JPS6261885A - Intermittent mobile robot for work - Google Patents

Abstract

PURPOSE:To make it possible to perform a flaw detection work on a heat transfer tube or the like in an unmanned style by constructing a robot such that it can move arbitrarily hanging from a ceiling, standing wall or the like in order to facilitate various works. CONSTITUTION:On a circular base 1 a cylinder attaching plate 4 is mounted movably right and left, by means of a roller 5. The plate 4 is connected to the piston rod 2a of an air cylinder 2 fixed on the base 1. And on the plate 4 three clamp cylinders 6 are mounted perpendicularly. As the piston rod 2a is expanded and contracted, the plate 4 and the cylinder 6 move right and left. On the undersurface of the base 1, a cylinder attaching plate 7 is mounted movably right and left. And to the plate 7, the piston rod 3a of the air cylinder 3 is connected.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a robot that hangs from a ceiling, vertical wall, etc. and moves intermittently along these surfaces to perform various tasks, and is particularly applicable to large-sized robots. It is suitable for use when performing various stacking operations along the surface of a tube sheet in a heat exchanger.

<Prior Art> Heat exchangers for nuclear power plants need to be inspected and repaired during plant shutdown periods. Work in the water chamber of the heat exchanger includes checking and collecting foreign objects, installing and removing cooling water nozzle temporary covers and watertight covers, eddy current testing of heat transfer tubes, heat transfer tube glue roll (retightening), and mechanical plugs. There is construction and removal, etc., but in the past, workers had to go inside the water chamber to perform these tasks. However, since the work was carried out in areas with residual radioactivity, the working hours per person per day were extremely limited, and this work method had the disadvantage of being inefficient. Therefore, the present inventor first developed an intermittent movement device for work (Japanese Patent Application No. 57-207878) which can be hung from the ceiling tube plate of a heat exchanger and moved at will. If this intermittent movement device is used, there is an advantage that flaw detection work for heat exchanger tubes can be done unmanned.

<Problems to be Solved by the Invention> However, in the above-mentioned intermittent moving device for work, the tool attachment attached to the moving device must be taken out from the ice chamber and the tool replaced depending on the type of work, and the above-mentioned moving device is always one of the heat transfer tubes along the ceiling tube plate.
Since the robot moves repeatedly in pitches, its disadvantages are that the speed of movement is slow and that it becomes difficult to walk when there is a plug. SUMMARY OF THE INVENTION In view of the above circumstances, it is an object of the present invention to provide a robot that can freely move and perform various tasks while hanging from a ceiling, vertical wall, etc.

Means for Solving Problems〉 The structure of the present invention that achieves the above object includes a large number of guide holes arranged at regular intervals in a first direction and a second direction intersecting the first direction. A substrate is rotatably attached to a guide roller that faces the formed movement guide surface and can roll along the movement guide surface; two cylinder mounting plates, one of which is reciprocatable in the second direction, and a piston rod that is reciprocatable in a direction perpendicular to the movement guide surface; A plurality of elevating members respectively attached to the mounting plate, a diaphragm that is provided at the tip of the piston rod, and a diaphragm that can be expanded radially outward at the tip of the piston rod that is pushed into the guide hole. a plurality of clamp means that can be pushed out and pressed into the guide hole; a swing cylinder that is rotatably attached to the outer periphery of the main body about an axis perpendicular to the movement guide surface; and a swing cylinder that is attached to the lower part of the swing cylinder. The invention is characterized in that it includes a multi-axis arm.

<Function> The multi-axis arm attached to the bottom of the rotating cylinder can, for example, work on the lower part of the heat exchanger ice chamber, and can also change tools from the manhole of the ice chamber to the tip of the arm, if necessary. A clamp is attached to the end of the arm, allowing it to be moved over a wide range.

<Example> Hereinafter, an example of the present invention will be described in detail. still,
In this embodiment, a ceiling tube plate 1 is installed in a vertical steam generator.
Reference numeral 9 is a moving guide surface, and heat exchanger tubes 20 regularly arranged vertically and horizontally on a tube plate 19 are guide holes.

That is, as shown in FIG. 1, a cylinder mounting plate 4 is mounted on the top surface of a circular substrate 1, and a roller 5 (cross roller in the illustrated example) is mounted on the cylinder mounting plate 4.
This cylinder mounting plate 4 is connected to a piston rod 2a of an air cylinder 2 fixed to the base plate 1. Three clamp cylinders 6 are vertically attached to this cylinder mounting plate 4 as shown in FIG.
It passes through the hole 1a. Therefore, the air cylinder 2 is operated and the piston rod 2a9! When expanded and contracted, the cylinder mounting plate 4 and the clamp cylinder 6 move from side to side in FIG. 1. As shown in FIG. 3, a cylinder mounting plate 7 is attached to the bottom surface of the substrate 1 so as to be movable left and right in the figure. The air cylinder 3 is connected to a piston rod 3a of an air cylinder 3 fixed to the piston rod 3a. As shown in FIG. 3, three clamp cylinders 8 are vertically attached to the cylinder mounting plate 7, and the clamp cylinders 6 pass through holes 1a in the substrate 1.

