Driving force transmission device, isolation valve unit attachment / detachment device and method

Abstract

To increase the operability in a driving force transmission device, and a device and a method for removing or attaching a separation valve unit.SOLUTION: A driving force transmission device for transmitting a driving force to a movable unit of a separation valve unit attached to an attachment target object includes: a mount; a movable body movably supported to the mount along the direction of an axial core; a driving device having an output shaft, the output shaft being supported by the movable body and being capable of rotating around the axial core; a flexible driving force transmission member arranged along the direction of the axial core in the movable body and connected to the output shaft at the base end part; and a socket connected to an end part of the driving force transmission member and removably attached to a driving force input unit of the movable unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a driving force transmission device that transmits driving force to an isolation valve unit that is attached to a penetration in a nuclear reactor containment vessel, and an attachment and detachment device and method for an isolation valve unit that includes a driving force transmission device. [Background technology]

[0002] A reactor containment vessel is provided with many penetrations (passageways). For example, inspections and surveys of various equipment placed inside the reactor containment vessel are carried out using the penetrations. The reactor containment vessel is also divided into high radiation areas and low radiation areas. Therefore, it is necessary to provide isolation valves in the penetrations that connect the high radiation areas with the low radiation areas. An example of such technology is described in Patent Document 1 below. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-126846 Summary of the Invention [Problem to be solved by the invention]

[0004] The penetration is an existing pipe, and the isolation valve is attached to the end of the existing pipe. The isolation valve has a connecting pipe, a valve body, and a clamping device. When attaching the isolation valve to the end of the existing pipe, the connecting pipe is placed tightly on the existing pipe, and the flange of the existing pipe is clamped using a clamping device. However, because the isolation valve installation work is carried out in a radiation area, the clamping device must be operated remotely.

[0005] The present disclosure is devised to solve the above-mentioned problems, and aims to provide a driving force transmission device and an isolation valve unit attachment / detachment device and method that improve workability. [Means for solving the problem]

[0006] In order to achieve the above object, the driving force transmission device of the present disclosure is a driving force transmission device that transmits driving force to a movable part of an isolation valve unit that is attached to an attachment object, and includes: a base; a movable body that is supported on the base so as to be freely movable along an axial direction; a drive unit that has an output shaft that is supported on the movable body and can be driven to rotate around the axial center; a driving force transmission member that is flexible and is arranged on the movable body along the axial direction, and has a base end connected to the output shaft; and a socket that is connected to the tip end of the driving force transmission member and is capable of being engaged and disengaged with a driving force input part of the movable part.

[0007] The isolation valve unit mounting / dismounting device of the present disclosure includes a traveling carriage and the driving force transmission device according to claim 1 mounted on the traveling carriage.

[0008] Furthermore, a method for attaching and detaching an isolation valve unit according to the present disclosure is a method for attaching an isolation valve unit having a clamping device to an object to be attached, comprising the steps of: advancing a first socket connected to a tip end of a flexible first driving force transmission member toward a first driving force input portion of the clamping device; bending the first driving force transmission member to engage the first socket with the first driving force input portion; and rotating the first socket via the first driving force transmission member to operate the clamping device via the first driving force input portion, thereby clamping the object to be attached. [Effects of the Invention]

[0009] According to the driving force transmission device and the isolation valve unit attachment / detachment device and method disclosed herein, workability can be improved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a front view of an isolation valve unit. [Figure 2] FIG. 2 is a side view of the isolation valve unit. [Figure 3] FIG. 3 is a front view showing the isolation valve unit supported on a stand. [Figure 4] FIG. 4 is a front view showing the attachment / detachment device of the isolation valve unit of this embodiment. [Figure 5] FIG. 5 is a side view showing the first driving force transmission device of the present embodiment. [Figure 6] FIG. 6 is a front view showing the first driving force transmission device. [Figure 7] FIG. 7 is a cross-sectional view showing the relationship between the first socket and the first driving force input portion. [Figure 8] FIG. 8 is a front view showing the first driving force transmission device in an operating state. [Figure 9] FIG. 9 is a schematic diagram showing a state in which the first socket and the first driving force input portion are engaged with each other. [Figure 10] FIG. 10 is a side view showing the second driving force transmission device of this embodiment. [Figure 11] FIG. 11 is a cross-sectional view showing the relationship between the second socket and the second driving force input portion. [Figure 12] FIG. 12 is a schematic diagram showing a state in which the second socket and the second driving force input portion are engaged with each other. [Figure 13] FIG. 13 is a flowchart showing the method for attaching and detaching the isolation valve unit of this embodiment. [Figure 14] FIG. 14 is a flowchart showing the method for attaching and detaching the isolation valve unit of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations that combine the embodiments. Furthermore, the components in the embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially identical, and those that are within the so-called equivalent range.

[0012] <Isolation valve unit> FIG. 1 is a front view of the isolation valve unit, and FIG. 2 is a side view of the isolation valve unit.

[0013] 1 and 2, the existing pipe 100 that constitutes the penetration is configured by providing a flange portion 102 at the end of an existing pipe body 101. Note that the existing pipe 100 may have one or more connecting pipes connected to its end.

[0014] The isolation valve unit 120 can be attached to and detached from the flange portion 102 of the existing piping 100. By attaching the isolation valve unit 120 to the existing piping 100, the area is divided into an area on one side (the existing piping 100 side) of the isolation valve unit 120 and an area on the other side. For example, the area on one side is a high radiation area that cannot be accessed by people and cannot be managed, and the other area is a low radiation area that can be accessed by people and can be managed by blocking it off from one side by the isolation valve unit 120.

[0015] In the following description, the existing piping 100 and the isolation valve unit 120 are arranged concentrically around an axial center O1. Here, the direction of the axial center O1 is the horizontal direction X, the horizontal direction perpendicular to the horizontal direction X (axial center O1) is the horizontal direction Y, and the vertical direction perpendicular to the horizontal direction X and the horizontal direction Y is the vertical direction Z.

[0016] The isolation valve unit 120 includes a partition wall section 121, an isolation valve 122, a first piping section 123, a second piping section 124, a clamping device (movable section) 125, and a seating device (movable section) 126.

[0017] The bulkhead section 121 has a rectangular shape and is disposed along the vertical direction Z. The bulkhead section 121 is fixed to, for example, a bulkhead (not shown) of the reactor containment vessel. A through-hole 131 is provided at the bottom of the bulkhead section 121 along the horizontal direction X. The isolation valve 122 is disposed inside the bulkhead section 121 and supported so as to be movable along the vertical direction Z. The isolation valve 122 can be moved along the vertical direction Z by a lifting device (not shown). The lifting device can move the isolation valve 122 between an open position where it moves upward to open the through-hole 131 and a closed position where it moves downward to close the through-hole 131. When the isolation valve 122 is in the closed position, the controlled area and the general area are isolated from each other. On the other hand, when the isolation valve 122 is in the open position, the controlled area and the general area are connected, allowing various equipment to be carried in and out between the controlled area and the general area.

