winch 27
is horizontally movable via the guide rail 51 attached to the pedestal 26, so it can be used as an underwater inspection bag! It is possible to horizontally move following the horizontal movement of 21, and underwater inspection J
It is possible to prevent the installation 11 from tilting and to maintain the vertical position of the underwater inspection device 1- constant. Also, as in the first embodiment, the manipulator 42 can reliably position the probe 43 at a desired position at a constant angle, and the balance manipulator mechanism 44 can control the posture. .

As detailed above, the underwater inspection device according to the present invention is an underwater inspection device that is suspended from a lifting device installed above the water surface. The upper transverse propulsion device is rotatable around the vertical axis of the device body and is rotatably connected to the hanging member, and the lower end of the underwater inspection device body is rotatable around the vertical axis of the underwater inspection device body. a lower transverse propulsion device installed on the main body of the underwater inspection device, a pair of side transverse propulsion devices installed on both sides of the underwater inspection device main body, and a flaw detection device or a collection device provided at the tip of the underwater inspection device main body. This configuration includes a manipulator mechanism and a drive mechanism that moves the underwater inspection device main body in the vertical direction.

Therefore, handling such as position and posture control becomes easy, and the structure can be simplified, thereby reducing costs.

[Brief explanation of the drawing]

1 is a cross-sectional view showing the inner wall of the reactor pressure vessel being searched by an underwater inspection device, FIG. 3 is a perspective view of the underwater inspection @ position, and FIG. Figure 5 is the third
Figure 6 is a partially cutaway perspective view of the vertical propulsion device, Figures 7 to 9 are front views of the underwater inspection device showing its operation, and Figures 10 to 12. 10 is a cross-sectional view showing the state in which the underwater inspection device is detecting the inner wall of the reactor pressure vessel, FIG. 11 is a perspective view of the underwater inspection device, and FIG. 12 is a diagram showing the second embodiment. 13 to 15 are diagrams showing the third embodiment. Figure 14 is a perspective view showing the state in which the inner wall of the reactor pressure vessel is being inspected for flaws using an underwater inspection device.
FIG. 5 is a perspective view of the underwater inspection device. 21 ... Underwater inspection equipment, 27 Lifting winch, 31
...Underwater inspection equipment body, 32.33.34.3652
... Propulsion device, 42 ... Manipulator, 43 ... Probe. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 2 Figure 3 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 a Figure 12 Figure 13 Figure 14ylI Figure 15 1 Procedural amendment 1, case Indication Patent application filed on March 26, 1980 (2) 2, Title of invention 17-, J”) 7φ2 Underwater inspection device 3, Relationship with the person making the amendment case Patent applicant (620) Mitsubishi Heavy Industries, Ltd. 4. Sub-Agent No. 17 Mori Building 7, 1-2615 Toranomon, Minato-ku, Tokyo;
Contents of the amendment (1) Mei II, page 14, line 18 to page 15, line 5 [Also, the mount 26 has the following configuration. ” should be corrected as follows. [Also, a pair of rails 51.51 are installed on the mount 26, and the winch 27 moves in the direction indicated by the arrow X of the same name via these rails 51.51. On the other hand, a pair of rails 53 and 53 are installed on the upper surface of the cavity bit 23, respectively, and the pedestal 26 is connected to these pair of rails 53 and 53.
3.53 in the direction shown by arrow Y in the figure. That is, the winch 27 is configured to be able to move to any position on a two-dimensional plane. By making the winch 27 movable on a two-dimensional plane in this way, the winch 27 can be made to follow the horizontal movement of the underwater inspection device m underwater, and the underwater inspection 1i[LL can be suspended vertically from above at all times to perform underwater inspection. This configuration prevents the device IL from tilting underwater. ” (2) “At that time” on page 16 of the specification, lines 5 to 7
Move horizontally. ” should be corrected as follows. As the underwater inspection device LL moves, the winch 27 moves via the rails 51.51, and the pedestal 26 also moves via the rails 53.53. Follows the horizontal movement of
The underwater inspection equipment [21] is always suspended vertically from above. (3) "The winch 27 can also do..." on page 17, lines 3 to 9 of the specification is corrected as follows. Furthermore, by making the winch 27 movable via the rails 51.51 and the mount 26 movable via the rails 53.53, the winch 27 follows the horizontal movement of the underwater inspection device 21 underwater. Therefore, the underwater inspection device LLL can be prevented from tilting underwater, and the vertical position once UAML can be maintained constant. As a result, the vertical position of the underwater inspection device fl- can be controlled only by the amount of hoisting and unwinding of the cable 29 by the winch 27, and the position and attitude on the underwater inspection device i can be controlled easily and with high precision. (4) Figure 14 of the drawing is corrected as shown in the attached drawing.

Claims (1)

[Claims] In an underwater inspection device that is suspended from a lifting device installed above the water surface, there is a main body of the underwater inspection device, and a device that is provided at the upper end of the underwater inspection device body and that is rotatable around the vertical axis of the underwater inspection device body and suspended. an upper transverse propulsion device rotatably connected to the member; a lower transverse propulsion device installed at the lower end of the underwater inspection device body so as to be rotatable around the vertical axis of the underwater inspection device body; and the above underwater inspection device. A pair of side transverse propulsors installed on both sides of the main body, a manipulator mechanism provided on the underwater inspection device main body and equipped with a flaw detection device or a collection device at the tip, and a manipulator mechanism that moves the underwater inspection device main body in the vertical direction. What is claimed is: 1. An underwater inspection device characterized by comprising a drive mechanism for