Therefore, by operating the air cylinder 3, the piston rod 3a
When the cylinder mounting plate 7 and the clamp cylinder 6 are expanded and contracted, the cylinder mounting plate 7 and the clamp cylinder 6 move from side to side in FIG. Hole 1 on board 1
The length a is such that the clamp cylinder 6.8 is the heat exchanger tube 2.
The size is such that there is no problem in moving at intervals where 0s are arranged. A rotating cylinder 10 is rotatably supported on the outer periphery of the substrate 1 via rollers 9 (cross rollers in the illustrated example), and is driven by a mechanism shown in FIG. That is, the gear 1 is connected to the board 1 via the reducer 12.
A motor 11 connected to the rotating cylinder 10 is attached, and this gear 13 meshes with an internal gear 14 provided on the rotating cylinder 10. A positioning cylinder 15 is provided on the top surface of the board 1.
is fixed, and a roller 16 is rotatably attached to the tip of the piston rod 15a.
The rotating cylinder 10 can be positioned by pushing a roller 16 with a cylinder 15 at a required position into notches 10a provided at equal pitches inside the cylinder 10. Furthermore, four guide rollers 17 are newly constructed as casters on the upper surface of the substrate 1, which also function as stoppers when the substrate 1 is brought closer to the tube plate 19. That is, as shown in FIG. 5, a case 17a is attached to the board 1 with a plurality of screws 18, and a mounting bracket 17c is attached to this case 17a via a radial bearing 17d and a thrust bearing 17e. A roller 17b is rotatably supported by the metal fitting 17c. Since the center line of the mounting bracket 17c does not intersect with the center line of the roller 17b, the mounting bracket 17c rotates so that the roller 17b faces in the moving direction of the substrate 1 at any time.

Since the clamp cylinders 6.8 have a similar construction, only the clamp cylinder 6 will be described with reference to FIG.

That is, as shown in the figure, a hollow piston rod 61 is integrally attached to a piston 6b that is slidably housed in an air cylinder 6a, so that it can freely reciprocate up and down in the figure. A clamp cover 6C is attached to the tip, and an air cylinder 6d is attached to the rear end. hollow piston rod 6
A piston rod 6f is further inserted into 1,
Piston 6e slidably housed in air cylinder 6d
It is attached integrally with the body and can freely move up and down. The clamp cover 60 attached to the tip of the piston rod 61 has three vertically long slits, and each of the slits holds a rod 6h whose inner surface is tapered so as to be expandable in diameter. . These Kotta 6
h are bundled from the outside by a rubber ring, and the tapered surface of the lever 6h is pressed against a cock button 6g formed in a reverse tapered shape at the tip of the piston rod 6f. Therefore, when the piston 6b is pushed up by air,
Piston rod 611 Clamp cover 601 Cylinder 6
d, the piston 6e, piston rod 6f, and cock button 6g rise together, and the clamp cover 60 and cock button 6g are inserted into the heat transfer tube.
It becomes. In this state, when the piston 6e and piston rod 6f are pushed down with air, the cock button 6
g also decreases, and the connector 6h is pushed outward in the radial direction along the tapered surface, and comes into close contact with the inner circumferential surface of the heat exchanger tube 20 and is clamped. On the other hand, when the piston 6e and the piston rod 6f are pushed up, the rubber ring pulls the piston 6h back inward in the radial direction and separates it from the inner circumferential surface of the heat exchanger tube 20.

At the center of board 1 is MI! and hose guide pipe 2
1 is attached, and an arm attachment plate 22 is attached to the lower end of the rotating cylinder 10.

As shown in FIG. 6, two triaxial arms 23 are attached to this arm mounting plate 22, and these triaxial arms 23 include three arms 23a and 23b.

23c and three axes (joints) 23d, 23e.

23f, each of the shafts 23d, 23e, and 23f has a built-in torque motor and a speed reducer, and rotates in the direction of the arrow. The arm 23b and shaft 23f have a structure that can be housed in the arm 23a as shown in the figure.

A bolt hole and a mounting screw are attached to the tip of the arm 23c so that various tools can be attached interchangeably, and in the figure, as an example, a gripping tool 24 and a rerolling tool 25 are attached.

The working intermittent mobile robot of this embodiment having the above configuration is used as follows. First, as for how to attach this robot to the tube plate 19, as shown in FIG. 7(I), the intermittent moving device 2
7 and the triaxial arm 23 attached thereto, push it closer to the tube plate 19 as shown in the same figure (I [), and then move it closer to the tube plate 19 as shown in the same figure (1
1 [), clamp it to the tube sheet 19. After clamping, move the heat exchanger tubes one pitch at a time as shown in Figure 7 (IV5) and position them in the center of the ice chamber 26.Moving one pitch at a time is done as follows.First, connect the three clamp cylinders. 6, clamp the tube plate 19 to the tube plate 19, expand and contract the cylinder 2 to move the substrate 1 by one pitch of the heat transfer tube 20, clamp it with the three clamp cylinders 8, unclamp the clamp cylinder 6, and move the substrate 1 to the air cylinder 2. By repeating the operation of restoring the positional relationship of the substrate 1 with respect to the clamp cylinder 6, the device 27 can be moved one pitch at a time, and according to the air cylinder 3, the device 27 can be moved one pitch in a direction perpendicular to this direction. It can be moved in small increments.

