JPH0136059B2 - - Google Patents
Info
- Publication number
- JPH0136059B2 JPH0136059B2 JP56007130A JP713081A JPH0136059B2 JP H0136059 B2 JPH0136059 B2 JP H0136059B2 JP 56007130 A JP56007130 A JP 56007130A JP 713081 A JP713081 A JP 713081A JP H0136059 B2 JPH0136059 B2 JP H0136059B2
- Authority
- JP
- Japan
- Prior art keywords
- developer
- attached
- rotary cylinder
- processing section
- elevating part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000003028 elevating effect Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000007664 blowing Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 description 13
- 238000012360 testing method Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/91—Investigating the presence of flaws or contamination using penetration of dyes, e.g. fluorescent ink
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Description
【発明の詳細な説明】
本発明は、天井に位置する被検査面に浸透探傷
検査用の現像液を遠隔操作によつて塗布するため
の装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for remotely applying a developer for penetrant testing to a surface to be inspected located on a ceiling.
熱エネルギを直接利用する蒸気原動機や各種発
電所等においては、ボイラやそれに付属する過熱
器、給水予熱器、空気予熱器、凝縮器等が主要な
役割りを果たしていることは当然であるが、石油
化学や石油工業をはじめ各種化学工業においても
熱交換装置又は熱交換器が各工程に多用されてい
る。特に、大形の熱交換器として一般的な多管円
筒形のものは利用範囲が広く、高温高圧装置工業
においても充分使用に耐えられるものとなつてい
る。 Naturally, boilers and their attached superheaters, feed water preheaters, air preheaters, condensers, etc. play a major role in steam engines and various power plants that directly utilize thermal energy. Heat exchange devices or heat exchangers are frequently used in various processes in various chemical industries including petrochemical and petroleum industries. In particular, multi-tubular cylindrical heat exchangers, which are common as large-sized heat exchangers, have a wide range of applications and can be used satisfactorily in the high-temperature and high-pressure equipment industry.
ところで、このような多管円筒形熱交換器の一
つとして蒸気発生器が知られており、この蒸気発
生器のように高温高圧の流体が通過する伝熱管
（蒸気細管）を具えたものでは、製作時はもちろ
んのこと、稼動中にも定期的に欠陥や異常の有無
を検査して大きな事故や故障がないように配慮し
ている。このような検査の一つに伝熱管と管板と
のシール溶接部分や欠陥のあつた伝熱管の両端口
に充填される盲プラグのシール溶接部分の異常を
検知する浸透探傷検査があるが、このためには現
像液をこれらシール溶接部分に塗布しなければな
らない。ところが、伝熱管が数百〜数千本に達す
るものや仕切り室（水室）が狭隘なものでは、作
業者が直接仕切り室内に入つて現像液の刷毛塗り
作業を長時間続けることは極めて重労働であり、
特に立型蒸気発生器においてはその作業が上向き
となるため、塗布作業の困難性は著しく増大す
る。 By the way, a steam generator is known as one such multi-tubular cylindrical heat exchanger, and unlike this steam generator, it is not equipped with heat transfer tubes (steam tubes) through which high-temperature, high-pressure fluid passes. To ensure that there are no major accidents or breakdowns, we conduct regular inspections for defects and abnormalities not only during production, but also during operation. One such inspection is penetrant testing, which detects abnormalities in the seal welds between heat exchanger tubes and tube sheets and the seal welds of blind plugs that are filled into both ends of defective heat exchanger tubes. For this purpose, a developer must be applied to these seal welds. However, for machines with hundreds to thousands of heat transfer tubes or those with narrow partitions (water chambers), it is extremely labor-intensive for workers to go directly into the partition and apply developer with a brush for long periods of time. and
Particularly in vertical steam generators, since the work is directed upwards, the difficulty of the application work increases significantly.
本発明は、このような観点から以前発表した蒸
気発生器の天井管板に固定された伝熱管の端口を
利用してその端口にぶら下がりながら天井管板に
沿つて移動し得る歩行ロボツトや球面状をなす仕
切り室内に安定して設置し得るマニピユレータ等
の案内装置に組み付け、従来では手作業によつて
いた現像液の刷毛塗り作業に匹敵する確実性を具
えた現像装置を提供することを目的とする。 From this point of view, the present invention utilizes the ends of heat transfer tubes fixed to the ceiling tube plate of a steam generator, which have been previously announced, to create a walking robot or a spherical robot that can move along the ceiling tube plate while hanging from the end. The purpose of the present invention is to provide a developing device that can be installed in a guide device such as a manipulator that can be stably installed in a partitioned room forming a structure, and that has a reliability comparable to that of applying developer solution with a brush, which was conventionally done manually. shall be.
