JPH0726724B2 - Tool mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a shell-and-tube heat exchanger, and more particularly to a tool mounting device used for inspection and repair of a steam generator for a nuclear power plant.

<Prior Art> For example, in the inspection / repair work of a steam generator of a nuclear power plant, there is an operation of inspecting or inserting a repair tool into the heat transfer tube. In such work, tools are generally carried into a water chamber from a manhole of the water chamber by a manipulator, attached to a tube plate forming a part of the water chamber, and then inserted into a heat transfer tube. FIG. 10 shows an example of a tool attachment device that has been conventionally used in the case of FIG.

In this mounting device 100, a mounting base 102 fixed to the manipulator 13 is bifurcated as shown in FIG. 11, a central portion A thereof is fixed to the manipulator 13, and both end portions B are provided with a clamp device 104. ing. The both ends B are formed with holes 106 corresponding to the installation intervals of the heat transfer tubes 10. The clamp device 104 is attached to a rotary plate 108 which rotates around a rotation center 110 as shown in FIG. By rotating the rotary plate 108, the rotary plate 108 can be selectively positioned in the hole 106. This clamp device
104, as shown in FIG. 13, is provided with an outer cylinder 112 and a taper button 114 which is movable in the axial direction inside the outer cylinder 112, and is fed into the heat transfer tube 10 from the clamp device body 116.
When the taper button 114 is pulled down inside, the cotter 1
16 protrudes laterally and presses the heat transfer tube 10 from the inner surface
Fixed within 10. Such clamp devices 104 are provided at both ends of the mount 102, and the tool 118 is arranged between these clamp devices 104.

Therefore, the attachment of the tool 118 to the tube sheet 12 is performed using the above attachment tool 100 as follows. That is,
Attach the mounting base 102 to the manipulator 13, and mount the mounting base 1
A tool 118 used for repair etc. is attached to 02, and manipulator 1
3 is operated to position the tool 118 at the opening of the heat transfer tube 10 to be repaired. Next, the clamp device 104 is projected from the mount 102 and the tip is inserted into the heat transfer tube 10, and the taper button 114 is pulled down inside the heat transfer tube 10 and fixed to the heat transfer tube 10 by the cotter 116. In this way, the work was performed with the tool 118 fixed. When the heat transfer tube 10 into which the clamp device 102 is inserted is closed and repaired by a plug (not shown) at the time of fixing and the insert is possible, the rotary plate 108 having the clamp device 102 is rotated to change the attachment position. It was changed and fixed by another heat transfer tube 10.

<Problems to be Solved by the Invention> However, the mounting device 100 has the following problems. In the case of inspection work and the like, it is necessary to sequentially insert inspection tools into a plurality of heat transfer tubes 10, but it takes a lot of time and labor to move and install the tools.
When the heat transfer tube 10 that is going to insert the clamp device 104 is closed and repaired by a plug or the like, the manipulator 13 should be taken out from the water chamber once, the clamp device 104 should be changed to another position, and then fixed again. It takes time and effort. Further, the clamp device 104 includes the heat transfer tube 10
Since the entire surface of the cotter 116 is brought into contact with the inner peripheral surface of the above, there is a problem that the fixing force is significantly reduced when the clamp device 104 is inclined with respect to the heat transfer tube 10.

<Means for Solving Problems> In the present invention, in order to solve the above problems, the tool attaching device is configured as follows. That is, a clamp device provided slidably with respect to the main body, an actuator attached to the main body for driving the clamp device, and a pivotally attached to the main body coaxially with the clamp device and attached to the rotation end side. The clamp device includes an arm that holds a tool and a motor that drives the arm to rotate, and the clamp device includes an outer cylinder that can be inserted into the heat transfer tube, and a taper portion that is slidably provided in the outer cylinder. A piston for slidingly moving the taper portion, an inner cotter slidably contacting the side of the taper portion, an outer cotter slidably contacting the inner cotter with an inclination with respect to the moving direction, and an outer protrusion. The tool mounting device is composed of an outer cotter.

<Operation> The tool is fixed to the mounting device and is transferred to the heat transfer tube to be repaired by the manipulator. After inserting the clamp device into the heat transfer tube and expanding and fixing the cotter, fix it with the attached tool. When the work is completed, the arm is rotated to transfer the tool to another heat transfer tube, and work is performed with the new heat transfer tube. Further, since the cotter is composed of the inner cotter and the outer cotter and the protrusion is formed on the outer cotter, a strong fixing force can be obtained, and the fixing force does not decrease even if the clamp device is inclined.

<Embodiment> An embodiment of the attachment device according to the present invention will be described below with reference to the drawings.

