Tip tool guide apparatus

A tip tool guide apparatus 1 includes a swivel supporting unit 20 that is supported in a water chamber 100 of a steam generator by being stretched while pressing a stationary structural member provided in the water chamber 100 and that swivels around a pivot TL, a tip tool that is connected to the swivel supporting unit 20 with a slide table 30, i.e., a movable member, and a manipulator mounted on the slide table 30 interposed therebetween and that performs processing on a surface to be processed, and a pressing member 10A that reinforces the swivel supporting unit so as to withstand the force applied to the swivel supporting unit 20 in the swiveling direction of the swivel supporting unit 20, and that is provided in the water chamber 100.

TECHNICAL FIELD

The present invention relates to a tip tool guide apparatus provided in a water chamber of a steam generator. More specifically, the present invention relates to a reinforcement member for reinforcing a tip tool guide apparatus.

BACKGROUND ART

Patent Document 1 discloses a tip tool guide apparatus including a swivel supporting unit provided in a water chamber of a steam generator, a slide table provided in the swivel supporting unit, a manipulator mounted on the slide table, and a tip tool mounted on the tip of the manipulator.

In this tip tool guide apparatus, the tip tool is moved (guided) along a shot peening region of the inner peripheral surface of a pipe base provided in the water chamber, by controlling the manipulator. At this time, the tip tool is pressed against the inner peripheral surface by the manipulator. In this manner, the posture of the tip tool is changed into a posture along the inner peripheral surface of the pipe base. Accordingly, the tip tool is controlled so as to have a predetermined posture, by being pressed against the inner peripheral surface and brought into close contact therewith by the manipulator.

DISCLOSURE OF INVENTION

Problem To Be Solved By the Invention

However, in the technology disclosed in Patent Document 1, if the tip tool is pressed against the inner peripheral surface that is a processing surface by the manipulator, depending on the pressing direction, the rigidity of the tip tool guide apparatus cannot endure the reaction force from the inner peripheral surface. Accordingly, if the tip tool guide apparatus is deflected or twisted, or if the base portion is deviated from the bottom surface, the tip tool that should be pressed against the inner peripheral surface and brought into close contact therewith by the manipulator, may be lifted.

The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent a tip tool from being lifted from a processing surface.

Means For Solving Problem

According to an aspect of the present invention, a tip tool guide apparatus includes: a swivel supporting unit that is supported in a water chamber of a steam generator by being stretched while pressing a stationary structural member provided in the water chamber, and that swivels around a pivot; a tip tool that is connected to the swivel supporting unit with a movable member interposed therebetween and that performs processing on a surface to be processed; and a reinforcement member that reinforces the swivel supporting unit so as to withstand force applied to the swivel supporting unit in a swiveling direction of the swivel supporting unit, and that is provided in the water chamber.

With the structure described above, the tip tool guide apparatus according to the present invention can reinforce the swivel supporting unit so as to withstand the force applied in the swiveling direction of the swivel supporting unit. In this manner, the amounts of deflection and deviation of the swivel supporting unit resulting from a moment applied externally to the swivel supporting unit can be reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, the stationary structural member of the water chamber is a ceiling portion and a bottom surface portion facing each other, the swivel supporting unit is supported in the water chamber by being stretched while pressing the ceiling portion and the bottom surface portion with a base member present on the pivot interposed therebetween, and the base member is held and fixed between the stationary structural member in the water chamber and the reinforcement member.

With the structure described above, the tip tool guide apparatus according to the present invention can fix the base member that is the base of the swivel supporting unit. In this manner, the amount of deflection of the base member and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, the reinforcement member includes a pressing unit extendable in a longitudinal direction of the reinforcement member, and in a state in which frictional force applied between one of ends of the reinforcement member and the ceiling portion is larger than force in a direction of the ceiling portion applied to one of the ends of the reinforcement member, one of the ends of the reinforcement member comes into contact with the ceiling portion, and another end vertically comes into contact with one of side surfaces of the base member, and a side surface of the base member facing one of the side surfaces of the base member comes into contact with a water chamber partition plate that is a stationary structural member for dividing the water chamber.

With the structure described above, the tip tool guide apparatus according to the present invention can hold and fix the base member that is the base of the swivel supporting unit between the reinforcement member and the water chamber partition plate of the water chamber. In this manner, the amount of deflection of the base member and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, the tip tool guide apparatus further includes: a fixed pawl that is the stationary structural member for fixing a lid member to a hold down ring provided in the water chamber. One of side surfaces of the base member comes into contact with a water chamber partition plate for dividing the water chamber, and one of ends of the reinforcement member is fitted to the fixed pawl, and another end comes into contact with a side surface of the base member opposite from one of the side surfaces thereof, facing the water chamber partition plate.

With the structure described above, the tip tool guide apparatus according to the present invention can hold and fix the base member that is the base of the swivel supporting unit between the reinforcement member and the water chamber partition plate of the water chamber. In this manner, the amount of deflection of the base member and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation. Because the hold down ring is placed near the swivel supporting unit than the ceiling portion of the water chamber, the size of the reinforcement member can be reduced. In this manner, the installation operation of the reinforcement member can be performed more speedily.

Advantageously, in the tip tool guide apparatus, the reinforcement member includes a pressing unit extendable in a longitudinal direction of the reinforcement member.