この目的を達成する本発明の浸透探傷用現像装
置にかかる構成は、直線案内部材を介して案内装
置の先端部に着脱自在に装着される昇降部と、こ
の昇降部と前記案内装置の先端部との間に設けら
れて当該昇降部を前記案内装置の先端部に固定し
得る空圧ロツク機構と、前記昇降部に対して昇降
自在に取付けられる処理部と、この処理部に対し
て回転自在に取付けられ且つ天井に位置する被検
査面と対向し得る放射状の現像液噴出孔が上端面
に形成された回転筒と、この回転筒の下端部に接
続し且つ当該回転筒内で霧状の現像液を送給する
現像供給管と、前記処理部に固設されて前記回転
筒の周囲を覆う液カバーと、この液カバー内に先
端が連通し且つ余剰となつた前記現像液を吸引排
除する吸引管と、前記現像液供給管内に先端が開
口し且つこの現像液供給管内に付着した前記現像
液を吹き飛ばすための空掃管とを具えたものであ
る。 The structure of the developing device for penetrant testing of the present invention that achieves this object includes: an elevating section that is detachably attached to the tip of the guide device via a linear guide member; this elevating section and the tip of the guide device; a pneumatic locking mechanism that is provided between the lifting section and can fix the elevating section to the tip of the guide device; a processing section that is attached to the elevating section so as to be movable up and down; and a processing section that is rotatable relative to the processing section. A rotary cylinder is attached to the rotary cylinder and has radial developer jet holes formed in the upper end surface to face the surface to be inspected located on the ceiling. A developer supply pipe that supplies a developer, a solution cover that is fixedly installed in the processing section and covers the circumference of the rotating cylinder, and a tip that communicates with the solution cover and sucks and removes the excess developer. and an air sweep tube whose tip is open in the developer supply tube and for blowing off the developer adhering to the developer supply tube.
以下、本発明による現像装置を特願昭54−
108392号に示したマニピユレータに組み付け得る
一実施例につき、立型蒸気発生器の蒸気細管に充
填される盲プラグのシール溶接部分を浸透探傷検
査する場合を想定して第１図〜第６図を参照しな
がら詳細に説明するが、本実施例で使用したマニ
ピユレータの代りに特公昭53−17121号公報に示
された歩行ロボツト等の案内装置を利用すること
も可能である。 Hereinafter, the developing device according to the present invention will be described
Regarding an embodiment that can be assembled to the manipulator shown in No. 108392, Figures 1 to 6 are shown assuming that penetrant inspection is to be performed on the seal welded part of a blind plug that is filled into the steam tube of a vertical steam generator. As will be described in detail with reference to this embodiment, instead of the manipulator used in this embodiment, it is also possible to use a guiding device such as a walking robot disclosed in Japanese Patent Publication No. 17121/1983.
作業状態の外観を表わす第１図及びマニピユレ
ータの概略機構を表わす第２図に示すように、現
像装置１０を管板１に固定された多数の蒸気細管
２のうちの所定の蒸気細管２へ搬送する作業はマ
ニピユレータ１００で行なう。円筒シエル３下端
部の半球状をなす水室４に連通するマンホール５
に設置されたマニピユレータ１００の固定台１０
１を隔壁６によつて仕切られた水室４の支持球１
０２と支持腕１０３とで固定された架台１０４上
には、旋回台１０５が設置されており、この旋回
台１０５には俯抑アーム１０６によつて揺動自在
に支持された伸縮自在のメインアーム１０７が取
り付けられている。このメインアーム１０７の先
端部には首振り機構１０８を介して小アーム１０
９が連結されており、先端が半円状の筒体１１０
となつた旋回自在の小アーム１０９に現像装置１
０が着脱自在に装着される。 As shown in FIG. 1, which shows the external appearance of the working state, and FIG. 2, which shows the schematic mechanism of the manipulator, the developing device 10 is transported to a predetermined steam tube 2 among the many steam tubes 2 fixed to the tube plate 1. This work is performed by the manipulator 100. A manhole 5 communicating with a hemispherical water chamber 4 at the lower end of the cylindrical shell 3
Fixed base 10 of manipulator 100 installed in
1 is a supporting ball 1 of a water chamber 4 partitioned by a partition wall 6;
A swivel base 105 is installed on a pedestal 104 that is fixed by a support arm 103 and a telescopic main arm that is swingably supported by a depression arm 106. 107 is attached. A small arm 10 is connected to the tip of the main arm 107 via a swinging mechanism 108.