[0018] The partition wall section 121 has a surface 121a on one side (the right side in FIG. 1) of the axis O1 to which the first piping section 123 is connected, and a surface 121b on the other side (the left side in FIG. 1) of the axis O1 to which the second piping section 124 is connected. The first piping section 123, the second piping section 124, and the through hole 131 are arranged concentrically with the axis O1 as the center. The first piping section 123 has a flange section 132 at its end, and the second piping section 124 has a flange section 133 at its end. The isolation valve unit 120 can be joined such that the flange section 132 of the first piping section 123 is in close contact with the flange section 102 of the existing piping 100.

[0019] The clamp device 125 is disposed in the first piping section 123. A plurality of (for example, four) clamp devices 125 are disposed at intervals in the circumferential direction on the outer periphery of the first piping section 123. The clamp device 125 has a drive unit 141, clamp claws 142, a drive force transmission unit 143, and a drive force input unit 144.

[0020] The multiple drive units 141 are arranged at intervals in the circumferential direction on the outer periphery of the first piping unit 123. The clamp claws 142 are arranged on the flange portion 132 side of each drive unit 141. The drive units 141 can open and close the clamp claws 142. The clamp claws 142 are movable between a clamping position where the flange portion 102 of the existing piping 100 is clamped so as to come into contact with the flange portion 132, and a release position where the clamping of the flange portion 102 of the existing piping 100 is released. The drive force input unit 144 is provided on the partition wall unit 121 and protrudes toward the surface 121b, i.e., one side in the horizontal direction X. The drive force transmission unit 143 drivingly connects the drive force input unit 144 and the drive unit 141. For example, when a forward driving force, i.e., a forward rotational force, is input to the driving force input unit 144, the forward rotational force is transmitted to the driving unit 141 via the driving force transmission unit 143, and the driving unit 141 moves the clamp claw 142 to the clamp position. On the other hand, when a reverse driving force, i.e., a reverse rotational force, is input to the driving force input unit 144, the reverse rotational force is transmitted to the driving unit 141 via the driving force transmission unit 143, and the driving unit 141 moves the clamp claw 142 to the release position.

[0021] The seating devices 126 are disposed on the partition wall 121. The seating devices 126 are disposed on both sides of the partition wall 121 in the horizontal direction Y. The seating devices 126 have a drive unit 151, legs 152, a drive force transmission unit 153, and a drive force input unit 154.

[0022] The two drive units 151 are arranged on both sides of the partition wall 121. The leg units 152 are arranged on the lower side of each drive unit 151 in the vertical direction Z. The drive units 151 can raise and lower the legs 152. The legs 152 can move between a seated position on the floor surface G and a spaced position spaced above the floor surface G. The drive force input unit 154 protrudes upward in the vertical direction Z on the side of the partition wall 121. The drive force transmission unit 153 drivingly couples the drive force input unit 154 and the drive unit 151. For example, when a positive drive force, i.e., a positive rotational force, is input to the drive force input unit 154, the positive rotational force is transmitted to the drive unit 151 via the drive force transmission unit 153, and the drive unit 151 moves the legs 152 to the seated position. On the other hand, when a reverse driving force, i.e., a reverse rotational force, is input to the driving force input unit 154, the reverse rotational force is transmitted to the driving unit 151 via the driving force transmission unit 153, and the driving unit 151 moves the leg to the separated position.

[0023] FIG. 3 is a front view showing the isolation valve unit supported on a stand.

[0024] 3, the isolation valve unit 120 is supported at a predetermined position by a stand 160. The stand 160 has a frame 161, wheels 162, and a disk portion 163.

[0025] The frame 161 has a frame shape that is open on one side in the vertical direction Z and one side in the horizontal direction X. Wheels 162 are attached to the four sides of the lower part of the frame 161. Each wheel 162 can be raised and lowered by a lifting device 164. The wheels 162 enable the base 160 to travel on a floor surface G, and the frame 161 can be placed on the floor surface G. The disk portion 163 is fixed to the inside of the other side of the frame 161, one side of which is open. The isolation valve unit 120 is mounted on the base 160. The isolation valve unit 120 is disposed inside the frame 161, and a clamping device 125 clamps the disk portion 163 so that the flange portion 132 of the first piping section 123 contacts the disk portion 163.

[0026] <Isolation valve unit attachment / detachment device> 4 is a front view showing an isolation valve unit installation / removal device of this embodiment. The isolation valve unit installation / removal device 10 installs and removes an isolation valve unit 120 to and from an existing pipe, which is the object to be installed.

[0027] The isolation valve unit attachment / detachment device 10 includes a traveling carriage 11, a first driving force transmission device 12, and a second driving force transmission device 13. The isolation valve unit attachment / detachment device 10 can be remotely operated from the public area. For this reason, the isolation valve unit attachment / detachment device 10 has a communication device (not shown) that can communicate with an operation device installed in the public area. The communication device is wired or wireless. A worker in the public area can use the operation device to control the travel of the traveling carriage 11 and the drive of the first driving force transmission device 12 and the second driving force transmission device 13.

[0028] The traveling bogie 11 has a first bogie 21, a second bogie 22, and a third bogie 23. The first bogie 21 and the second bogie 22 are connected by a connecting member 24, and the second bogie 22 and the third bogie 23 are connected by a connecting member 25. A pair of left and right wheels 26, 27, and 28 are attached to the bottom of each of the first bogie 21, the second bogie 22, and the third bogie 23. The wheel 26 of the first bogie 21 can be driven to rotate by a driving device (not shown). Furthermore, the wheel 26 of the first bogie 21 can be steered by a steering device (not shown). The traveling bogie 11 can travel on the floor surface G by steering and driving the wheel 26 of the first bogie 21 by remote control. Furthermore, a base portion 29 capable of supporting the isolation valve unit 120 is provided at the front of the traveling bogie 11. The base 29 is rotatably supported on the traveling carriage 11 by a support pin 29a along the Y direction, and the load can be detected by a load cell 29b.

[0029] The first bogie 21 has a first driving force transmission device 12 mounted on its upper part. The first driving force transmission device 12 is capable of transmitting driving force (rotational force) to the driving force input portion 144 of the clamp device 125. Four first driving force transmission devices 12 are provided for the four clamp devices 125. The first bogie 21 has second driving force transmission devices 13 mounted on both sides of the front part. The second driving force transmission devices 13 are capable of transmitting driving force (rotational force) to the driving force input portion 154 of the seating device 126. Two second driving force transmission devices 13 are provided for the two seating devices 126.

[0030] The traveling bogie 11 has a front portion on the side of the first bogie 21 and a rear portion on the side of the third bogie 23. The traveling bogie 11 moves along the horizontal direction X, and in Fig. 4, moving to the right is forward and moving to the left is backward. In the following explanation, the front side of the traveling bogie 11, the first bogie 21, is referred to as the front, and the rear side, the third bogie 23, is referred to as the rear.