With the structure described above, the tip tool guide apparatus according to the present invention can fix the base member that is the base of the swivel supporting unit in a state in which the force is applied in the direction of holding the base member between the reinforcement member and the water chamber partition plate of the water chamber. In this manner, the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be more optimally reduced. Because the tip tool guide apparatus according to the present invention fixes the base member in a state in which the force is applied in the direction of holding the base member, thereby increasing the rigidity of the base member. In this manner, the amount of deflection of the base member resulting from a moment applied externally to the swivel supporting unit can be more optimally reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, the reinforcement member is provided at a part having a predetermined distance from the pivot of the swivel supporting unit and connected to the swivel supporting unit, and an end thereof comes into contact with the stationary structural member at a predetermined angle relative to a virtual plane including the pivot of the swivel supporting unit.

With the structure described above, the tip tool guide apparatus according to the present invention can reduce a moment, because the reinforcement member receives the moment applied externally to the pivot about which the swivel supporting unit swivels. In this manner, the amount of deflection and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, the reinforcement member is provided in plurality, and ends thereof come into contact with the stationary structural member in a plane symmetrical manner relative to the virtual plane including the pivot of the swivel supporting unit.

With the structure described above, the tip tool guide apparatus according to the present invention can further reduce a moment without fail, because the reinforcement members receive the moment applied externally to the pivot about which the swivel supporting unit swivels. In this manner, the amount of deflection and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be more optimally reduced. Accordingly, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, two such reinforcement members are provided, and among ends of the two reinforcement members, a distance between the ends at a side of the stationary structural member is larger than a distance between the ends at a side of the pivot of the swivel supporting unit.

With the structure described above, in the tip tool guide apparatus according to the present invention, between moments applied externally to the pivot about which the swivel supporting unit swivels, one of the reinforcement members reduces the moment in one direction, and the other reinforcement member reduces the moment opposite from the direction. In this manner, the reinforcement members can further reduce the moment without fail. Accordingly, the amount of deflection and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can be more optimally reduced. As a result, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Advantageously, in the tip tool guide apparatus, the reinforcement member is rotatably supported relative to the part having a predetermined distance from the pivot of the swivel supporting unit and connected to the swivel supporting unit.

With the structure described above, because the reinforcement member of the tip tool guide apparatus according to the present invention rotates, when the tip tool guide apparatus needs to be reinforced, the tip tool guide apparatus, for example, brings the reinforcement member into contact with the hold down ring, and stores therein the reinforcement member when the swivel supporting unit swivels, or when an installation operation of the tip tool guide apparatus is performed. In this manner, the tip tool guide apparatus can speedily store therein the reinforcement member by rotating the reinforcement member. When the tip tool guide apparatus needs to be reinforced, the tip tool guide apparatus may bring the reinforcement member into contact with a member other than the hold down ring.

Advantageously, the tip tool guide apparatus further includes: a slide table including a table portion connected to the swivel supporting unit, and a sliding unit that slides on the table portion and on which a manipulator for guiding the tip tool to the surface to be processed is mounted. The reinforcement member is mounted on the slide table that is a part having a predetermined distance from the pivot of the swivel supporting unit.

With the structure described above, the tip tool guide apparatus according to the present invention includes the reinforcement member on the slide table that is a part relatively separated from the pivot of the swivel supporting unit. In this manner, the size of the moment applied externally to the pivot of the swivel supporting unit that can be absorbed by the reinforcement member is improved. Accordingly, the amount of deflection and the amount of deviation of the base member resulting from a moment applied externally to the swivel supporting unit can further be reduced without fail. As a result, the tip tool guide apparatus according to the present invention can prevent the tip tool from being lifted from a processing surface, due to the deflection and deviation.

Effect of the Invention

The tip tool guide apparatus according to the present invention can prevent a tip tool from being lifted from a processing surface.

EXPLANATIONS OF LETTERS OR NUMERALS

BEST MODE(S) FOR CARRYING OUT THE INVENTION

The present invention will now be described in detail with reference to the drawings. However, the present invention is not limited to the best modes (hereinafter, embodiments) for carrying out the invention. Constituent elements according to the embodiments below include elements that can be easily assumed by a person skilled in the art, elements being substantially the same as those elements, and elements that fall within a range of so-called equivalents.

FIG. 1is a perspective schematic view of a tip tool guide apparatus according to a first embodiment. As shown inFIG. 1, a tip tool guide apparatus1according to the present embodiment is provided in a water chamber100of a steam generator of a pressurized water reactor type nuclear power plant. The tip tool guide apparatus1performs various processes on a processing surface103that is an inner peripheral surface of a welded portion between a pipe base101provided in the water chamber100and a cylindrical pipe102connected to the pipe base101.

The tip tool guide apparatus1includes a swivel supporting unit20, a slide table30, a manipulator40as a movable member, a tip tool50, and a controller60. In the water chamber100in which water is accumulated, the lower side in the vertical direction is a bottom surface portion104, and the upper side in the vertical direction is a ceiling portion105. The swivel supporting unit20is provided from the bottom surface portion104to the ceiling portion105of the water chamber100in an upright manner. The swivel supporting unit20swivels around a pivot TL.

The slide table30has a slide mechanism for allowing a sliding unit32as a movable member to slide on a table portion31. The slide table30is detachably connected to the swivel supporting unit20. The manipulator40guides the tip tool50to the processing surface103, and presses the tip tool50against the processing surface103. The manipulator40is detachably connected to the slide table30.

The tip tool50performs processes such as shot peening, testing, and cutting on the processing surface103. The tip tool50is detachably connected to the tip of the manipulator40. In this manner, the tip tool guide apparatus1can be disassembled into the swivel supporting unit20, the slide table30, the manipulator40, and the tip tool50, and the swivel supporting unit20, the slide table30, the manipulator40, and the tip tool50can be assembled into the tip tool guide apparatus1. The controller60is electrically and fluid flowably connected to the units in the tip tool guide apparatus1, and controls various operations performed by the units.

The swivel supporting unit20includes a lower base21as a base member, a swiveling unit22, and an upper supporting unit23. The lower base21is arranged in contact with the bottom surface portion104of the water chamber100. In this manner, the lower base21acts as the base of the swiveling unit22. The lower base21is preferably formed of a material, for example, having a relatively high surface friction resistance. In this manner, the lower base21prevents the swiveling unit22from sliding from the bottom surface portion104.

The swiveling unit22is mounted on the bottom surface portion104with the lower base21interposed therebetween. The swiveling unit22is formed in a columnar shape, and rotatably movable on the lower base21. The upper supporting unit23is provided between the swiveling unit22and the ceiling portion105. The upper supporting unit23is extendable in the direction of the pivot TL of the swivel supporting unit20, by the extendable mechanism of the swiveling unit22.

A method of installing the swivel supporting unit20will now be described. An installation operator of the tip tool guide apparatus1places the lower base21on the bottom surface portion104of the water chamber100. The installation operator of the tip tool guide apparatus1then extends the upper supporting unit23towards the ceiling portion105by the extendable mechanism. In this manner, the upper supporting unit23is pressed against the ceiling portion105of the water chamber100. Consequently, the swivel supporting unit20receives a reaction force from the ceiling portion105in the direction of the pivot TL. As a result, the swivel supporting unit20is fixed in a state being stretched between the bottom surface portion104and the ceiling portion105of the water chamber100in the vertical direction.

The slide table30includes the table portion31, the sliding unit32, a first tool changer33, and a slide table supporting unit34. A swivel supporting unit side end31athat is one of the ends of the table portion31is connected to the swivel supporting unit20, so that the table portion31is rotatable relative to the swivel supporting unit20. A slide table supporting unit side end31bthat is the other end of the table portion31is connected to the slide table supporting unit34. The sliding unit32slidably moves on the table portion31, in the longitudinal direction of the table portion31, by the driving force of the driving source.

The first tool changer33is detachably mounted on the sliding unit32. The manipulator40is mounted on the sliding unit32by the first tool changer33. A slide table side end34athat is one of the ends of the slide table supporting unit34is connected to the slide table supporting unit side end31bof the table portion31, so that the slide table supporting unit34is rotatable relative to the table portion31. The swivel supporting unit side end34bthat is the other end of the slide table supporting unit34is connected to a member at the side of the lower base21of the swivel supporting unit20.

A method of installing the slide table30to the swivel supporting unit20will now be described. The installation operator of the tip tool guide apparatus1connects the swivel supporting unit side end31aof the table portion31to a part at the side of the upper supporting unit23of the swivel supporting unit20. The installation operator of the tip tool guide apparatus1then rotates the slide table side end34aof the slide table supporting unit34from the stored position to the supporting position, and connects the swivel supporting unit side end34bof the slide table supporting unit34to a part at the side of the lower base21of the swiveling unit22. In this manner, the slide table30is provided at an angle relative to the swivel supporting unit20.

The manipulator40is, for example, a so-called seven-axis manipulator rotated by seven axes. The manipulator40includes a second tool changer41. The second tool changer41is formed so as to mount the tip tool50thereon. A slide table side end40athat is one of the ends of the manipulator40is detachably connected to the first tool changer33of the slide table30. The second tool changer41is provided at a tip tool side end40bthat is the other end of the manipulator40. The controller60controls the operation of the manipulator40.

In the present embodiment, the manipulator40is a so-called seven-axis manipulator. However, the number of movable axes of the manipulator40according to the present embodiment is not limited thereto.

The tip tool50is, for example, a tool for performing shot peening on the processing surface103, a tool for testing and a tool for cutting and repairing the processing surface103. In the following explanation, a tool for performing shot peening is used as the tip tool50. The shot peening is a process of bombarding a metal surface with shots that are a plurality of spherical bodies at a high speed. If the shots are collided with the surface to be processed, spherical recesses are formed on the surface to be processed. In this manner, the fatigue strength of the surface to be processed is increased. The shot peening also advantageously improves wear resistance characteristics, improves resistance to stress corrosion cracking, improves heat dissipating efficiency, reduces fluid resistance, and the like.

FIG. 2is a schematic of a tip tool according to the first embodiment. As shown inFIG. 2, the tip tool50includes a tool main body51, a manipulator fixing unit52, a shot ejection opening53, omnidirectional rollers54, an air cylinder55, a first holding member56, a second holding member57, and a third holding member58. In the tip tool50according to the present embodiment, a mechanism in which the tool main body51rotates relative to the manipulator40about three rotation axes, is formed by three members of the first holding member56, the second holding member57, and the third holding member58.

The tool main body51is a tool for performing shot peening. In the present embodiment, for example, the tool main body51is formed in a substantially rectangular parallelepiped. The manipulator fixing unit52is a member for fixing the tip tool50to the second tool changer41shown inFIG. 1. The shot ejection opening53is an opening from which shots are ejected towards the processing surface103. In other words, upon using the tip tool50, the shot ejection opening53is facing the processing surface103.

A plurality of number of omnidirectional rollers54, for example, six pieces, are provided on a surface of the tool main body51where the shot ejection opening53is provided. The omnidirectional rollers54come into contact with the processing surface103, by being pressed against the processing surface103. The omnidirectional rollers54, by rolling in all directions, allows the shot ejection opening53to move along the processing surface103, while maintaining a certain distance from the processing surface103.

One of the ends of the air cylinder55is fixed to the manipulator fixing unit52, and the other end of the air cylinder55is fixed to the first holding member56. The air cylinder55is extendable in the axis direction of the cylinder. At this time, the axis direction of the air cylinder55is matched with the direction towards which the tip tool50is pressed against the processing surface103. In this manner, while the tip tool50is pressed against the processing surface103, the air cylinder55acts as a damper between the manipulator fixing unit52and the first holding member56.

The first holding member56is connected to the tool main body51with the second holding member57and the third holding member58interposed therebetween.

Accordingly, the air cylinder55acts as a damper between the manipulator fixing unit52and the tool main body51. More specifically, when the tip tool50is pressed against the processing surface103by the manipulator40, the air cylinder55is contracted by the reaction force from the processing surface103.

When the tip tool50is separated from the processing surface103by the manipulator40, the air cylinder55is extended. In this manner, the air cylinder55maintains the distance between the processing surface103and the shot ejection opening53, within a movable range of the air cylinder55. In other words, the air cylinder55absorbs a slight deviation of the gap between the tool main body51and the processing surface103.

The first holding member56is connected to the second holding member57with a first rotation connecting member56ainterposed therebetween, so that the first holding member56is rotatable relative to the second holding member57. At this time, the second holding member57is rotatable relative to the first holding member56about a first rotation axis RL01. The second holding member57is connected to the third holding member58with a second rotation connecting member57ainterposed therebetween, so that the second holding member57is rotatable relative to the third holding member58. At this time, the third holding member58is rotatable relative to the second holding member57about a second rotation axis RL02perpendicular to the first rotation axis RL01.

The third holding member58is connected to the tool main body51with a third rotation connecting member58ainterposed therebetween, so that the third holding member58is rotatable relative to the tool main body51. At this time, the tool main body51is rotatable relative to the third holding member58about a third rotation axis RL03perpendicular to one another with the first rotation axis RL01and the second rotation axis RL02.

The first rotation connecting member56a, the second rotation connecting member57a, and the third rotation connecting member58aare members for rotatably connecting the members. The members are preferably formed so as to rotate, by applying a moment equal to or more than a predetermined moment to the members. In other words, it is preferable that the first rotation connecting member56a,the second rotation connecting member57a, and the third rotation connecting member58ahave a predetermine rotational resistance. In this manner, when the tool main body51is pressed against the processing surface103by the manipulator40, the rotation of the tool main body51by the force other than the reaction force received from the processing surface103can be suppressed.

For example, the first rotation axis RL01is assumed to be the direction of the gravitational force, and the second rotation connecting member57ais assumed not to have rotational resistance. At this time, the gravity in the direction of the first rotation axis RL01is applied to the tool main body51. Accordingly, the tool main body51may rotate about the second rotation axis RL02. If the first rotation connecting member56a, the second rotation connecting member57a, and the third rotation connecting member58ahave a predetermined rotational resistance, the rotation of the tool main body51not desired by an operator who operates the tip tool guide apparatus1can be suppressed. The rotation of the tool main body51not desired by the operator is a rotation by which the tip tool50generates interference with the other members, or a rotation by which the tip tool50causes poor processing.

It is preferable that the first rotation axis RL01, the second rotation axis RL02, and the third rotation axis RL03are perpendicular at a point, and the tip tool50is formed so that the gravity center of the tool main body51is matched with the point. In this manner, even if the rotational resistances of the first rotation connecting member56a, the second rotation connecting member57a, and the third rotation connecting member58aare relatively small, the posture of the tool main body51can be maintained. Accordingly, the tip tool50can further suppress the rotation caused by the gravity of the tool main body51not desired by the operator of the tip tool guide apparatus1.

The tip tool30may include a stopper for mechanically restricting the rotations of the first rotation connecting member56a, the second rotation connecting member57a, and the third rotation connecting member58awithin a predetermined range. Even in such a structure, the tip tool50can further suppress the rotation caused by the gravity of the tool main body51not desired by the operator of the tip tool guide apparatus1.

In a mechanism in which the tool main body51rotates relative to the manipulator40about the three rotation axes, the tool main body51may only be moved within a range in which the deviation of the gap between the tool main body51and the processing surface103can be corrected. In general, because deviation is only a small amount, it is preferable to set the rotational range of the first rotation axis RL01, the second rotation axis RL02, and the third rotation axis RL03within a range in which the deviation can be corrected. In this manner, for example, even if the rotation caused by the gravity of the tool main body51not desired by an operator is performed, the number of rotations not desired by the operator can be suppressed to a minimum.

In summarizing the structure, the tool main body51is connected to the manipulator40, sequentially with the manipulator fixing unit52, the air cylinder55, the first holding member56, the second holding member57, and the third holding member58interposed therebetween. The tool main body51is mounted on the second tool changer41of the manipulator40shown inFIG. 1, so that the tool main body51is rotatable relative to the manipulator40about the three rotation axes perpendicular to one another.

In the structure, when the tip tool50is pressed against the processing surface103by the manipulator40at a predetermined force, the air cylinder55acts as a damper. The omnidirectional rollers54come into contact with the processing surface103. The tip tool50is connected to the manipulator40through a mechanism in which the tool main body51rotates relative to the manipulator40about the three rotation axes. In this manner, when the tip tool50is pressed against the processing surface103at a predetermined force, the tool main body51rotates relative to the manipulator40about the three rotation axes.

Accordingly, the tip tool guide apparatus1suppresses the deviation of the gap between the tool main body51and the processing surface103. In other words, the tip tool guide apparatus1can prevent the tip tool50from being lifted from the processing surface103. The predetermined force is a force that the air cylinder55can absorb within a movable range of the air cylinder55, and a force within a range in which the first rotation connecting member56a, the second rotation connecting member57a, and the third rotation connecting member58acan rotate.

In the present embodiment, the tip tool50has a mechanism in which the tool main body51rotates relative to the manipulator40about the three rotation axes. However, the present embodiment is not limited thereto. Even if the tip tool50does not have such a rotation mechanism, the tip tool50can suppress the deviation of the gap between the tool main body51and the processing surface103, within a range that does not lead to poor processing.

The number of rotation axes is not limited to three, but in view of the shape of the processing surface103, the rotation mechanism may be formed of one axis or two axes. In this manner, the structure of the tip tool50can be simplified. However, if the tool main body51is formed so as to rotate about the three rotation axes, the tip tool50can more optimally suppress the deviation of the gap between the tool main body51and the processing surface103.

In the present embodiment, a mechanism in which the tool main body51rotates relative to the manipulator40about the three rotation axes is formed by the first holding member56, the second holding member57, and the third holding member58. However, the present embodiment is not limited thereto. For example, a mechanism in which the tool main body51is rotated relative to the manipulator40may be formed by a ball rotatable in all directions and a holding member for holding the ball. In this manner, it is possible to obtain effects such as the reduction of the number of components of the tip tool50, and the simplification and downsizing of the tip tool50.

In the tip tool guide apparatus1shown inFIG. 1, the tip tool50is pressed against the processing surface103that is a stationary structural member by the manipulator40. The stationary structural member is a member that does not move even if external force is applied thereto. For example, the stationary structural member includes the pipe base101, the cylindrical pipe102, the bottom surface portion104, the ceiling portion105, a water chamber partition plate106shown inFIG. 3, which will be described later, and a hold down ring107shown inFIG. 5, which will be described later.

When the tip tool50is pressed against the processing surface103by the manipulator40, the tip tool guide apparatus1receives reaction force from the processing surface103. At this time, depending on the direction of the reaction force, the tip tool guide apparatus1may be deflected or twisted. More specifically, the rigidity of the tip tool guide apparatus1against the reaction force in the direction along the surface on which the swivel supporting unit20, the slide table30, and the slide table supporting unit34are present is relatively high. However, the rigidity of the tip tool guide apparatus1against the force in the direction perpendicular to the surface, in other words, against the reaction force in the direction towards which the swivel supporting unit20swivels is relatively low.

In this manner, the tip tool guide apparatus, particularly the lower base21, may be deflected, twisted, and deviated. Accordingly, a deviation may occur in a gap between the tip tool50and the processing surface103. In other words, the tip tool50may be lifted from the processing surface103. Consequently, the tip tool guide apparatus1must be reinforced.

However, the radioactivity level in the water chamber100is relatively high compared with normal environment. Accordingly, to secure safety of the installation operator of the tip tool guide apparatus1, the installation operator can only stay in the water chamber100for a limited period of time. The limited period of time is, for example, approximately two minutes. Consequently, the tip tool guide apparatus1is formed so that the installation of the tip tool guide apparatus1and the reinforcement of the tip tool guide apparatus1can be carried out speedily.

FIG. 3is an overall perspective view of the tip tool guide apparatus according to the first embodiment. The lower base21of the tip tool guide apparatus1according to the present embodiment is restrained by being pressed against the water chamber partition plate106present in the water chamber100. The lower base21is restrained, in a state in which the lower base21is fixed to the bottom surface portion104so as not to move, and in a state in which the rigidity of the lower base21is increased and the deflection of the lower base21is being suppressed.

As shown inFIG. 3, the tip tool guide apparatus1includes a pressing member10A as a reinforcement member. The pressing member10A is arranged in a shape bent along the inner wall surface of the water chamber100. A lower base side end10Aa that is one of the ends of the pressing member10A is arranged in contact with the lower base21. A ceiling surface side end10Ab that is the other end of the pressing member10A is arranged in contact with the ceiling portion105of the water chamber100.

At this time, it is preferable that the ceiling surface side end10Ab comes into contact with the ceiling portion105, so that the frictional force applied between the ceiling surface side end10Ab of the pressing member10A and the ceiling portion105is larger than the force in the direction of the ceiling portion105applied to the ceiling surface side end10Ab. More specifically, it is preferable that the ceiling surface side end10Ab of the pressing member10A comes into contact with the ceiling portion105substantially vertically. In other words, the ceiling surface side end10Ab preferably comes into contact with the ceiling portion105, so that a virtual line VL01that is a virtual line extending in the longitudinal direction near the ceiling surface side end10Ab of the pressing member10A is perpendicular to the ceiling portion105. In this manner, it is possible to prevent the ceiling surface side end10Ab from sliding on the surface of the ceiling portion105.

It has been described that the pressing member10A is arranged in a shape bent along the inner wall surface of the water chamber100. However, the present embodiment is not limited thereto. The pressing member10A may be formed in a shape including a straight line, or may be arranged apart from the inner wall surface of the water chamber100. If the pressing member10A is arranged in a shape bent along the inner wall surface of the water chamber100, the inner wall surface of the water chamber100acts as a reinforcement member of the pressing member10A. Accordingly, the pressing member10A can restrain the lower base21with more certainty.

FIG. 4is an enlarged sectional schematic view of the lower base and the lower base side end of the pressing member according to the first embodiment. As shown inFIG. 4, the lower base21is arranged in contact with the water chamber partition plate106. Here, a surface of the lower base21that comes into contact with the water chamber partition plate106is a water chamber partition plate side contact surface21a. The lower base side end10Aa of the pressing member10A is disposed in contact with a pressing member side contact surface21bthat is a surface of the lower base21facing the water chamber partition plate side contact surface21a.

At this time, it is preferable that the lower base side end10Aa of the pressing member10A vertically comes into contact with the pressing member side contact surface21bof the lower base21. In other words, it is preferable that the ceiling surface side end10Ab comes into contact with the ceiling portion105, so that a virtual line VL02that is a virtual line extending in the longitudinal direction near the lower base side end10Aa of the pressing member10A is perpendicular to the pressing member side contact surface21bof the lower base21.

The lower base side end10Aa of the pressing member10A is preferably formed so as to match the shape of the pressing member side contact surface21bof the lower base21. In other words, it is preferable to form the thickness of the tip of the lower base side end10Aa substantially the same as the thickness near the pressing member side contact surface21bof the lower base21.

In this manner, it is possible to prevent the lower base side end10Aa of the pressing member10A from sliding into the gap between the lower base21and the member of the water chamber100, caused when the thickness of the tip of the lower base side end10Aa is thinner than the thickness near the pressing member side contact surface21bof the lower base21. It is also possible to prevent the lower base side end10Aa of the pressing member10A from interfering with the swiveling unit22, caused when the thickness of the tip of the lower base side end10Aa is thicker than the thickness near the pressing member side contact surface21bof the lower base21.

As shown inFIG. 3, the pressing member10A includes a pressing cylinder11A that is a pressing unit between the lower base side end10Aa and the ceiling surface side end10Ab. The pressing cylinder11A is extendable in the longitudinal direction of the pressing member10A.

Here, the length in the longitudinal direction of the pressing member10A including the pressing cylinder11A in a state in which the pressing cylinder11A is extended, is set longer than the length along the inner wall surface of the water chamber100, from the lower base21to the ceiling portion105. In this manner, the lower base21receives force to the side of the water chamber partition plate106from the pressing member10A. In other words, the lower base21receives the force from the water chamber partition plate106and the pressing member10A so as to be held therebetween. In this manner, the lower base21is restrained by the water chamber partition plate106and the pressing member10A.

When the lower base21is restrained by the water chamber partition plate106and the pressing member10A, the relative travel distance of the lower base21from the bottom surface portion104when the external force is applied is reduced. The rigidity of the lower base21is also enhanced. In this manner, the tip tool guide apparatus1can prevent the lower base21from being deflected, twisted, and deviated. Accordingly, the tip tool guide apparatus1can prevent the deviation from occurring in the gap between the tip tool50and the processing surface103. In other words, the tip tool guide apparatus1can prevent the tip tool50from being lifted from the processing surface103.

In the present embodiment, the tip tool50performs shot peening. However, the present invention is not limited thereto. For example, the tip tool50may be a tool used for cutting or grinding. To perform cutting and grinding, the tip tool guide apparatus1should have a higher rigidity than that of shot peening. In the tip tool guide apparatus1according to the first embodiment, the rigidity of the lower base21is increased by the pressing member10A. Accordingly, the tip tool guide apparatus1according to the first embodiment can also prevent poor cutting and grinding.

The pressing cylinder11A is preferably provided at a position where the installation operator of the tip tool guide apparatus1can easily operate. As described above, the operator can only operate in the water chamber100for a limited period of time, due to the safety of the operator. By providing the pressing cylinder11A at a position where the operator can easily operate, the installation operation of the tip tool guide apparatus1can be performed speedily.

The ceiling surface side end10Ab of the pressing member10A is preferably formed of a material, for example, having a relatively high surface friction resistance. In this manner, while the pressing member10A is being stretched, the ceiling surface side end10Ab is prevented from sliding from the ceiling portion105. As a result, the installation operation of the tip tool guide apparatus1can be performed speedily. As described above, the tip tool guide apparatus1must be installed within a limited period of time. Accordingly, even if it is a short period of time, the effects of speeding up the installation operation of the tip tool guide apparatus1are large.

FIG. 5is an overall perspective view of a tip tool guide apparatus according to a second embodiment. In the tip tool guide apparatus1according to the first embodiment, the lower base21is pressed against the water chamber partition plate106, because the pressing member10A is being stretched between the lower base21and the ceiling portion105. However, in a tip tool guide apparatus2according to the present embodiment, the lower base21is pressed against the water chamber partition plate106, because a pressing member10B is being stretched between the lower base21and a fixed pawl107aof the hold down ring107. Components that provide the same advantages as those of the embodiment described above are denoted by the same reference numerals. Descriptions of the same components and advantages as those of the embodiment described above will be omitted.

In general, as shown inFIG. 5, the hold down ring107is provided at the pipe base101of the water chamber100. The hold down ring107is a member for attaching a lid to prevent an installation operator, a maintenance operator, and the like of the tip tool guide apparatus2from falling into the cylindrical pipe102during the operations. Accordingly, the fixed pawl107athat is a recess for fixing the lid is formed at the hold down ring107.

As shown inFIG. 5, the tip tool guide apparatus2includes the pressing member10B. The pressing member10B is, for example, arranged in a shape bent along the inner wall surface of the water chamber100. A lower base side end10Ba that is one of the ends of the pressing member10B is arranged in contact with the lower base21. A hold down ring side end10Bb that is the other end of the pressing member10B is fitted and fixed to the fixed pawl107aof the hold down ring107.

As described above, the hold down ring side end10Bb is fitted to the fixed pawl107aof the hold down ring107. Accordingly, a fitting unit10Bc that is a portion where the hold down ring side end10Bb is fitted to the hold down ring107is preferably formed to match the shape of the fixed pawl107a. Consequently, the hold down ring side end10Bb is prevented from being disengaged from the fixed pawl107a.

In general, the fixed pawl107ais provided in plurality at the hold down ring107. The fixed pawl107ato which the fitting unit10Bc at the hold down ring side end10Bb is fitted, can be selected from the fixed pawls107a. However, it is preferable to select the fixed pawl107afrom which the fitting unit10Bc is less likely to be disengaged, if the force in the longitudinal direction of the pressing member10B is applied.

The pressing member10B according to the present embodiment, for example, includes a jack bolt11B as a pressing unit, instead of the pressing cylinder11A of the pressing member10A according to the first embodiment. The jack bolt11B is formed of a bolt and a nut, and by rotating the nut, the length in the longitudinal direction of the jack bolt11B is changed.

The pressing member10B has the jack bolt11B between the lower base side end10Ba and the hold down ring side end10Bb. The jack bolt11B is provided, so that the length in the longitudinal direction of the jack bolt11B and the length in the longitudinal direction of the pressing member10B are matched. In this manner, when the nut of the jack bolt11B is rotated, the length in the longitudinal direction of the pressing member10A is changed. However, the present embodiment is not limited thereto, and the pressing member10B may include the pressing cylinder11A.

In this manner, the pressing member10B is being stretched between the pressing member side contact surface21bof the lower base21and the fixed pawl107aof the hold down ring107. Accordingly, the lower base21is pressed against the water chamber partition plate106by the pressing member10B. As a result, the lower base21is restrained by the water chamber partition plate106and the pressing member10B.

It is described that the pressing member10B is being stretched between the pressing member side contact surface21bof the lower base21and the fixed pawl107aof the hold down ring107. However, the present embodiment is not limited thereto. For example, if the lower base side end10Ba comes into contact with the pressing member side contact surface21bof the lower base21, the pressing member10B can reduce the amount of deflection of the lower base21. In other words, the pressing member10B does not have to include the pressing unit. However, the rigidity of the lower base21is enhanced, if the pressing member10B has the pressing unit. Accordingly, the tip tool guide apparatus2can more optimally prevent the tip tool50from being lifted from the processing surface103, due to the deflection and deviation.

If the lower base21is restrained by the water chamber partition plate106and the pressing member10B, the relative travel distance of the lower base21from the bottom surface portion104when the external force is applied is reduced. The rigidity of the lower base21is also enhanced. In this manner, the tip tool guide apparatus2can prevent the lower base21from being deflected, twisted, and deviated. Accordingly, the tip tool guide apparatus2can prevent the deviation from occurring in the gap between the tip tool50and the processing surface103. In other word, the tip tool guide apparatus2can prevent the tip tool50from being lifted from the processing surface103.

In general, the hold down ring107is placed near the swivel supporting unit20than the ceiling portion105of the water chamber100. Accordingly, the pressing member10B according to the present embodiment can reduce the size than that of the pressing member10A according to the first embodiment. In this manner, the installation operation of the tip tool guide apparatus2can be performed more speedily.

The pressing member10A according to the first embodiment and the pressing member10B according to the present embodiment are common in being stretched between the stationary structural members. In the embodiments described above, the stationary structural members are the ceiling portion105and the water chamber partition plate106, and the hold down ring107and the water chamber partition plate106. However, the present embodiment is not limited thereto. As long as the stationary structural members are present in the water chamber100, the pressing member10A and the pressing member10B may be provided between any members.

FIG. 6is an overall perspective view of a tip tool guide apparatus according to a third embodiment. In the tip tool guide apparatus according to the embodiments described above, the lower base21is restrained by the pressing member. However, in a tip tool guide apparatus3according to the present embodiment, the slide table30is restrained by a reinforcement member10C. Components that provide the same advantages as those of the embodiments described above are denoted by the same reference numerals. Descriptions of the same components and advantages as those of the embodiments described above will be omitted.

As described above, the rigidity of the tip tool guide apparatus3against the reaction force in the direction perpendicular to the surface on which the swivel supporting unit20, the slide table30, and the slide table supporting unit34are present, in other words, against the reaction force in the direction towards which the swivel supporting unit20swivels, is relatively low. Accordingly, the tip tool guide apparatus3according to the present embodiment, as shown inFIG. 6, includes the reinforcement members10C having a reinforcement function against the force in the direction towards which the swivel supporting unit20swivels.

The reinforcement members10C, for example, are mounted on the table portion31of the slide table30. However, the present embodiment is not limited thereto, and for example, the reinforcement members10C may be mounted on the slide table supporting unit34of the slide table30. The reinforcement members10C may be provided at a part having a predetermined distance from the pivot TL of the swivel supporting unit20. At this time, as the predetermined distance is increased, the size of the moment applied externally to the pivot TL of the swivel supporting unit20that can be absorbed by the reinforcement members10C is enhanced.

In the present embodiment, for example, two reinforcement members10C are provided on a virtual plane including the pivot TL in a plane symmetrical manner, so as to be in a substantially inverted V-shape. The inverted V-shape is a state in which, between the ends of two reinforcement members10C, a distance between the hold down ring side ends10Cb that are ends at the side of the hold down ring107, is larger than a distance between slide table side ends10Ca that are ends at the side of the slide table30. In other words, the inverted V-shape is a state in which the distance between the reinforcement members10C is increased towards the hold down ring side ends10Cb from the slide table side ends10Ca.

However, the present embodiment is not limited thereto, and for example, the reinforcement members10C may be linearly provided so as to face each other. The installation number of reinforcement members10C is not limited to two.

For example, the installation number of reinforcement members10C may be equal to or more than two, or may be one. However, if one reinforcement member10C is provided, the force absorbed by the reinforcement member10C is only one reaction force of the reaction forces in the direction towards which the swivel supporting unit20swivels. If three or more reinforcement members10C are provided, the size of the tip tool guide apparatus3may be increased. Accordingly, if two reinforcement members10C are provided, the reinforcement effects of the tip tool guide apparatus3can be obtained, while preventing the size of the tip tool guide apparatus3from being increased.

One of the ends of the reinforcement member10C is the slide table side end10Ca, and the other end is the hold down ring side end10Cb. The slide table side end10Ca is connected to the table portion31of the slide table30, so that the reinforcement member10C is rotatable relative to the slide table30about a rotation axis RL04. At this time, the rotation axis RL04has a predetermined angle relative to the line perpendicular to the longitudinal direction of the slide table30. In this manner, the two reinforcement members10C are rotated so as to be in a substantially inverted V-shape.

The substantially inverted V-shape is a shape, in a state in which while the hold down ring side ends10Cb of the reinforcement members10C come into contact with the hold down ring107, the reinforcement members10C open wider towards the hold down ring side ends10Cb from the slide table side ends10Ca.

The hold down ring side ends10Cb come into contact with the hold down ring107, when the slide table side ends10Ca rotate about the slide table30. A part where the hold down ring side ends10Cb come into contact with the hold down ring107is preferably formed of a member having a relatively high friction resistance. The part where the hold down ring side ends10Cb come into contact with the hold down ring107may include an absorbing unit such as a sucker or a magnet. In this manner, it is possible to prevent the hold down ring side ends10Cb from sliding on the surface of the hold down ring107.

While the hold down ring side ends10Cb of the reinforcement members10C are being in contact with the hold down ring107, if the force in the swiveling direction or in the direction perpendicular to the pivot TL is applied to the reinforcement members10C, the reinforcement members10C try to rotate in the direction towards which the hold down ring side ends10Cb are pressed against the side of the hold down ring107.

However, the hold down ring side ends10Cb are in contact with the hold down ring107. Accordingly, even if a stopper for restricting the rotation of the reinforcement members10C is not provided, the rotation of the reinforcement members10C can be restricted. However, the reinforcement members10C may include a stopper for restricting the rotation of the reinforcement members10C.

With the structure described above, the reinforcement members10C receive the reaction force in the direction towards which the swivel supporting unit20swivels, generated when the tip tool50is pressed against the processing surface103. In this manner, the slide table30on which the reinforcement members10C are provided is restrained from being twisted. As a result, the rigidity of the tip tool guide apparatus3against the reaction force in the direction towards which the swivel supporting unit20swivels is enhanced. Accordingly, the tip tool guide apparatus3can prevent the deviation from occurring in the gap between the tip tool50and the processing surface103. In other words, the tip tool guide apparatus3can prevent the tip tool50from being lifted from the processing surface103.

FIG. 7is a perspective view of a state in which a reinforcement member according to the third embodiment is being stored. As described above, the slide table side ends10Ca of the reinforcement members10C are rotatable relative to the slide table30about the rotation axis RL04. Accordingly, while the swivel supporting unit20is being swung, or while the installation operator of the tip tool guide apparatus3is performing installation operation, as shown inFIG. 7, the reinforcement members10C can be stored so as to be adjacent to the slide table30. In this manner, the tip tool guide apparatus3can simplify, in other words, speed up the installation operation performed by the installation operator of the tip tool guide apparatus3and the removing operation.

Each of the reinforcement members10C according to the present embodiment may include an electric motor to the slide table side end10Ca. The tip tool guide apparatus3can be automatically reinforced by the reinforcement member10C as required, when the controller60shown inFIG. 1controls the electric motor.

The reinforcement member10C according to the present embodiment rotates relative to the slide table30about the rotation axis RL04. However, the present embodiment is not limited thereto. The reinforcement member10C according to the present embodiment may be formed so that the slide table side end10Ca of the reinforcement member10C is detachable relative to the slide table30.

INDUSTRIAL APPLICABILITY

As described above, the tip tool guide apparatus according to the present embodiment is advantageously provided in a water chamber of a steam generator. More specifically, the tip tool guide apparatus is suitable for preventing a tip tool from being lifted from a processing surface.