9 are connected to each other, and a cylindrical body 110 has a semicircular tip.
The developing device 1 is mounted on a small arm 109 that can be rotated freely.
0 is detachably attached.
現像装置１０を小アーム１０９に装着した状態
の外観を表わす第３図及びこれらを分解して内部
構造を透視した第４図に示すように、小アーム１
０９はその取り付け穴１１１を利用して首振り機
構１０８に嵌合され、ボルト穴１１２に差し込ま
れる図示しないボルトによつてメインアーム１０
７と一体化する。前記筒体１１０の内面には案内
用キー溝１１３とこの案内用キー溝１１３に平行
な逃がし溝１１４とが上下方向に刻設されてお
り、この筒体１１０の内面に突出し得るロツクカ
ム１１５がピン１１６を介して小アーム１０９に
揺動自在に取り付けられている。このロツクカム
１１５はシリンダ１１７内にばね１１８を介して
保持されたピストン１１９に接触し、前記シリン
ダ１１７には継手１２０を介して空圧チユーブ１
２１が連結されている。 As shown in FIG. 3 showing the external appearance of the developing device 10 attached to the small arm 109 and FIG.
09 is fitted into the swinging mechanism 108 using the mounting hole 111, and is attached to the main arm 10 by a bolt (not shown) inserted into the bolt hole 112.
Become one with 7. A guiding keyway 113 and a relief groove 114 parallel to the guiding keyway 113 are vertically carved on the inner surface of the cylindrical body 110, and a lock cam 115 that can protrude from the inner surface of the cylindrical body 110 is attached to a pin. It is swingably attached to the small arm 109 via 116. This lock cam 115 contacts a piston 119 held within a cylinder 117 via a spring 118, and a pneumatic tube 1 is connected to the cylinder 117 via a joint 120.
21 are connected.
現像装置１０は小アーム１０９の筒体１１０に
嵌着される昇降部１１とこの昇降部１１に昇降自
在に支持される処理部１２とで構成される。 The developing device 10 includes an elevating section 11 fitted into a cylinder 110 of a small arm 109 and a processing section 12 supported by the elevating section 11 so as to be movable up and down.
現像装置１０の内部構造を表わす第５図ａ，ｂ
に示すように、昇降部１１には直線案内部材の一
方を構成する案内用キー溝１１３に係合するガイ
ドキー１３が上下に一対突設されており、小アー
ム１０９のロツクカム１１５が係合し得るテーパ
状噛み合い溝１４を形成したロツク板１５が昇降
部１１の半円状をなす筒体１６に取り付けられ、
これらで空圧ロツク機構を構成している。昇降部
１１の下部に設置された昇降モータ１７には、ギ
ヤ１８，１９を介してボールねじ２０が連結され
ており、このボールねじ２０にはホルダ２１に固
定されたボールナツト２２が螺合している。前記
ホルダ２１には上下に延びる二本のガイド軸２３
に対して摺動自在に嵌合された移動架台２４がボ
ルト２５を介して固定されており、このホルダ２
１の下端部には磁気センサで構成された一対の上
下端検出用リミツトスイツチ２６に対応する磁石
２７が貼着されている。又、前記ボールねじ２０
と一体のギヤ１９には磁気センサ２８と対向し得
る複数個の磁石２９が等間隔に固定されている。 FIGS. 5a and 5b depicting the internal structure of the developing device 10.
As shown in FIG. 2, a pair of guide keys 13 are provided vertically protruding from the elevating section 11 to engage with a guide key groove 113 constituting one of the linear guide members, and the lock cam 115 of the small arm 109 engages with the guide keys 13. A lock plate 15 in which a tapered engagement groove 14 is formed is attached to a semicircular cylinder 16 of the elevating part 11,
These constitute a pneumatic lock mechanism. A ball screw 20 is connected to a lifting motor 17 installed at the lower part of the lifting section 11 via gears 18 and 19, and a ball nut 22 fixed to a holder 21 is screwed into the ball screw 20. There is. The holder 21 has two guide shafts 23 extending vertically.