[0031] <Configuration of the first driving force transmission device> FIG. 5 is a side view showing the first driving force transmission device of this embodiment, and FIG. 6 is a front view showing the first driving force transmission device.

[0032] As shown in FIGS. 5 and 6, the first driving force transmission device 12 includes a base 31, a first moving body 32, a first driving device 33, a first driving force transmission member , and a first socket .

[0033] The platform 31 is fixed to the top of the first carriage 21 (see FIG. 4) along the horizontal direction X. An air cylinder 41 is fixed to the top of the platform 31. The first moving body 32 is movable along the horizontal direction X by the air cylinder 41. The air cylinder 41 is a rodless cylinder, and the first moving body 32 is movably supported on a rail portion 41a. The air cylinder 41 is actuated by supplying and discharging air, and moves the first moving body 32 along the rail portion 41a, thereby allowing the first moving body 32 to move forward and backward. Note that the drive device that moves the first moving body 32 in the horizontal direction X is not limited to the air cylinder 41, and may be a hydraulic cylinder, a ball screw mechanism, a rack and pinion mechanism, or the like.

[0034] A moving table 42 is fixed to the upper part of the first moving body 32. The moving table 42 is long in the horizontal direction X, and flange portions 42a and 42b extending in the vertical direction Z are provided at the upper part with a gap in the horizontal direction X. The first driving device 33 is fixed to the rear part of the moving table 42 in the horizontal direction X. The first driving device 33 has an output shaft 43 that can be driven and rotated around an axis O2 parallel to the horizontal direction X. The first driving force transmission member 34 is a flexible shaft that has flexibility. The flexible shaft is composed of, for example, an inner shaft and an outer tube. The inner shaft is manufactured by winding several layers of wire around a single wire, and the number of wires, the number of wire layers, the wire diameter, material, and spacing between the wires are determined according to the transmission torque. The outer tube covers the outer periphery of the inner shaft.

[0035] The first driving force transmission member 34 is disposed along the axis O2, and its base end is coupled to the tip end of the output shaft 43 of the first driving device 33. The first driving force transmission member 34 penetrates through the flange portions 42a and 42b. The flange portion 42a functions as a bearing case that supports the axial load of the first driving force transmission member 34, and the flange portion 42b functions as a support that prevents radial movement of the first driving force transmission member 34. The first socket 35 is coupled to the tip end of the first driving force transmission member 34. The first socket 35 is engageable with and disengageable from the driving force input portion 144 (see FIG. 1) of the clamp device 125. In other words, the first driving device 33 can drive and rotate the first socket 35 via the first driving force transmission member 34 that is coupled to the output shaft 43.

[0036] Furthermore, since the first driving force transmission member 34, which is made of a flexible shaft, has flexibility, the tip end side to which the first socket 35 is connected tends to hang down. Therefore, the first driving force transmission device 12 has a biasing member 44 that biases the tip end side of the first driving force transmission member (flexible shaft) 34 upward in the vertical direction Z.

[0037] Furthermore, the first driving force transmission device 12 is provided with a lower support member 45 that supports a lower portion of the tip end side of the first driving force transmission member (flexible shaft) 34. The first driving force transmission device 12 is also provided with a support release mechanism 46 that releases support of the lower portion of the tip end side of the first driving force transmission member 34 by the lower support member 45 when the socket 35 engages with the driving force input portion 144, specifically when the socket starts to engage.

[0038] That is, a mounting member 51 is fixed to the front of the movable table 42 in the horizontal direction X, and a base end of a connecting rod 52 extending forward in the horizontal direction X is fixed to the mounting member 51. A rear ceiling panel 53 is fixed to the upper parts of the flange parts 42a, 42b of the movable table 42. A guide rail 54 is fixed to the upper part of the platform 31, forward of the air cylinder 41. The guide rail 54 is arranged along the horizontal direction X. A guide part 55a of the auxiliary movable body 55 is movably supported by a rail part 54a of the guide rail 54. Therefore, the auxiliary movable body 55 can move forward and backward along the guide rail 54.

[0039] An auxiliary table 56 is fixed to the upper part of the auxiliary moving body 55. A pair of vertical wall portions 57 is arranged on the upper part of the auxiliary table 56, and the auxiliary table 56 is supported so as to be movable along the X direction. A front ceiling plate 58 is fixed to the upper part of the pair of vertical wall portions 57. The pair of vertical wall portions 57 are located on both sides of the first driving force transmission member 34. The rear ceiling plate 53 and the front ceiling plate 58 are connected by a connecting member 59. An L-shaped support member 60 is fixed to the front ceiling plate 58. Meanwhile, the front end of the first driving force transmission member 34 penetrates a disc member 61. The first driving force transmission member 34 and the disc member 61 are rotatable relative to each other. A biasing member 44 is provided between the support member 60 and the disc member 61. The biasing member 44 is, for example, a tension coil spring, and has an upper end connected to the connecting portion 60a of the support member 60 and a lower end connected to the connecting portion 61a of the disk member 61.

[0040] Furthermore, the first driving force transmission member 34 has a support disk 62 fixed rearward of the disk member 61. The lower support member 45 is fixed to the front of the auxiliary table 56. The lower support member 45 has a semicircular ring shape and is provided with a semicircular support surface 45a on its inner periphery. The support surface 45a of the lower support member 45 can support the outer circumferential surface 62a of the support disk 62.

[0041] Furthermore, a support member 63 having a through-hole (not shown) at its rear is fixed to the auxiliary table 56. The connecting rod 52 extending from the movable table 42 is inserted into the through-hole of the support member 63. A compression coil spring 64 is wound around the outside of the connecting rod 52 and disposed between the mounting member 51 and the support member 63. The compression coil spring 64 is disposed between the first movable body 32 and the auxiliary movable body 55 and biases them in a direction separating them from each other, i.e., in a direction in which the auxiliary movable body 55 advances relative to the first movable body 32. Therefore, the lower support member 45 supported by the auxiliary movable body 55 is biased and supported in a direction in which it contacts the support disc 62. The support release mechanism 46 is composed of the connecting rod 52, the compression coil spring 64, the position limiting rod 65, etc. The base end of the position limiting rod 65 is fixed to the front of the auxiliary movable body 55, and the tip end extends forward along the horizontal direction X. The platform 31 is provided with a stopper 66 that restricts the retreat position of the auxiliary moving body 55.

[0042] Therefore, the support disk 62 on the tip side of the first driving force transmission member 34 is supported by the lower support member 45 of the auxiliary moving body 55, thereby preventing the first driving force transmission member 34 from sagging downward. When the first driving force transmission member 34 advances together with the first moving body 32 and the tip of the position limiting rod 65 abuts against the partition wall portion 121 (see FIG. 1 ) of the isolation valve unit 120, the advancement of the auxiliary moving body 55 is blocked. Then, the support disk 62 of the first driving force transmission member 34 advances relative to the lower support member 45, and support by the lower support member 45 is released. At this time, the compression coil spring 64 is crushed, thereby allowing relative movement between the first moving body 32 and the auxiliary moving body 55. Furthermore, the disk member 61 is supported by the biasing member 44, thereby preventing the first driving force transmission member 34 from sagging downward.