Next, a method of moving the robot according to this embodiment over a wide range will be described. As shown in No. 8 rIIJ (I), the intermittent movement device 27 can move in a plane along the tube plate 19 and can also rotate, and is further clamped at the tip of the triaxial arm 23 as shown in the same figure (IF). 28 and clamped it to the tube plate 19 by the clamp 28 shown in FIG. It+
/), the intermittent movement device 27 can be moved over a wide range by extending and contracting or rotating the triaxial arm 23.

Next, an example of the work content of the robot of this embodiment will be explained. The one shown in FIG. 9(I) has a gripping tool 24 attached to the tip of the triaxial arm 23, and is a temporary IF for preventing foreign objects from falling.
50, and cover the cooling water nozzle 29. What is shown in FIG. In addition, the one shown in the same figure (][) has a vacuum suction device 31 attached to the tip of the triaxial arm 23, and the ice chamber 26
This is the process of cleaning by sucking up foreign matter inside. All installation and removal of tools to the tip of the 3-axis arm 23 is done using Himuro 2.
The robot can be operated from the manhole 26a of No. 6, and the robot can be operated remotely from outside the vessel using a television camera, so the operator hardly needs to enter the water chamber.

<Effects of the Invention> As described above in detail based on the embodiments, the intermittent mobile robot for work according to the present invention can be inserted through a manhole in an ice room to temporarily clamp a pipe, and has a three-axis arm. Tools can be attached and removed from the manhole, and the device can be moved over a wide range, and the device can be operated remotely from outside the device, preventing workers from being exposed to radiation. It is also effective in shortening work time.

[Brief explanation of the drawing]

FIG. 1 to FIG. 9 relate to one embodiment of the present invention, and FIG.
FIG. 2 is a plan view and a sectional view of the substrate, FIG. 3 is a sectional view of the intermittent movement device, and FIG. 4 is a sectional view showing the turning mechanism of the turning cylinder.
Figure 5 is a sectional view showing the structure of the guide roller, Figure 6 (I
), (II) are each attached to the intermittent movement device.
Front view and side view of the shaft arm, Fig. 7 (I), (II)
, (II), (It/) are process diagrams showing how the robot of the present application is attached to the tube plate, and Fig. 8 (I), (
II), (II[>, (IV) are process diagrams showing how to move the intermittent movement device across the width, Fig. 9 (I),
(II) and (I) are explanatory diagrams each showing various work contents performed by the robot of the present application. In the drawings, 1 is the board, 1a is the hole, 2, 3.6a, 6d are the air cylinders, 2a, 3a, 6f, 6i are the piston rods, 4.7 is the cylinder mounting plate, 5.9 is the roller, 6.8 is the clamp cylinder, 6b, 6e are the pistons, 6c is the clamp cover, 6g is the cock button, 6h is the kettle, 0 is the turning surface, 11 is the motor, 12 is the reducer, 13 is the gear, 14 is the internal gear, 15 is a positioning cylinder, 15a is a piston rod, 16 is a roller, 17 is a guide roller, 19 is a tube plate, 20 is a heat exchanger tube, 21 is a guide tube, 22 is an arm mounting plate, 23 is a triaxial arm, 26 is an ice chamber , 26a is a manhole, and 27 is an intermittent moving device. Patent applicant: Hokkaido Electric Power Co., Ltd. Kansai Electric Power Co., Ltd. Shikoku Electric Power Co., Ltd. Kyushu Electric Power Co., Ltd. Japan Atomic Power Co., Ltd. Mitsubishi Heavy Industries, Ltd.

Claims (1)

[Claims] It faces a movement guide surface in which a large number of guide holes are arranged at regular intervals in a first direction and a second direction intersecting the first direction, and can roll along this movement guide surface. a substrate on which guide rollers are rotatably attached; and guide rollers attached to the substrates, one of which is movable reciprocally in the first direction and the other roller is movable reciprocally in the second direction with respect to the substrate. two cylinder mounting plates,
a plurality of clamp cylinders each having a piston rod that is reciprocally movable in a direction perpendicular to the movement guide surface and each attached to the cylinder mounting plate; a cotter that is provided at the tip of the piston rod and whose diameter can be freely expanded; , a plurality of clamping means capable of pushing the cotter radially outward at the tip end of the piston rod inserted into the guide hole and pressing it into the guide hole; and rotating around an axis perpendicular to the moving guide surface. An intermittent mobile robot for work, comprising: a rotating cylinder freely attached to the outer circumference of the main body; and a multi-axis arm attached to the lower part of the rotating cylinder.