A movable frame 24 is slidably fitted to the holder 2 and is fixed via bolts 25.
1, magnets 27 corresponding to a pair of upper and lower end detection limit switches 26 constituted by magnetic sensors are attached. Moreover, the ball screw 20
A plurality of magnets 29, which can face the magnetic sensor 28, are fixed at equal intervals to the gear 19, which is integrated with the gear 19.
一方、昇降部１１の移動架台２４に形成された
取り付け溝３０に嵌合する取り付け座３１が突設
された処理部１２は、取り付け座３１に穿設され
たねじ穴３２を介して移動架台２４にねじ込まれ
る図示しないボルトにより移動架台２４に固定支
持される。処理部１２の架台３３には軸受３４を
介して回転自在に支持された回転筒３５の外周面
に形成したギヤ３６と噛み合うギヤ３７を具えた
旋回モータ３８が設置されており、前記回転筒３
５の上端面には三本のスリツト状をなす現像液噴
出孔３９が形成されている。回転筒３５の外周面
を覆う円筒状の液カバー４０は架台３３に固設さ
れ、この液カバー４０と回転筒３５との間に流入
する霧状の現像液を外部へ排出する吸引チユーブ
４１がこの液カバー４０内に連通している。上下
に一対のシール４２が介装された回転筒３５の下
端には、霧状の現像液を回転筒３５内へ送給して
現像液噴出孔３９から上方へ噴出させるガイド管
４３が架台３３に形成された接続管４４を介して
連結されており、このガイド管４３の下端にはス
プレーノズル４５を有するスプレー室４６が連結
されている。このスプレー室４６の内部構造を表
わす第６図に示すように、スプレーノズル４５内
には現像液の送給を制御する切り換え弁４７に接
続する現像液供給チユーブ４８と圧縮空気が吹き
込まれる空気供給管４９とが連通しており、ガイ
ド管４３及びスプレー室４６の内壁に付着する現
像液滴５０を吹き飛ばして滴下或いは流下させる
圧縮空気の空掃管５１と液抜き孔５２を介して流
下して来る現像液滴５０を排除する排液管５３と
がスプレー室４６の下端部に連結されている。な
お、前記回転筒３５の回転量は、この回転筒３５
に固定された磁石５４と架台３３に取り付けられ
た磁気センサ５５とで行なうようになつている。
又、被検査箇所の蒸気細管２に隣接する蒸気細管
２の端口に嵌合し得るテーパ状のガイドヘツド５
６は、架台３３に抜け止めピン５７を介してばね
５８により昇降自在に弾性支持されている。 On the other hand, the processing section 12 is provided with a protruding mounting seat 31 that fits into a mounting groove 30 formed in the movable pedestal 24 of the elevating section 11. The movable frame 24 is fixedly supported by a bolt (not shown) screwed into the movable frame 24. A swing motor 38 is installed on the pedestal 33 of the processing section 12 and has a gear 37 that meshes with a gear 36 formed on the outer circumferential surface of a rotary cylinder 35 rotatably supported via a bearing 34.
Three slit-shaped developer jetting holes 39 are formed on the upper end surface of the housing 5 . A cylindrical liquid cover 40 that covers the outer peripheral surface of the rotary cylinder 35 is fixed to the pedestal 33, and a suction tube 41 that discharges the atomized developer flowing between the liquid cover 40 and the rotary cylinder 35 to the outside is provided. It communicates with the inside of this liquid cover 40. At the lower end of the rotary cylinder 35 in which a pair of upper and lower seals 42 are interposed, there is a guide tube 43 that feeds atomized developer into the rotary cylinder 35 and sprays it upward from the developer jet hole 39. A spray chamber 46 having a spray nozzle 45 is connected to the lower end of the guide tube 43 . As shown in FIG. 6, which shows the internal structure of the spray chamber 46, the spray nozzle 45 includes a developer supply tube 48 connected to a switching valve 47 that controls the supply of developer, and an air supply tube 48 into which compressed air is blown. The developer droplets 50 adhering to the guide pipe 43 and the inner wall of the spray chamber 46 are blown away and dripped or flowed down through a sweep pipe 51 and a drain hole 52 for compressed air. A drain pipe 53 for removing incoming developer droplets 50 is connected to the lower end of the spray chamber 46. Note that the amount of rotation of the rotary cylinder 35 is
This is done using a magnet 54 fixed to the frame 33 and a magnetic sensor 55 attached to the frame 33.