[0043] <First socket and first driving force input part> FIG. 7 is a cross-sectional view showing the relationship between the first socket and the first driving force input portion.

[0044] In the isolation valve unit 120 (see FIG. 1), a driving force input portion 144 of the clamp device 125 is provided on the surface 121b side of the partition wall portion 121. The driving force input portion 144 protrudes from the surface 121b in the horizontal direction X. The driving force input portion 144 has a hexagonal portion (locking portion) 144a and a tapered portion 144b. The hexagonal portion 144a has a regular hexagonal shape centered on the axis O2. The tapered portion 144b is provided integrally with the tip of the hexagonal portion 144a and has a tapered hexagonal shape.

[0045] The first socket 35 has a hexagonal hole (locking hole) 35a, an expanded diameter portion 35b, and a hollow portion 35c. The hexagonal hole 35a has a regular hexagonal shape centered on the axis O2. The expanded diameter portion 35b is integrally formed at the tip end of the hexagonal hole 35a and has a truncated conical shape whose inner diameter increases toward the tip. The hollow portion 35c is integrally formed at the base end of the hexagonal hole 35a and has a cylindrical shape with a diameter larger than that of the hexagonal hole 35a.

[0046] When the first socket 35 moves toward the driving force input portion 144 along the horizontal direction X, the first socket 35 can be locked by fitting its hexagonal hole 35a into the hexagonal portion 144a of the driving force input portion 144. At this time, if there is misalignment between the first socket 35 and the driving force input portion 144, the first driving force transmission member 34 bends, and the expanded diameter portion 35b of the first socket 35 is guided by the tapered portion 144b of the driving force input portion 144, allowing the hexagonal hole 35a to fit into the hexagonal portion 144a of the driving force input portion 144. When the first socket 35 is locked to the driving force input portion 144, the first socket 35 and the driving force input portion 144 can rotate together.

[0047] <Operation of the first driving force transmission device> FIG. 8 is a front view showing the first driving force transmission device in operation, and FIG. 9 is a schematic view showing the first socket and the first driving force input portion in an engaged state.

[0048] As shown in FIG. 5 , when the air cylinder 41 is actuated to move the first moving body 32 forward in the horizontal direction X, the first driving device 33, the first driving force transmission member 34, and the first socket 35 supported on the moving table 42 of the first moving body 32 also move forward in the same direction. At this time, the support member 60 connected to the moving table 42 via the connecting member 59 also moves forward, and the front end of the first driving force transmission member 34 remains supported by the biasing member 44. Furthermore, when the first moving body 32 moves forward, it presses the auxiliary moving body 55 forward via the compression coil spring 64, and the first moving body 32 and the auxiliary moving body 55 move forward together. Therefore, the support disc 62 is supported by the lower support member 45 of the auxiliary moving body 55, preventing the first driving force transmission member 34 from sagging downward.

[0049] 8, when the first drive unit 33, the first driving force transmission member 34, and the first socket 35 supported by the first mover 32 move forward, the tip of the position limiting rod 65 extending forward from the auxiliary mover 55 abuts against the partition wall 121 of the isolation valve unit 120. This prevents the auxiliary mover 55 from moving forward, and the first mover 32 continues to move forward. That is, the connecting rod 52 of the first mover 32 moves forward relative to the support member 63 of the auxiliary mover 55, whose forward movement has been stopped, and the compression coil spring 64 is compressed, allowing the first mover 32 to move forward. At this time, the first driving force transmission member 34 moves forward relative to the lower support member 45 fixed to the auxiliary mover 55, and the lower support of the first driving force transmission member 34 by the lower support member 45 via the support disc 62 is released. However, the first driving force transmission member 34 is prevented from sagging downward because the disk member 61 is supported by the biasing member 44.

[0050] Then, as the first movable body 32 moves further forward, the first socket 35 connected to the tip end of the first driving force transmission member 34 fits into and locks onto the driving force input portion 144. However, as shown in FIG. 9 , the axis O2 of the first socket 35 and the axis O21 of the driving force input portion 144 may be misaligned by a distance D1 in the radial direction of the first socket 35 and the driving force input portion 144. In this case, as shown in FIG. 7 , the expanded diameter portion 35b of the first socket 35 is guided by the tapered portion 144b of the driving force input portion 144, and the first driving force transmission member 34 is bent, so that the hexagonal hole 35a can fit into the hexagonal portion 144a of the driving force input portion 144. When the first drive unit 33 is driven while the first socket 35 is engaged with the drive force input portion 144, the drive force is transmitted to the drive force input portion 144 via the first drive force transmission member 34 and the first socket 35, and the drive force input portion 144 rotates, thereby operating the clamp device 125 (see Figure 1).

[0051] Although the case where the axis O2 of the first socket 35 and the axis O21 of the driving force input portion 144 are misaligned radially by the distance D1 has been described above, there may be an angular misalignment between the axis O2 of the first socket 35 and the axis O21 of the driving force input portion 144, or there may be a circumferential misalignment between them. Even in this case, the first driving force transmission member 34 bends to absorb the misalignment, allowing the first socket 35 to fit into the driving force input portion 144.

[0052] <Configuration of the second driving force transmission device> FIG. 10 is a side view showing the second driving force transmission device of this embodiment.

[0053] As shown in FIG. 10, the second driving force transmission device 13 includes a base 71, a second moving body 72, a second driving device 73, a second driving force transmission member 74, and a second socket 75.

[0054] The platform 71 is fixed to the front of the first carriage 21 (see FIG. 4) along the vertical direction Z. An air cylinder 81 is fixed to the side of the platform 71. The second moving body 72 is movable along the vertical direction Z by the air cylinder 81. The air cylinder 81 is a rodless cylinder, and the second moving body 72 is movably supported on a rail portion 81a. The air cylinder 81 is actuated by supplying and discharging air, and moves the second moving body 72 along the rail portion 81a, thereby allowing the second moving body 72 to move forward (down) and backward (up). Note that the drive device that moves the second moving body 72 in the vertical direction Z is not limited to the air cylinder 81, and may be a hydraulic cylinder, a ball screw mechanism, a rack and pinion mechanism, or the like.

[0055] A moving table 82 is fixed to the side of the second moving body 72. The moving table 82 is long in the vertical direction Z, and flange portions 82a and 82b extending along the horizontal direction X are provided at a distance in the vertical direction Z. The second driving device 73 is fixed to an upper portion of the moving table 82 in the vertical direction Z. The second driving device 73 has an output shaft 83 that can be driven and rotated about an axis O3 parallel to the vertical direction Z. The output shaft 83 of the second driving device 73 extends through the flange portions 82a and 82b. The second driving force transmission member 74 is a flexible coupling. The second driving force transmission member 74 is formed by two couplings 74a and 74b connected by a connecting member 74c. Note that the second driving force transmission member 74 is not limited to being formed by two couplings 74a and 74b, and may be formed by one coupling or three or more couplings.