FIG. 1 shows the side surface of the mounting device 2. This mounting device 2
A clamp device 6 is provided inside the cylindrical main body 4, and a mounting portion 8 for connecting to the manipulator 13 is provided on the side thereof. The figure shows a state in which the manipulator 13 conveys the clamp device 4 and the clamp device 4 is arranged to face the heat transfer tube 10. The following sections will be specifically described. A cylinder 14 is provided at the center of the main body 4, and the clamp device 6 is slidably housed inside the cylinder 14. The diameter of the clapping device 6 is different between the upper part and the lower part.
As an airtight fit in the cylinder 14,
And reciprocates up and down by the working gas from the air holes 22 and 24 provided above and below. The clamp device 6 is composed of an outer cylinder 26 and an operating shaft 28 provided in the outer cylinder 26. As the operating shaft 28 moves in the outer cylinder 26 in the axial direction, the tip end portion of the heat transfer tube 10 is It is designed to stick to the inner surface. In detail, the piston part at the bottom of the clamp device 6
The inside of 16 is a cylinder 32, and the lower part of the operating shaft 28 is housed inside this cylinder 22 as a piston 30. Then, the piston 30 is driven by the working air introduced through the air hole 36 provided in one cylinder chamber 32a or the air hole 34 that passes through the working shaft 28 and communicates with the other cylinder chamber 32b.
Move up and down. The operating shaft 28 integrally fixed to the piston 30 passes through the outer cylinder 26 and contacts the cotter 40 at the tip of the clamp device 6. The cotter portion is shown in FIGS. That is, as shown in FIG. 4, the tip end of the operating shaft 28 has a taper portion 38 which is inclined so that the front end thereof expands in the axial direction.
Are attached to three side portions, and the cotter 40 is slidably fitted to the tapered portion 38. A notch 39 is formed in the outer cylinder 26 so that the cotter 40 is exposed to the outside, and when the operating shaft 28 is pulled down, the cotter 40 projects outward. Further, as shown in FIG. 5, the cotter 40 is composed of an inner cotter 40 a that contacts the tapered portion 38 and an outer cotter 40 b provided outside the inner cotter 40 a. The inner cotter 40 a is tapered by the groove 42. The outer cotter 40b is in sliding contact with the portion 38, and the outer cotter 40b is engaged with the inner cotter 40a with the inclination in the same direction as the inclination of the tapered portion 38 and less than that inclination.
Further, the outer cotter 40b has a protrusion 44 at the substantially outer center,
An O-ring 46 is fitted over and under the protrusion 44. In FIG. 6, a step portion 47 for locking the O-ring 46 on the front portion of the cotter 40 is formed in an arc shape.

Next, the arm 50 will be described with reference to FIGS. The arm 50 is rotatably attached to the tip of the main body 4 with a bearing 52 as shown in FIG. 1, and has tool holding members 54 at both ends as shown in FIG. Arm 50
Is fixed integrally with the gear 56, and the motor is connected via the gear 56.
58 is engaged. This arm 50 is further provided with a steady rest device 60 at a position orthogonal to the tool holding member 54. This has a spring 62 inside and biases the steady rest member 64 upward as shown in FIG. is doing. The steady rest 60 and the tool holding member 54 are installed in correspondence with the positions of the heat transfer tubes 10. Further, a stopper mechanism 68 having a piston 65 slidably attached is attached to the side of the main body 4, and when working air is introduced through an air hole 71 of the stopper mechanism 68, the piston pin 66 moves toward the arm 50. And project into the hole 70 provided in the arm 50.

Further, a cylindrical contact member 72 is provided on the outer periphery of the mounting portion of the arm 50 at the front side of the main body 4, and is constantly urged upward by a spring member 74. A sensor is provided on the side of the contact member 72.
76 is provided to detect the backward movement of the contact member 72.

Next, the operation of the mounting device 2 will be described.

When inspecting the heat transfer tube 10,
An inspection tool (not shown) is attached to each of the two, and is conveyed by the manipulator 13 so that the clamp device 6 faces the open end of the heat transfer tube 10. Air holes 24 when facing each other
The working air is introduced into the cylinder chamber 20 on the lower side of the cylinder 14, and the clamp device 6 is inserted into the heat transfer tube 10. Such a state is shown in FIGS. 7 and 8. When the clamp device 6 is inserted into the heat transfer tube 10, working air is sent from the air hole 34 to pull down the piston 30. Since the piston 30 is integral with the operating shaft 28, when the piston 30 is pulled down, the taper portion 38 is lowered, and accordingly, the cotter 40 spreads laterally and the heat transfer tube 10
Stick to the inside of. Next, working air is sent from the air holes 22 to expand the cylinder chamber 18. Then, the main body 4 is pulled toward the tube sheet 12 side and abuts on the tube sheet 12. Abutting member when abutting
The spring 72 presses the spring member 74 and retracts, so that the impact at the time of contact is mitigated and the sensor 76 is operated to detect the contact, and a signal to that effect is sent to a control device (not shown).
When the controller receives the signal to that effect, it stops the delivery of air to the cylinder chamber 18. This state is shown in FIG. That is, the clamp device 6 projects the cotter 40 laterally and fixes it to the inner wall of the heat transfer tube 10, pulls the main body 4 toward the tube plate 12 side, and presses the tip end of the steady rest device 60 against the open end of the heat transfer tube 10. The contact member 72 is also pressed against the tube sheet 12 as described above, and is securely fixed by these. Steady rest 60
When facing the heat transfer tube 10, the tool holding member 54 also faces the heat transfer tube 10, so if the tool is operated in this state, the tool can be inserted into the heat transfer tube 10 as it is. It When the work with the tool is completed, the main body 4 is left as it is, or the main body 4 is slightly separated from the tube sheet 12 and the motor 58 is operated to rotate the arm 50 by 90 ° and the main body 4 is again rotated.
Is pressed against the tube plate 12 and fixed. Then, the tool directly faces the heat transfer tube 10 at the 90 ° position, and the work of the heat transfer tube 10 different from the heat transfer tube 10 described above can be performed.