In addition, a tapered guide head 5 that can be fitted into the end of the steam tube 2 adjacent to the steam tube 2 at the inspection point is provided.
6 is elastically supported by a spring 58 via a retaining pin 57 on the pedestal 33 so as to be able to rise and fall freely.
このような構成になつているから、まず水室４
内に設置したマニピユレータ１００の小アーム１
０９をマンホール５の直上まで移動させ、現像装
置１０を小アーム１０９に装着する。その作業手
順は、昇降部１１の筒体１６を小アーム１０９の
筒体１１０下方からガイドキー１３と案内用キー
溝１１３とを合わせながら差し込むと、ガイドキ
ー１３によつて筒体１６の回転が拘束されるの
で、そのまま昇降部１１を押し上げることにより
第７図ａに示すようにロツクカム１１５とテーパ
状噛み合い溝１４とが噛み合うまでロツクカム１
１５が押し戻される。第７図ｂに示すようにロツ
クカム１１５とテーパ状噛み合い溝１４とが係合
したのち、シリンダ１１７に空気圧を加えてピス
トン１１９をロツクカム１１５に押し付け、両者
を完全に一体化する。 Since it is configured like this, first of all, water chamber 4
Small arm 1 of manipulator 100 installed inside
09 is moved to just above the manhole 5, and the developing device 10 is attached to the small arm 109. The working procedure is to insert the cylindrical body 16 of the elevating part 11 from below the cylindrical body 110 of the small arm 109 while aligning the guide key 13 and the guiding key groove 113, and the guide key 13 will cause the cylindrical body 16 to rotate. Since the lock cam 115 is restrained, by pushing up the lifting portion 11 as it is, the lock cam 1 is pushed up until the lock cam 115 and the tapered engagement groove 14 engage with each other as shown in FIG. 7a.
15 is pushed back. After the lock cam 115 and the tapered engagement groove 14 are engaged as shown in FIG. 7b, air pressure is applied to the cylinder 117 to press the piston 119 against the lock cam 115, completely integrating the two.
次に、メインアーム１０７の旋回、伸縮、俯抑
動作によつて先端に取り付けられた現像装置１０
を水室４内の任意の蒸気細管２の端口直下すなわ
ち浸透探傷検査を必要とする盲プラグ７がシール
溶接された箇所へ搬送する。ここで、首振り機構
１０８による現像装置１０の姿勢の補正が可能で
あり、この補正によつてフエルト４２の表面を管
板１と平行にすることができる。 Next, the developing device 10 attached to the tip of the main arm 107 is rotated, extended/contracted, and depressed.
is conveyed to the water chamber 4 immediately below the end of an arbitrary steam tube 2, that is, to the location where the blind plug 7 that requires penetrant testing is sealed and welded. Here, the attitude of the developing device 10 can be corrected by the swinging mechanism 108, and by this correction, the surface of the felt 42 can be made parallel to the tube plate 1.
現像装置１０を所定の蒸気細管２の端口直下へ
移動したならば、昇降モータ１７を作動してボー
ルねじ２０を回転させ、ホルダ２１と一体の移動
架台２４を処理部１２と共に上昇させるが、この
上昇或いは下降量は磁石２９と磁気センサ２８と
で発生するパルスにボールねじ２０のリードを乗
ずることによつて得られる。なお、そのオーバラ
ンは上下端検出用リミツトスイツチ２６と磁石２
７との作動で昇降モータ１７を停止させることに
より防ぐ。処理部１２の上昇によりガイドヘツド
５６が盲プラグ７を装着された蒸気細管２に隣接
する別の蒸気細管２内に係合し、現像装置１０全
体の微小な位置修正が行なわれ、次いで上下端検
出用リミツトスイツチ２６により昇降モータ１７
が停止して回転筒３５の上端面が被検査面と対向
した状態となる。 Once the developing device 10 has been moved directly below the end of the predetermined steam tube 2, the lifting motor 17 is operated to rotate the ball screw 20, and the movable frame 24, which is integrated with the holder 21, is raised together with the processing section 12. The amount of rise or fall is obtained by multiplying the pulse generated by the magnet 29 and the magnetic sensor 28 by the lead of the ball screw 20. Note that the overrun is caused by the upper and lower end detection limit switch 26 and the magnet 2.
This is prevented by stopping the elevating motor 17 in conjunction with 7. As the processing section 12 rises, the guide head 56 engages in another steam capillary tube 2 adjacent to the steam capillary tube 2 equipped with the blind plug 7, and a slight positional correction of the entire developing device 10 is performed, and then the upper and lower ends The lifting motor 17 is activated by the detection limit switch 26.
stops, and the upper end surface of the rotating cylinder 35 is in a state facing the surface to be inspected.
ここで切り換え弁４７を操作して現像液供給チ
ユーブ４８から高圧の現像液をスプレーノズル４
５に送給すると、空気供給管４９からの圧縮空気
の作用により霧状となつた現像液のみがガイド管
４３を通つて回転筒３５の現像液噴出孔３９から
盲プラグ７のシール溶接部分に吹きかけられ、現
像作業が行なわれる。この時、旋回モータ３８の
作動によつて回転筒３５が回転し、現像液がむら
なくシール溶接部分全体に付着する。大粒の現像
液はスプレー室４６やガイド管４３或いは回転筒
３５の内壁に付着推積し、現像液滴５０となつて
スプレー室４６の下端へ流下して排液管５３から
外部へ排除される。又、現像液噴出孔３９から噴
出した余剰の現像液は、回転筒３５の上端部外周
に突設した負圧発生用のフランジ５９により回転
筒３５と液カバー４０との間の負圧発生箇所へ流
れ込み、吸引チユーブ４１から外部へ吸い出され
る。 Here, the switching valve 47 is operated to supply the high pressure developer from the developer supply tube 48 to the spray nozzle 4.
5, only the developer that has become atomized by the action of compressed air from the air supply pipe 49 passes through the guide pipe 43 and from the developer jet hole 39 of the rotary barrel 35 to the seal welded part of the blind plug 7. It is sprayed and developed. At this time, the rotating cylinder 35 is rotated by the operation of the swing motor 38, and the developer is evenly applied to the entire seal welded part. The large developer drops adhere to the spray chamber 46, the guide pipe 43, or the inner wall of the rotary tube 35, become developer droplets 50, flow down to the lower end of the spray chamber 46, and are removed to the outside through the drain pipe 53. . Further, the surplus developer jetted out from the developer jetting hole 39 is discharged to a negative pressure generating point between the rotary cylinder 35 and the liquid cover 40 by a negative pressure generating flange 59 protruding from the outer periphery of the upper end of the rotary cylinder 35. and is sucked out from the suction tube 41.
このようにして現像液の塗布作業が終了したな
らば、再び小アーム１０９をマンホール５の直上
へ移動してシリンダ１１７から空気を抜き、挿入
時よりも強い力で小アーム１０９に対し現像装置
１０を上方に押し上げると、第７図ｃに示すよう
にロツクカム１１５は再びばね１１８の弾性力に
打ち勝つて後方に回動し、ガイドキー１３が案内
用キー溝１１３から抜け出る。この状態で昇降部
１１の筒体１６を小アーム１０９の筒体１１０に
対して回動させれば、ガイドキー１３が逃がし溝
１１４へ移るので、現像装置１０を下方へ引き下
ろしてもロツクカム１１５の作用を受けずに済
み、小アーム１０９から現像装置１０を抜き外す
ことができる。 When the developer application work is completed in this way, the small arm 109 is moved directly above the manhole 5 again to remove air from the cylinder 117, and the small arm 109 is pressed against the developing device 10 with a stronger force than when it was inserted. When the lock cam 115 is pushed upward, the lock cam 115 again overcomes the elastic force of the spring 118 and rotates backward, and the guide key 13 comes out of the guide key groove 113, as shown in FIG. 7c. In this state, if the cylinder 16 of the elevating section 11 is rotated relative to the cylinder 110 of the small arm 109, the guide key 13 will move to the escape groove 114, so even if the developing device 10 is pulled down, the lock cam 115 will not move. The developing device 10 can be removed from the small arm 109 without being subjected to any action.
このように本発明の浸透探傷用現像装置による
と、直線案内部材と空圧ロツク機構とを昇降部と
案内装置との間に設けたことと相俟つて、完全な
遠隔操作で現像液の塗布が可能であり、しかも小
型且つ軽量であるので、狭隘な場所での使用も問
題なく行なうことができる。又、現像液供給管に
空掃管を組み込んだので、現像液供給管内が現像
液滴で充満したり或いは目づまりを起こしたりす
る虞が全くない。 As described above, according to the developing device for penetrant testing of the present invention, the linear guide member and the pneumatic lock mechanism are provided between the elevating section and the guide device, and the developer can be applied by complete remote control. Moreover, since it is small and lightweight, it can be used in confined spaces without any problems. Furthermore, since the empty sweep pipe is incorporated into the developer supply pipe, there is no possibility that the inside of the developer supply pipe will be filled with developer droplets or clogged.
第１図は本発明による浸透探傷用現像装置をマ
ニピユレータに取り付けて立型蒸気発生器の蒸気
細管に充填した盲プラグのシール溶接部分に現像
液を塗布している状態を表わす破断斜視図、第２
図はそのマニピユレータの外観を表わす正面図、
第３図はマニピユレータの小アームに装着した現
像装置の外観を表わす斜視図、第４図はその分解
透視図、第５図ａは現像装置の内部構造を表わす
断面図、第５図ｂはその右側面方向の断面図、第
６図はスプレー室の内部構造を表わす断面図であ
り、第７図ａ〜ｃはマニユピレータの小アームに
対する現像装置の着脱手順を表わす作業原理図で
ある。
図面中、１は管板、２は蒸気細管、７は盲プラ
グ、１０は現像装置、１１は昇降部、１２は処理
部、１３はガイドキー、１４はテーパ状噛み合い
溝、１６は筒体、１７は昇降モータ、２０はボー
ルねじ、２２はボールナツト、２４は移動架台、
３３は架台、３５は回転筒、３８は旋回モータ、
３９は現像液噴出孔、４０は液カバー、４１は吸
引チユーブ、４３はガイド管、４５はスプレーノ
ズル、４６はスプレー室、４７は切り換え弁、４
８は現像液供給チユーブ、４９は空気供給管、５
１は空掃管、５３は排液管、１００はマニピユレ
ータ、１０９は小アーム、１１０は筒体、１１３
は案内用キー溝、１１４は逃がし溝、１１５はロ
ツクカム、１１７はシリンダ、１１８はばね、１
１９はピストンである。
FIG. 1 is a cutaway perspective view showing a state in which a developing device for penetrant testing according to the present invention is attached to a manipulator and a developing solution is applied to a seal welded portion of a blind plug filled in a steam capillary of a vertical steam generator; 2
The figure is a front view showing the appearance of the manipulator.
Fig. 3 is a perspective view showing the external appearance of the developing device attached to the small arm of the manipulator, Fig. 4 is an exploded perspective view thereof, Fig. 5 a is a sectional view showing the internal structure of the developing device, and Fig. 5 b is its 6 is a sectional view showing the internal structure of the spray chamber, and FIGS. 7a to 7c are working principle views showing the procedure for attaching and detaching the developing device to the small arm of the manipulator. In the drawings, 1 is a tube plate, 2 is a steam tube, 7 is a blind plug, 10 is a developing device, 11 is a lifting section, 12 is a processing section, 13 is a guide key, 14 is a tapered engagement groove, 16 is a cylinder body, 17 is a lifting motor, 20 is a ball screw, 22 is a ball nut, 24 is a moving frame,
33 is a frame, 35 is a rotating cylinder, 38 is a swing motor,
39 is a developer jet hole, 40 is a liquid cover, 41 is a suction tube, 43 is a guide pipe, 45 is a spray nozzle, 46 is a spray chamber, 47 is a switching valve, 4
8 is a developer supply tube, 49 is an air supply tube, 5
1 is an air sweep pipe, 53 is a drain pipe, 100 is a manipulator, 109 is a small arm, 110 is a cylinder body, 113
1 is a guiding keyway, 114 is a relief groove, 115 is a lock cam, 117 is a cylinder, 118 is a spring, 1
19 is a piston.
Claims (1)
脱自在に装着される昇降部と、この昇降部と前記
案内装置の先端部との間に設けられて当該昇降部
を前記案内装置の先端部に固定し得る空圧ロツク
機構と、前記昇降部に対して昇降自在に取付けら
れる処理部と、この処理部に対して回転自在に取
付けられ且つ天井に位置する被検査面と対向し得
る放射状の現像液噴出孔が上端面に形成された回
転筒と、この回転筒の下端部に接続し且つ当該回
転筒内へ霧状の現像液を送給する現像液供給管
と、前記処理部に固設されて前記回転筒の周囲を
覆う液カバーと、この液カバー内に先端が連通し
且つ余剰となつた前記現像液を吸引排除する吸引
管と、前記現像液供給管内に先端が開口し且つこ
の現像液供給管内に付着した前記現像液を吹き飛
ばすための空掃管とを具えた浸透探傷用現像装
置。1. An elevating part that is detachably attached to the distal end of the guiding device via a linear guide member, and an elevating part that is provided between the elevating part and the distal end of the guiding device so that the elevating part can be attached to the distal end of the guiding device. a pneumatic locking mechanism that can be fixed to the surface, a processing section that is attached to the lifting section so that it can be raised and lowered, and a radial lock mechanism that is rotatably attached to the processing section and that can face the surface to be inspected located on the ceiling. A rotary cylinder having a developer jet hole formed in its upper end surface, a developer supply pipe connected to the lower end of the rotary cylinder and feeding atomized developer into the rotary cylinder, and a developer supply pipe fixed to the processing section. A liquid cover is provided to cover the periphery of the rotary cylinder, a suction tube whose tip communicates with the liquid cover and sucks and removes the excess developer, and a suction tube whose tip opens into the developer supply tube and A developing device for penetrant flaw detection, comprising an air sweep pipe for blowing away the developer adhering to the inside of the developer supply pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP713081A JPS57122354A (en) | 1981-01-22 | 1981-01-22 | Osmosis device for osmosis flaw detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP713081A JPS57122354A (en) | 1981-01-22 | 1981-01-22 | Osmosis device for osmosis flaw detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57122354A JPS57122354A (en) | 1982-07-30 |
| JPH0136059B2 true JPH0136059B2 (en) | 1989-07-28 |
Family
ID=11657490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP713081A Granted JPS57122354A (en) | 1981-01-22 | 1981-01-22 | Osmosis device for osmosis flaw detection |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57122354A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55138642A (en) * | 1979-04-17 | 1980-10-29 | Mitsubishi Heavy Ind Ltd | Automatic penetrating flaw detector |
-
1981
- 1981-01-22 JP JP713081A patent/JPS57122354A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55138642A (en) * | 1979-04-17 | 1980-10-29 | Mitsubishi Heavy Ind Ltd | Automatic penetrating flaw detector |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57122354A (en) | 1982-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7367288B2 (en) | Upper bundle cleaning system of steam generator | |
| US4445465A (en) | Sludge lance advancing apparatus | |
| EP1604747B1 (en) | A washing apparatus and a valve device comprising said apparatus | |
| CA2294125A1 (en) | Working robot for heat exchanger and method of operating it | |
| KR20010072809A (en) | Device for application of dope on male threads | |
| CN106378274A (en) | Feeding and paint mist recovery protective cover system of ship shell plate towing spraying type robot and operation method of feeding and paint mist recovery protective cover system | |
| JPH0136059B2 (en) | ||
| CN106644429B (en) | A kind of rotary valve assembling detection device | |
| JPH0547327B2 (en) | ||
| CN117491495A (en) | Stainless steel compression joint detection device based on B ultrasonic imaging technology and control method | |
| JP2571995B2 (en) | Automatic cleaning device for outer surface of heat exchanger | |
| JP2554148B2 (en) | Wall cleaning robot | |
| JPS6214345B2 (en) | ||
| JPS6261885A (en) | Intermittently moving working robot | |
| JP2004212194A (en) | Method and device for underwater inspection and repair of coating | |
| JPS6228856B2 (en) | ||
| CN117549352B (en) | Three-dimensional scanning manipulator for large part identification and control method thereof | |
| JPS6039043A (en) | Centering device | |
| JPS6158000B2 (en) | ||
| JPS627972B2 (en) | ||
| CN219400718U (en) | Surface paint spraying apparatus suitable for piezovalve processing | |
| JP2952058B2 (en) | Bellows cleaning device | |
| CN219785226U (en) | Spraying equipment and spraying system | |
| CN117415422B (en) | Automatic cleaning device integrated machine for arc welding gun | |
| CN220978702U (en) | Wall plastering device |