[0056] The second driving force transmission member 74 is disposed along the axis O3, and its base end is connected to the tip end of the output shaft 83 of the second driving device 73. The second socket 75 is connected to the tip end of the second driving force transmission member 74. The second socket 75 is engageable with and disengageable from the driving force input portion 154 (see FIG. 1) of the seating device 126. In other words, the second driving device 73 can drive and rotate the second socket 75 via the second driving force transmission member 74 connected to the output shaft 83.

[0057] The second driving force transmission device 13 is also provided with a lifting device 84 that lifts the second moving body 72. The lifting device 84 has a cable 85 and a winding mechanism (not shown). One end of the cable 85 is connected to a connecting portion 85a, which is connected to a connecting bracket 82c fixed to the moving table 82. The other end of the cable 85 extends upward and is connected to a winding mechanism (e.g., a winch) mounted on the first carriage 21 (see FIG. 4). For example, the lifting device 84 is activated when the air cylinder 81 fails. That is, when the air cylinder 81 cannot lift the second moving body 72, the cable 85 is wound up by the winding mechanism, forcibly lifting the second moving body 72 and releasing the engagement between the second socket 75 and the driving force input portion 154.

[0058] <Second socket and second drive force input section> FIG. 11 is a cross-sectional view showing the relationship between the second socket and the second driving force input portion.

[0059] In the isolation valve unit 120 (see FIG. 1), a driving force input portion 154 of the seating device 126 is provided on the side of the partition wall portion 121. The driving force input portion 154 protrudes upward in the vertical direction Z from the driving force transmission portion 153. The driving force input portion 154 has a hexagonal portion (locking portion) 154a and a tapered portion 154b. The hexagonal portion 154a has a regular hexagonal shape centered on the axis O3. The tapered portion 154b is provided integrally with the tip of the hexagonal portion 154a and has a tapered hexagonal shape.

[0060] The second socket 75 has a main body portion 75a and a cylindrical portion 75b. The base end of the main body portion 75a is connected to the tip end of the second driving force transmission member 74, and the cylindrical portion 75b is connected to the tip end. The cylindrical portion 75b has a hexagonal hole (locking hole) 75c and an expanded diameter portion 75d. The hexagonal hole 75c has a regular hexagonal shape centered on the axis O3. The expanded diameter portion 75d is integrally formed at the tip end of the hexagonal hole 75c and has a truncated conical shape whose inner diameter increases toward the tip.

[0061] When the second socket 75 moves downward in the vertical direction Z toward the driving force input portion 154, the second socket 75 can be locked by fitting the hexagonal hole 75c into the hexagonal portion 154a of the driving force input portion 154. At this time, if there is misalignment between the second socket 75 and the driving force input portion 154, the second driving force transmission member 74 bends, and the expanded diameter portion 75d of the second socket 75 is guided by the tapered portion 154b of the driving force input portion 154, allowing the hexagonal hole 75c to fit into the hexagonal portion 154a of the driving force input portion 154. When the second socket 75 is locked to the driving force input portion 154, the second socket 75 and the driving force input portion 154 can rotate together.

[0062] <Operation of the second driving force transmission device> FIG. 12 is a schematic diagram showing a state in which the second socket and the second driving force input portion are engaged with each other.

[0063] 10, when the air cylinder 81 is actuated to lower the second moving body 72 in the vertical direction Z, the second driving device 73, the second driving force transmission member 74, and the second socket 75 supported on the moving table 82 of the second moving body 72 also descend in the same direction. When the second driving device 73, the second driving force transmission member 74, and the second socket 75 supported on the second moving body 72 move forward (downward), the second socket 75 connected to the tip of the second driving force transmission member 74 fits into and locks into the driving force input portion 154.

[0064] However, as shown in Fig. 12, the axis O3 of the second socket 75 and the axis O31 of the driving force input portion 154 may be misaligned by a distance D2 in the radial direction of the second socket 75 and the driving force input portion 154. In this case, as shown in Fig. 11, the expanded diameter portion 75d of the second socket 75 is guided by the tapered portion 154b of the driving force input portion 154, and the second driving force transmission member 74 is bent, so that the second socket 75 is misaligned by the distance D2, allowing the hexagonal hole 75c to fit into the hexagonal portion 154a of the driving force input portion 154. When the second drive device 73 is driven with the second socket 75 engaged with the driving force input portion 154, the driving force is transmitted to the driving force input portion 154 via the second driving force transmission member 74 and the second socket 75, causing the driving force input portion 154 to rotate, thereby operating the seating device 126 (see Fig. 1).

[0065] Although the case where the axis O3 of the second socket 75 and the axis O31 of the driving force input portion 154 are misaligned radially by a distance D2 has been described above, there may be an angular misalignment between the axis O3 of the second socket 75 and the axis O31 of the driving force input portion 154, or there may be a circumferential misalignment between them. Even in this case, the second driving force transmission member 74 bends to absorb the misalignment, allowing the second socket 75 to fit into the driving force input portion 154.

[0066] <How to attach and detach the isolation valve unit> 13 and 14 are flowcharts showing the method for attaching and detaching an isolation valve unit according to this embodiment. Fig. 13 shows the method by which the attachment / detachment device 10 removes and holds the isolation valve unit 120 attached to the frame 160, and Fig. 14 shows the method by which the isolation valve unit 120 held by the attachment / detachment device 10 is attached to the existing piping 100.

[0067] First, a method for the attachment / detachment device 10 to remove and hold the isolation valve unit 120 attached to the pedestal 160 will be described. As shown in FIG. 3, the isolation valve unit 120 is supported by the pedestal 160 at a predetermined position. At this time, the isolation valve unit 120 clamps the disk portion 163 of the pedestal 160 with the clamp device 125. As shown in FIG. 13, in step S11, the attachment / detachment device 10 for the isolation valve unit is moved to the isolation valve unit 120 supported by the pedestal 160. In step S12, the attachment / detachment device 10 is positioned so that it can hold the isolation valve unit 120. Then, in step S13, the attachment / detachment device 10 holds the isolation valve unit 120. At this time, the attachment / detachment device 10 supports the lower part of the isolation valve unit 120 with the base portion 29, as shown by the two-dot chain line in FIG. 4, and holds the upper part of the isolation valve unit 120 with a locking portion (not shown).

[0068] When the attachment / detachment device 10 holds the isolation valve unit 120, the position of the first socket 35 relative to the driving force input portion 144 of the clamp device 125 and the position of the second socket 75 relative to the driving force input portion 155 of the seating device 126 are determined. That is, as shown in FIG. 7, the driving force input portion 144 and the first socket 35 are approximately positioned on the axis O2, and as shown in FIG. 11, the driving force input portion 154 and the second socket 75 are approximately positioned on the axis O3. In step S14, the air cylinder 41 is extended to move the first movable body 32 forward. As a result, the first drive device 33, the first driving force transmission member 34, and the first socket 35 advance toward the driving force input portion 144.

[0069] In step S15, when the first socket 35 advances and reaches the driving force input portion 144, the first socket 35 engages with and locks into the driving force input portion 144. At this time, if the axial center of the first socket 35 and the axial center of the driving force input portion 144 are misaligned, the first driving force transmission member 34 bends to absorb the misalignment, and the first socket 35 engages with the driving force input portion 144. In step S16, with the first socket 35 engaged with the driving force input portion 144, the first drive device 33 is driven to reversely rotate the first socket 35 via the first driving force transmission member 34. Then, in step S17, the driving force input portion 144 rotates in the reverse direction together with the first socket 35, the rotational force is converted into driving force, and the clamp device 125 is activated. That is, in step S18, the clamp device 125 releases the clamp on the disc portion 163 of the base 160. Then, when the clamping of the disk portion 163 of the pedestal 160 by the clamping device 125 is released, the first driving device 33 is stopped to stop the reverse rotation of the first socket 35 in step S19.

[0070] In step S20, the air cylinder 81 is extended to lower the second movable body 72. This causes the second drive unit 73, the second driving force transmission member 74, and the second socket 75 to descend toward the driving force input portion 154. In step S21, when the second socket 75 descends and reaches the driving force input portion 154, the second socket 75 engages with and locks into the driving force input portion 154. If the axis of the second socket 75 is misaligned with the axis of the driving force input portion 154, the second driving force transmission member 74 bends to absorb the misalignment, and the second socket 75 engages with the driving force input portion 154. In step S22, with the second socket 75 engaged with the driving force input portion 154, the second drive unit 73 is driven to rotate the second socket 75 in the reverse direction via the second driving force transmission member 74. Then, in step S23, the driving force input portion 154 rotates in the reverse direction together with the second socket 75, the rotational force is converted into driving force, and the seating device 126 is actuated. That is, in step S24, the legs 152 of the seating device 126 rise, thereby releasing the isolation valve unit 120 from the base 160. Then, once the isolation valve unit 120 is released from its seat, in step S25, the second driving device 73 is stopped, thereby stopping the reverse rotation of the second socket 75.

[0071] When the isolation valve unit 120 is released from the stand 160, the attachment / detachment device 10 carries the isolation valve unit 120 and moves to the installation position. At this time, the first socket 35 of the first driving force transmission device 12 engages with the driving force input portion 144 of the clamp device 125, and the second socket 75 of the second driving force transmission device 13 engages with the driving force input portion 155 of the seating device 126.

[0072] Next, a method for attaching the isolation valve unit 120 held by the attachment / detachment device 10 to the existing piping 100 will be described. As shown in FIG. 14 , in step S31, the attachment / detachment device 10 loads the isolation valve unit 120, moves it to the installation position, and positions the isolation valve unit 120 at an attachment position to the flange portion 102 of the existing piping 100. In step S32, with the first socket 35 engaged with the driving force input portion 144, the first drive device 33 is driven to rotate the first socket 35 in the forward direction via the first driving force transmission member 34. Then, in step S33, the driving force input portion 144 rotates in the forward direction together with the first socket 35, the rotational force is converted into driving force, and the clamp device 125 is actuated. That is, in step S34, the clamp device 125 clamps the flange portion 102 of the existing piping 100, and the isolation valve unit 120 is attached to the existing piping 100. Then, when the clamp device 125 clamps the flange portion 102 of the existing pipe 100, the first drive device 33 is stopped to stop the forward rotation of the first socket 35 in step S35.

[0073] In step S36, with the second socket 75 engaged with the driving force input portion 154, the second drive device 73 is driven to rotate the second socket 75 in the forward direction via the second driving force transmission member 74. Then, in step S37, the driving force input portion 154 rotates in the forward direction together with the second socket 75, the rotational force is converted into driving force, and the seating device 126 is actuated. That is, in step S38, the legs 152 of the seating device 126 are placed on the floor surface G, thereby seating and supporting the isolation valve unit 120. Then, once the isolation valve unit 120 is seated, in step S39, the second drive device 73 is stopped to stop the forward rotation of the second socket 75.

[0074] Thereafter, in step S40, the air cylinder 41 is contracted to retract the first socket 35. Also, in step S41, the air cylinder 81 is contracted to lift the second socket 75. Then, in step S42, the isolation valve unit attachment / detachment device 10 is retracted and moves away from the isolation valve unit 120.

[0075] Next, a method will be described in which the isolation valve unit 120 attached to the existing piping 100 is removed and held by the attachment / detachment device 10, and the isolation valve unit 120 held by the attachment / detachment device 10 is attached to the stand 160. The method for removing the isolation valve unit 120 is almost the same as the method for attaching the isolation valve unit 120, except that the order of operation of the clamp device 125 and the seating device 126 is reversed, and the rotation directions of the sockets 35, 75 are reversed.

[0076] That is, the isolation valve unit installation / detachment device 10 is moved and positioned relative to the isolation valve unit 120 attached to the existing piping 100. At this time, the installation / detachment device 10 supports the lower part of the isolation valve unit 120 with the base portion 29 and holds the upper part of the isolation valve unit 120 with the locking portion. Then, the second socket 75 is lowered and locked into the driving force input portion 154. If the axis of the second socket 75 and the axis of the driving force input portion 154 are misaligned, the second driving force transmission member 74 bends to absorb the misalignment, and the second socket 75 fits into the driving force input portion 154. With the second socket 75 locked into the driving force input portion 154, the second drive device 73 is driven to rotate the second socket 75 in the reverse direction. This causes the driving force input portion 154 to rotate, converting the rotational force into driving force, and the seating device 126 is actuated. That is, the isolation valve unit 120 is unseated by the seating device 126 .

[0077] Next, the first socket 35 is advanced and engaged with the driving force input portion 144. At this time, if the axial center of the first socket 35 and the axial center of the driving force input portion 144 are misaligned, the first driving force transmission member 34 bends to absorb the misalignment, and the first socket 35 engages with the driving force input portion 144. With the first socket 35 engaged with the driving force input portion 144, the first drive device 33 is driven to rotate the first socket 35 in the reverse direction. This rotates the driving force input portion 144, converting the rotational force into driving force, and the clamp device 125 is activated. In other words, the clamp device 125 releases the clamping of the flange portion 102 of the existing piping 100. Note that when removing the isolation valve unit 120 from the existing piping 100, the seating device 126 is released before the clamp device 125 is released; however, the seating device 126 may be released after the clamp device 125 is released.

[0078] Thereafter, the air cylinder 41 is retracted to retract the first socket 35. Furthermore, the air cylinder 81 is retracted to lift the second socket 75. Then, the isolation valve unit attachment / detachment device 10 is retracted while holding the isolation valve unit 120, and moves away from the existing piping 100. Thereafter, the attachment / detachment device 10 moves to the pedestal 160 while holding the isolation valve unit 120, and attaches the isolation valve unit 120 to the pedestal 160. The operation of attaching the isolation valve unit 120 held by the attachment / detachment device 10 to the pedestal 160 is the reverse of the operation of removing the isolation valve unit 120 held by the attachment / detachment device 10 from the pedestal 160, and is similar to the operation of attaching the isolation valve unit 120 held by the attachment / detachment device 10 to the existing piping 100.

[0079] [Effects of this embodiment] The driving force transmission device of the first aspect comprises a base 31, 71, a movable body 32, 72 supported on the base 31, 71 so as to be freely movable along the axis O2, O3, a driving unit 33, 73 supported on the movable body 32, 72 and having an output shaft 43, 83 that can be driven and rotated around the axis O2, O3, a driving force transmission member 34, 74 that is flexible and arranged on the movable body 32, 72 along the axis O2, O3 and has a base end connected to the output shaft 43, 83, and a socket 35, 75 connected to the tip of the driving force transmission member 34, 74 and can be freely engaged with and disengaged from a clamp device 125 as a movable part and a driving force input portion 144, 154 of a seating device 126.

[0080] In the driving force transmission device according to the first aspect, moving the movable body 32, 72 moves the socket 35, 75 via the driving force transmission member 34, 74, and the socket 35, 75 can be engaged with the driving force input portion 144, 154 of the clamp device 125 and the seating device 126. At this time, even if there is a positional misalignment between the socket 35, 75 and the driving force input portion 144, 154, the driving force transmission member 34, 74 bends to absorb the misalignment, and the socket 35, 75 can be appropriately engaged with the driving force input portion 144, 154. As a result, highly accurate positioning of the socket 35, 75 relative to the driving force input portion 144, 154 is not required, improving workability.

[0081] The driving force transmission device according to the second aspect is the driving force transmission device according to the first aspect, and further includes a hexagonal hole (locking hole) 35a, 75c that can be locked onto and rotate integrally with the driving force input portion 144, 154, and an expanded diameter portion 35b, 75d that is provided on the distal end side of the hexagonal hole 35a, 75c. As a result, even if there is a misalignment between the socket 35, 75 and the driving force input portion 144, 154, the expanded diameter portion 35b, 75d acts as a guide surface to guide the socket 35, 75 into the driving force input portion 144, 154, and the socket 35, 75 can be properly fitted to the driving force input portion 144, 154.

[0082] The driving force transmission device according to the third aspect is the driving force transmission device according to the first or second aspect, further characterized in that the direction of the axis O2 is the horizontal direction X, and the driving force transmission member 34 is a flexible shaft. As a result, since the flexible shaft is lightweight, when it is arranged in the horizontal direction X, the amount of deformation can be suppressed.

[0083] The driving force transmission device according to the fourth aspect is the driving force transmission device according to the third aspect, further comprising a biasing member 44 that biases the tip end side of the driving force transmission member (flexible shaft) 34 upward in the vertical direction Z. As a result, the biasing member 44 biases the tip end of the driving force transmission member (flexible shaft) 34 upward, thereby making it possible to prevent the tip end of the driving force transmission member (flexible shaft) 34 from sagging.

[0084] The driving force transmission device according to the fifth aspect is the driving force transmission device according to the third or fourth aspect, further comprising a lower support member 45 that supports a lower portion of the tip end side of the driving force transmission member (flexible shaft) 34. As a result, the lower support member 45 supports the lower portion of the tip end of the driving force transmission member (flexible shaft) 34, thereby making it possible to prevent the tip end of the driving force transmission member (flexible shaft) 34 from sagging.

[0085] A driving force transmission device according to a sixth aspect is the driving force transmission device according to the fifth aspect, further comprising a support release mechanism 46 that releases support of the lower part of the tip end side of the driving force transmission member (flexible shaft) 34 by the lower support member 45 when the first socket 35 engages with the driving force input portion 144. As a result, when the first socket 35 engages with the driving force input portion 144, the constraint on the tip end side of the driving force transmission member (flexible shaft) 34 by the lower support member 45 is released, and the driving force transmission member (flexible shaft) 34 can bend appropriately according to the position of the driving force input portion 144.

[0086] The driving force transmission device according to the seventh aspect is the driving force transmission device according to the first or second aspect, further characterized in that the direction of the axis O3 is the vertical direction Z, and the driving force transmission member 74 is a coupling. As a result, the coupling allows for misalignment between the second socket 75 and the driving force input portion 155, and allows the second socket 75 to be properly engaged with the driving force input portion 155.

[0087] A driving force transmission device according to an eighth aspect is the driving force transmission device according to the seventh aspect, and further includes a lifting device 84 that lifts the second moving body 72 to release the engagement between the second socket and the driving force input portion 154. As a result, even if the second moving body 72 cannot be lifted, the second moving body 72 can be lifted by the lifting device 84, thereby appropriately releasing the engagement between the second socket and the driving force input portion 154.

[0088] The isolation valve unit installation / removal device according to the ninth aspect includes a traveling carriage 11 and driving force transmission devices 12, 13 mounted on the traveling carriage 11. This allows the driving force transmission devices 12, 13 to appropriately transmit driving force to the clamp device 125 and the seating device 126, improving the workability of installing and removing the isolation valve unit 120 to and from the existing piping 100.

[0089] A method for attaching and detaching an isolation valve unit according to the tenth aspect includes the steps of advancing a first socket 35 connected to a tip end of a flexible first driving force transmission member 34 toward a driving force input portion (first driving force input portion) 144 of a clamp device 125, bending the first driving force transmission member 34 so that the first socket 35 engages with the driving force input portion 144, and rotating the first socket 35 via the first driving force transmission member 34 to operate the clamp device 125 via the driving force input portion 144, thereby clamping the flange portion 102 of the existing piping 100. This allows the driving force transmission device 12 to appropriately transmit driving force to the clamp device 125, improving the workability of attaching the isolation valve unit 120 to the existing piping 100.

[0090] The method for attaching and detaching an isolation valve unit according to the eleventh aspect is the method for attaching and detaching an isolation valve unit according to the tenth aspect, and further includes the steps of advancing a second socket 75 connected to a tip end of a flexible second driving force transmission member 74 toward a driving force input portion (second driving force input portion) 154 of the seating device 126, bending the second driving force transmission member 74 so that the second socket 75 engages with the driving force input portion 154, and rotating the second socket 75 via the second driving force transmission member 74 to operate the seating device 126 via the driving force input portion 154, thereby supporting the isolation valve unit 120 on the floor surface G. This allows the driving force transmission device to appropriately transmit driving force to the seating device 126, improving the workability of installing the isolation valve unit 120 to the existing piping 100.

[0091] The isolation valve unit installation and removal method according to the twelfth aspect is the isolation valve unit installation and removal method according to the eleventh aspect, and further includes the steps of: rotating the second socket 75 in the reverse direction via the second driving force transmission member 74 to actuate the seating device 126 via the driving force input portion 154, thereby releasing support of the isolation valve unit 120 from the floor surface G; rotating the first socket 35 in the reverse direction via the first driving force transmission member 34 to actuate the clamping device 125 via the driving force input portion 144, thereby releasing the clamp on the flange portion 102 of the existing piping 100; and retracting the first socket 35 from the driving force input portion 144 and retracting the second socket 75 from the driving force input portion 154. This allows the driving force transmission devices 12 and 13 to appropriately transmit driving force to the clamping device 125 and the seating device 126, thereby improving the workability of removing the isolation valve unit 120 from the existing piping 100.

[0092] In the above-described embodiment, the driving force transmission member 34 extending along the horizontal direction X is a flexible shaft, and the driving force transmission member 74 extending along the vertical direction Z is a coupling. However, this configuration is not limited to this. For example, the driving force transmission member 34 extending along the horizontal direction X may be a coupling, and the driving force transmission member 74 extending along the vertical direction Z may be a flexible shaft. Furthermore, the driving force transmission member may be something other than a flexible shaft or a coupling, as long as it has flexibility.

[0093] In the above-described embodiment, the existing piping 100 and the pedestal 160 are used as the attachment target. That is, the isolation valve unit 120 can be clamped to and seated on the existing piping 100 and the pedestal 160. Therefore, the attachment / detachment device 10 can move while holding the isolation valve unit 120, and can clamp and seat the isolation valve unit 120 by operating the clamping device 125 and the seating device 126 on the existing piping 100 and the pedestal 160. The attachment / detachment device 10 then releases the clamping and seating of the isolation valve unit 120 from the pedestal 160, and moves with the first driving force transmission device 12 connected to the clamping device 125 and the second driving force transmission device 13 still connected to the seating device 126, thereby clamping and seating the isolation valve unit 120 to the existing piping 100. In this case, if the isolation valve unit 120 is mounted on the attachment / detachment device 10 by another device, the attachment / detachment device 10 may be moved to the existing piping 100, and then the connection work between the first driving force transmission device 12 and the clamping device 125 and the connection work between the second driving force transmission device 13 and the seating device 126 may be performed.

[0094] In the above-described embodiment, the clamp device 125 and the seating device 126 are used as the movable part, but other configurations may also be used. [Explanation of symbols]

[0095] 10. Isolation valve unit attachment / detachment device 11 Traveling cart 12 First driving force transmission device 13 Second driving force transmission device 21 First bogie 22 Second bogie 23 Third bogie 24,25 Connecting member 26,27,28 wheels 31 Mounting stand 32 First Mobile Unit 33 First Drive Unit 34 First driving force transmission member 35 1st Socket 35a Hexagonal hole (locking hole) 35b Expanded diameter part 41 Air cylinder 42 Mobile Table 43 Output shaft 44 biasing member 45 Lower support member 46 Support release mechanism 52 Connecting rod 55 Auxiliary Mobile Unit 56 Auxiliary Table 60 Support member 61 Disc member 62 Support disc 63 Support member 64 Compression coil spring 65 Position control rod 71 Mounting stand 72 Second Mobile Unit 73 Second Drive Unit 74 second driving force transmission member 75 Second Socket 75c Hexagonal hole (locking hole) 75d Expanded section 81 Air cylinder 82 Mobile Table 83 Output shaft 84 Lifting device 100 Existing piping 120 Isolation Valve Unit 121 Bulkhead section 122 Isolation valve 123 First piping section 124 Second piping section 125 Clamping device (moving part) 126 Seating device (movable part) 141 Drive unit 142 Clamp Claw 143 Driving force transmission section 144 driving force input unit (first driving force input unit) 144a Hexagonal part (locking part) 144b Tapered section 151 Drive unit 152 Legs 153 Driving force transmission section 154 driving force input unit (second driving force input unit) 154a Hexagonal part (locking part) 154b Tapered section 160 Mounting stand

Claims

1. 1. A driving force transmission device for transmitting driving force to a movable part of an isolation valve unit attached to an attachment object, comprising: A stand and a movable body supported on the mount so as to be movable along an axial direction; a drive unit having an output shaft supported by the movable body and rotatable about the axis; a driving force transmission member that is flexible, is disposed on the movable body along the axial direction, and has a base end connected to the output shaft; a socket connected to a tip end of the driving force transmission member and detachably engageable with a driving force input portion of the movable portion; A driving force transmission device comprising:

2. the socket has a locking hole that can be locked to the driving force input portion and rotate integrally with the driving force input portion, and an expanded diameter portion that is provided on the distal end side of the locking hole. The driving force transmission device according to claim 1 .

3. The axial direction is a horizontal direction, and the driving force transmission member is a flexible shaft.

3. The driving force transmission device according to claim 1 or 2.

4. a biasing member that biases the tip end side of the flexible shaft upward in the vertical direction; The driving force transmission device according to claim 3 .

5. a support member is provided to support a lower portion of the tip end side of the flexible shaft; The driving force transmission device according to claim 3 .

6. a support release mechanism is provided that releases support of a lower portion of the tip end side of the flexible shaft by the support member when the socket is engaged with the driving force input portion; The driving force transmission device according to claim 5 .

7. the axial direction is a vertical direction, and the driving force transmission member is a coupling.

3. The driving force transmission device according to claim 1 or 2.

8. a lifting device is provided that lifts the movable body to release the engagement between the socket and the driving force input portion; The driving force transmission device according to claim 7.

9. A traveling carriage, The driving force transmission device according to claim 1, which is mounted on the traveling carriage; An isolation valve unit attachment / detachment device comprising:

10. A method for attaching and detaching an isolation valve unit having a clamping device to an object, comprising: advancing a first socket coupled to a distal end of a flexible first driving force transmission member toward a first driving force input portion of the clamp device; a step of engaging the first socket with the first drive force input portion by bending the first drive force transmission member; a step of rotating the first socket via the first driving force transmission member and operating the clamp device via the first driving force input portion to clamp the attachment object; A method for attaching and detaching an isolation valve unit having the above structure.

11. the isolation valve unit has a seating device; advancing a second socket connected to a distal end of a flexible second driving force transmission member toward a second driving force input portion of the seating device; a step of bending the second driving force transmission member to engage the second socket with the second driving force input portion; rotating the second socket via the second driving force transmission member to actuate the seating device via the second driving force input portion, thereby supporting the isolation valve unit on a floor surface; The method for installing and removing an isolation valve unit according to claim 10, further comprising:

12. reversely rotating the second socket via the second driving force transmission member to actuate the seating device via the second driving force input portion, thereby releasing the isolation valve unit from support on the floor surface; a step of rotating the first socket in a reverse direction via the first driving force transmission member to operate the clamping device via the first driving force input portion, thereby releasing the clamping of the attachment object; retracting the first socket from the first driving force input portion and retracting the second socket from the second driving force input portion; The method for installing and removing an isolation valve unit according to claim 11, further comprising:

Images