Further, since the cotter 40 is formed of the inner cotter 40a and the outer cotter 40b, the main body 4 is tubular due to the reaction force accompanying the tool work.
Even if a force to separate from 12 is applied, the taper
Since the entire cotter 40 moves laterally with respect to 38 and adheres to the inner wall of the heat transfer tube 10, the outer cotter 40b slides relative to the inner cotter 40a and adheres to the inner wall surface of the heat transfer tube 10, so A strong fixing force can be obtained. Further, since the protrusion 44 is formed on the outer side of the outer cotter 40b, the contact with the inner wall of the heat transfer tube 10 is performed through the protrusion 44, and therefore the main body 4 is not connected to the heat transfer tube.
Even if it is mounted at a slight inclination with respect to 10, it can be firmly fixed.

As described above, according to the attachment device 2 of the present embodiment, the cotter 40 including the inner cotter 40a and the outer cotter 40b is provided in the clamp device 6, and the clamp device 6 is slidably provided in the main body 4. Since it is fixed to the tube plate 12 together with the pair of steady rests 60, reliable fixing can be achieved. Since the tool can be attached to the main body 4 at two places, the work of the heat transfer tube 10 at two places can be performed at the same time. Tool holding arm 50
Since it is rotatable, it is possible to perform work at the other two places without moving the fixing by the clamp device 6. Therefore, the work in the water chamber can be performed efficiently, and the time can be greatly shortened.

<Advantages of the Invention> In the mounting device of the present invention, the clamp device is provided in the main body so that the clamp device can be retracted and retracted, the arm holding the tool is rotatably mounted in the main body, and the cotter protruding laterally from the clamp device is provided. With the cotter and the outer cotter having the protrusion, the cotter can be securely attached to the tube sheet, and the work of the plurality of heat transfer tubes can be performed by one fixing operation. Therefore, the work such as inspection and repair of the heat transfer tube can be efficiently and reliably performed in a short time.

[Brief description of drawings]

1 to 9 relate to the present invention. FIG. 1 is a sectional view showing an embodiment of a mounting device, FIG. 2 is a plan view of the mounting device shown in FIG. 1, and FIG. FIG. 4 is a partially enlarged view showing the tip of the main body, FIG. 4 is a sectional view showing the tip of the clamp device, FIG.
FIG. 6 is a sectional view of the cotter, FIG. 6 is a front view of the cotter, and FIGS. 7 to 9 are explanatory views showing the mounting work by the mounting device.
FIGS. 13 to 13 are related to a conventional example, FIG. 10 is a front view showing the entire mounting device, FIG. 11 is a plan view of the mounting base, FIG. 12 is a partially enlarged view of the mounting base, and FIG. FIG. 3 is a sectional view of a clamp device. In the drawing, 2100 is a mounting device, 4 is a main body, 6 is a clamp device, 10 is a heat transfer tube, 12 is a tube plate, 13 is a manipulator, 14 is a cylinder, 16 is a piston part, 18, 20 is a cylinder chamber, 22, 24. Is an air hole, 26 is an outer cylinder, 28 is an operating shaft, 30 is a piston, 38 is a tapered portion, 40 is a cotter, 40a is an inner cotter, 40b is an outer cotter, 44 is a protrusion, 50 is an arm, 54 is a tool holding Reference numeral 60 is a member, 60 is a steady rest, 72 is a contact member, and 76 is a sensor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shoichi Hamada 1-1-1, Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries Ltd. Kobe Shipyard (72) Inventor Katsu Tomeoka Wadamiya-dori, Hyogo-ku, Kobe-shi, Hyogo 7-1-14 Nishibishi Engineering Co., Ltd. (72) Inventor Shigeru Furuya 7-1-14 Wadamiyadori, Hyogo-ku, Hyogo-Kobe Hyogo-ku, Nishibishi Engineering Co., Ltd. (56) Reference JP-A-57-182163 ( JP, A) Actual development Sho 63-17988 (JP, U)

Claims (1)

[Claims] 1. A clamp device slidably provided with respect to a main body, an actuator mounted on the main body for driving the clamp device, and a pivot end rotatably mounted on the main body coaxially with the clamp device. And a motor for rotating and driving the arm. The clamp device is provided with an outer cylinder that can be inserted into the heat transfer tube and a slidable inside the outer cylinder. A tapered portion, a piston for slidingly moving the tapered portion, an inner cotter slidably contacting the tapered portion laterally, a slidable contact with an outer side of the inner cotter with an inclination with respect to a moving direction, and a protruding portion outwardly. A tool mounting device comprising: an outer cotter having: