EP0195454A2 - In der Wasserkammer eines Wärmetauschers verwendeter arbeitender Roboter - Google Patents

In der Wasserkammer eines Wärmetauschers verwendeter arbeitender Roboter Download PDF

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Publication number
EP0195454A2
EP0195454A2 EP86103863A EP86103863A EP0195454A2 EP 0195454 A2 EP0195454 A2 EP 0195454A2 EP 86103863 A EP86103863 A EP 86103863A EP 86103863 A EP86103863 A EP 86103863A EP 0195454 A2 EP0195454 A2 EP 0195454A2
Authority
EP
European Patent Office
Prior art keywords
heat transfer
heat exchanger
working robot
support
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP86103863A
Other languages
English (en)
French (fr)
Other versions
EP0195454B1 (de
EP0195454A3 (en
Inventor
Yasuo Fujitani
Katsumoto Otake
Yoshikuni Ohshima
Shigeru Izumi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Publication of EP0195454A2 publication Critical patent/EP0195454A2/de
Publication of EP0195454A3 publication Critical patent/EP0195454A3/en
Application granted granted Critical
Publication of EP0195454B1 publication Critical patent/EP0195454B1/de
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet

Definitions

  • the present invention relates to a device for transferring and holding a working robot which effects the inspection, maintenance or washing and the like, of heat transfer tubes on the surface of a tube plate within the water chamber of the heat exchanger.
  • an eddy current test automatization device intended for use with steam generators, which can be shifted in the directions of X and Y by the use of a guiding shaft along with holding the device utilizing an expandable band at the end of a tap shaft fed into the heat transfer tube.
  • An object of the present invention is to provide a working robot which can be transferred on the surface of a tube plate in a case where the tubes are arrayed in a staggered fashion so that the robot may effect a variety of tasks.
  • the feature of the present invention resides in the fact that, in the case of the tubes being arranged in a staggered fashion, heat transfer tubes are arrayed on the tube plate generally along the inclined axis so that the transfer axis of a working robot are set in at least three directions (horizontal or vertical axis, and directions offset therefrom by 60 and 120°) to rationalize the manner of transfer of the robot on the tube plate and simplify the transfer device.
  • the present invention utilizes the holes for supporting the robot instead of using the portion between the holes (2) aforementioned.
  • the device for transferring and holding a robot comprises a body of the working robot which rotatably holds an arm for holding the working device, a unit for supporting the body which is provided on said body, a transfer rail for guiding the movement of said body and a unit for supporting said rail, said rail being composed of at least three sets of members and a plurality of support shafts, which are inserted into the inner surface of heat tubes such as to fixedly abut against said inner surface, said plurality of support shafts being mounted (in the direction of center of axis) on said unit for supporting the body and the unit for supporting the rail.
  • Fig. 3 shows a construction of the subject device and peripheral units thereof working within the condenser of a power plant, the working robot being transferred along the surface of tube plate 4 positioned within the water chamber 3 of the condenser which is connected to the condenser body 2 under the control of a control-operational unit 6 through the medium of a control cable.
  • a working device 7 retained at the end of the working arm is connected by the working cable 9 to an operation control-recording unit 8 under the control of which it effects the work while the robot is being transferred and the results of operation are recorded on the control-recording device 8.
  • the robot 1 is carried via a manhole in the side of the water chamber into the interior thereof.
  • Figs. 1, 4 and 5 show overall constructions of robot 1, Fig. 1 being an elevational view of robot 1 seen from the side of the water chamber, Fig. 4 being a cross sectional view taken along the line VI-VI of Fig. 1 and Fig. 5 being a cross sectional view taken along the line V-V of Fig. 4.
  • the body of robot 1 comprises a drive unit 12 for driving the body support unit 12, drive units 13A, 13B, 13C and 13D for driving rails 1, a drive unit 14 for driving the working arm, a rotatable telescopic working arm 16 having a handle 15 (Fig. 1) for holding the working device at the end thereof, which is driven by said drive unit 14.
  • the drive unit 13 for driving rails is intended for driving rails 17A, 17B, 17C and 17D (Fig. 1).
  • each of the rails are positioned on transfer axes A, 18A which coincide with the horizontal axis of tube plate 14 as well as on transfer axes B and 18B, C and 18C, and D and 18D inclined by 60°, 120° and 90° relative to the shaft A.
  • rails 17A, 17B, 17C and 17 D are mounted on each of the rail support units A, 19A, 19 B , C, 19C, D, 19D at both ends thereof.
  • the positional relation between the body 11 and each rail 17, as seen in Fig. 5 can be varied by actuating an actuator 20 located within the interior of rail drive unit 13B.
  • actuator 20 located within the interior of rail drive unit 13B.
  • Rail drive units 13A, 13C and 13D Support rods 21 and 22 are each mounted parallel to the longitudinal axis of heat transfer tube 25 located on the surface of tube plate 4 within the interior of drive unit 12 (Fig. 4) and drive unit 19 so that by the actuation of actuators 23 and 24 they can be freely fed into and drawn out and from the interior of tube 25.
  • Fig. 6 shows a rear view of working robot 1 as shown in Fig. 1, illustrating the location of working rods 21 and 22.
  • a plurality of supporting rods is disposed such as to securely hold the body 11 of the working robot and rail 17.
  • the location of supporting rods 21, and 22 will depend upon the arrangement of tubes located on the tube plate, Fig. 7 showing an example of the arrangement thereof.
  • Fig. 7 is an explanatory view of the arrangement of supporting rods on the mesh 26 of a tube plate in which tubes are arranged.
  • Circles 21A and 22B marked on the mesh 26 each denote the positions where supporting rods 21, and 22 are disposed.
  • the drive unit 12 for driving the body support device and the drive unit 19 for driving the rail support device may be provided which coincide with each pitch of arrangement of tubes to apply this robot 1 to a variety of heat exchangers.
  • Figs. 8 to 10 show enlarged views of a device and mechanism for holding the working robot 1, especially of the drive unit for driving the rail support device.
  • Figs. 8A, 9B and 10B represent side elevational views respectively of Fig. 8A, 9A and 10A.
  • the holding device comprises the drive unit for driving the rail support device, the support rod 22, an air bag pad 31, an air pipe 32, and a flange as a stopper, the holding action being effected in accordance with the following steps.
  • Step 1 make the central axes of support rod 22 and the heat tranfer tubes 25 on the tube plate coincide with each other.
  • Step 2 the air is fed via the air pipe 32 into the air bag pad to expand the pad until it contacts the inner surface of heat transfer tube 25, thus generating holding force.
  • the present holding mechanism is completely identical to that of the drive unit for driving the body support device.
  • Figs. 11 to 13 show the mechanism for moving a working robot.
  • the robot is held by the rail holding mechanism and the body of robot 11 is positioned at the lower end of rail 17.
  • Step 1 the body 11 of the robot is moved to the upper end of rail 17 by actuating the actuator of the rail drive unit 13.
  • Step 2 after aligning the support rod 21 with the central axis of the heat tube, the rod 21 is fed into the interior of heat transfer tubes so that the body 11 of the robot may be supported by said body holding mechanism. Thereafter, the rail support mechanism is released to draw out the support rod 22 from the interior of heat transfer tubes and, by actuating the actuator of the rail drive unit, to move the rail 17 upwardly.
  • Step 3 after aligning the support rod 22 with the central axis of the heat transfer tube, the rod 22 is fed into the interior of the heat transfer tube to allow the rail 17 to be need by the rail holding mechanism. Thereafter the robot body holding mechanism is released to draw out the support rod 21 from the interior of the heat tube.
  • step 3 At the end of step 3 the condition in which the working robot 1 is held is restored to the one mentioned in step 1, the working robot 1 being moved upwardly by the repetition of similar actions.
  • Fig. 14 shows the method of producing a part of transfer route 41 on the surface of tube plate 4 of robot 1, taking the condenser used for the power plant by way of example.
  • a hand for holding the working device of robot 1 has degrees of freedom 3 and 1 respectively in the rectilinear direction of travel of three rails 17 and in the direction in which working arm 16 is extended. Consequently, it is clear that the holding hand 16 can reach every coordinate 2 (r, 6) positioned on the surface of the tube plate. Furthermore, the holding handle 16, in addition to travelling along axes X and Y, can implement the work on the tube plate along the extremely simple and efficient transfer route 41 shown in this Figure since a transfer axis is used which especially suits the tube arrangement.
  • This transfer route may be decided such that, by drawing a circle 42 which corresponds to the central radius of the hand, a terminal end of each travel path constituting the travel route being taken as a center, graphics obtained by enveloping these circles may envelope all heat transfer tubes.
  • Figs. 15 and 16 show flow charts for the travelling and operation of a working robot according to the present embodiment, each block being described in greater detail as follows:
  • the working robot is mounted on the surface of tube plate 4 as well as mounting position being inputted as the initial value in the control and operational unit.
  • the transfer route as shown in Fig. 14 is calculated by the control unit.
  • data is prepared as to the travel path (minor transfer route of the same transfer axis) constituting the transfer route and the travel step forming the travel path (travel action for moving the rail) for the purpose of enabling the subsequent control of the robot.
  • the transfer of the robot along the rail; the robot transfer action is implemented for moving the rail.
  • Heat transfer tubes are picked up which can be covered by the robot body being moved on the rail.
  • the working robot used within the water chamber of a heat exchanger can be contructed with an extremely simple mechanism which needs a reduced degree of freedom of movement and which is econimical as well.
  • Figs. 17A to 19 show further embodiments according to the present invention which, as compared with the ones shown in Figs. 8A to 10B, differ in the holding mechanisms used for holding the robot body and rail.
  • Fig. 17A shows an enlarged view of the drive unit 19 for driving the rail holding unit and Fig. 17B shows a side profile thereof.
  • Fig. 17 differs from the embodiment shown in Fig. 8 in that a pad 51 is provided at the end of the rod comprising hard rubber, or the like whose outer diameter is smaller than the inner diameter of heat transfer tube 25.
  • Fig. 18 is an explanatory view illustrating schematically the front view of the drive unit for driving the rail support unit wherein the support rod 22 can be moved not only in the perpendicular direction (in the longitudinal direction of the axis of the heat transfer tube) relative to the surface of a tube plate, but also parallel to the tube plate, i.e., in the direction in which the distance between support rods 22 and 22 can be increased or decreased.
  • the holding mechanism according to the present embodiment differs in the aforementioned step 3 from the embodiment shown previously.
  • step 3 the support rod 22, as shown in Fig. 19, is moved horizontally, as shown by a pair of arrows in Fig.
  • This holding mechanism is also the same as the one for the drive unit 12 for driving the body support unit.
  • the working robot 1 can be used on a variety of surfaces of tube plates having different pitch arrangements without replacing the drive unit 19 for driving the rail support unit 1 and the drive unit 12 for driving the body support unit.
  • Figs. 20 to 23 show further embodiments according to the present invention, which differ from those described previously in the holding mechanisms for holding the robot body and the rail.
  • Fig. 20 is an enlarged view of the drive unit 19 for driving the rail support unit, which differs from Figs. 8 and 17 in that a pad comprising a holding band 61 and a band stiffener 62 is provided at the end of a rod. Moreover, an air pipe 63 and the electric cable 64 are connected to said pad.
  • the holding band is made of a plurality of configuration memorizing alloys which are formed at a high temperature in such a form as that shown in Fig. 21, the surface S being contructed in a columnar form.
  • Fig. 22 shows a cross sectional view of a pad under ordinary temperature conditions within which is provided a coiled spring 65, the band stiffener 62A being slidable relative to the support rod 22 and the stiffener 62B being fixed.
  • the holding band extends under the action of coiled spring 65 in the axial direction of support rod 22 so that the outer diameter thereof becomes smaller than the inner diameter of heat transfer tube 25.
  • F ig. 23 shows such a condition in which the holding pad 61 is supplied with current and heated by the electric cable 64.
  • the holding band 61 heated to a high temperature by current heating compresses the coiled spring 65 by the action of the configuration memorizing alloy so that it may assume a form as shown in Fig. 21, the outer diameter thereof being increased as shown in Fig. 23.
  • the air pipe 63 connected to the pad is intended for cooling the holding band and, after the supply of current has been stopped, feeds the cooling air and the band is restored in a short time to the condition shown in Fig. 22.
  • the holding mechanism according to the present embodiment differs from the aforementioned example in Step 3. (In Steps 1 and 2 the pad assumes the condition shown in Fig. 22 so that it can be fed into the interior of a heat tube); in Step 3 by feeding the current via the electric cable 64 to heat the pad, the latter is expanded as shown in Fig. 23 such as to be pressed forcibly against the interior of heat transfer tube 25. The air flows out via the air pipe 63 after the current is stopped such as to release the holding action and after the pad has been restored to the situation shown in Fig. 22, the support rod 22 is drawn out from the inner surface of heat conduction tube 25.
  • the holding mechanism according to the present embodiment is identical with that of the drive unit 12 for driving the body support device.
  • Fig. 24 shows an embodiment of the telescopic mechanism of the working arm 16, the shaft of arm 66 being slidably inserted into the tubular body 67 and threadably connected with the drive shaft 68.
  • the cross sectional configurations of the arm shaft 66 and the tubular body 67 are, for example, equilateral polygons which can not be rotated relative each other.
  • the drive shaft 68 is rotated by the drive motor 69 so that the working arm 16 will be telescoped due to the threadable connection with the arm shaft 66.
  • Fig. 25 shows a further embodiment of a telescopic mechanism of the working arm 16 wherein the arm shaft 66 positioned within the air cylinder 70 is driven pneumatically so that it is easily telescoped. Arrows show the direction in which the air flows in and is discharged.
  • Figs. 26 and 27 show further embodiments of a working robot, which differ from the one shown in Fig. 1 in that they comprise three sets of rail drive units 13A, 13B and 13C and rails 17A, 17B and 17C and rail support units 19A, 19B and 19C, respectively.
  • each rail is disposed on the axis A, 18A which coincides with the horizontal axis (the vertical axis depending on the tube array) and on the axis B, and 18 B and C and 18C which are inclined 60° and 120° relative to said axis A.
  • the working arm 16 provided with the hand 15 for holding the working unit may be non-telescopic.
  • the holding mechanism according to the present embodiment may be chosen from a variety of holding mechanisms as preciously described referring to Figs. 8A to 10B, 17A to 19 and 20 to 23.
  • the travelling mechanism of the working robot according to the present embodiment is identical with those described referring to Figs. 11 to 13.
  • the present invention makes it possible to provide a travelling and holding unit suitable for use in a working robot, which travels on the surface of a tube plate wherein tubes are arrayed in a staggered fashion within the water chamber of a heat exchanger, and provides the following advantages;

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
EP19860103863 1985-03-22 1986-03-21 In der Wasserkammer eines Wärmetauschers verwendeter arbeitender Roboter Expired EP0195454B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP56171/85 1985-03-22
JP60056171A JPH086894B2 (ja) 1985-03-22 1985-03-22 熱交換器水室内作業ロボツトの移動・保持装置

Publications (3)

Publication Number Publication Date
EP0195454A2 true EP0195454A2 (de) 1986-09-24
EP0195454A3 EP0195454A3 (en) 1987-06-16
EP0195454B1 EP0195454B1 (de) 1991-01-16

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ID=13019651

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19860103863 Expired EP0195454B1 (de) 1985-03-22 1986-03-21 In der Wasserkammer eines Wärmetauschers verwendeter arbeitender Roboter

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EP (1) EP0195454B1 (de)
JP (1) JPH086894B2 (de)
DE (1) DE3676840D1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340741A1 (de) * 1992-12-01 1994-06-09 Ken Yanagisawa Wanderroboter
DE19545724C1 (de) * 1995-12-07 1997-01-30 Howaldtswerke Deutsche Werft Geräteträger
EP2525368A1 (de) * 2010-01-15 2012-11-21 Mitsubishi Heavy Industries, Ltd. Arbeitsvorrichtung in einer wasserkammer und arbeitsverfahren in einer wasserkammer
US20160176685A1 (en) * 2009-01-19 2016-06-23 Bwxt Nuclear Energy, Inc. Apparatus for automated positioning of eddy current test probe
CN114905529A (zh) * 2022-06-06 2022-08-16 商丘职业技术学院 一种多功能送水机器人控制系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2892406B2 (ja) * 1989-12-28 1999-05-17 株式会社日立製作所 熱交換器内作業ロボットの移動制御方法
CN106314586B (zh) * 2016-10-22 2018-09-18 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 一种智能中草药采集机器人
CN109649095B (zh) * 2018-12-17 2021-10-01 上海交通大学 一种仿生鳄鱼两栖机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform
US3984008A (en) * 1974-07-15 1976-10-05 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for automatizing flaw detection
CA1014724A (en) * 1975-03-11 1977-08-02 Peter D. Stevens-Guille Locating test probes in heat exchanger tubes
EP0014616A1 (de) * 1979-02-05 1980-08-20 INTERCONTROLE Société dite: Verfahren und Vorrichtung zum Herausnehmen und Wiedereinsetzen eines Sondenträgers, der in einer unteren Kammer eines Durchlaufrohre aufweisenden Wärmetauschers angeordnet ist

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6057542B2 (ja) * 1977-09-06 1985-12-16 三菱重工業株式会社 自動作業装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform
US3984008A (en) * 1974-07-15 1976-10-05 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for automatizing flaw detection
CA1014724A (en) * 1975-03-11 1977-08-02 Peter D. Stevens-Guille Locating test probes in heat exchanger tubes
EP0014616A1 (de) * 1979-02-05 1980-08-20 INTERCONTROLE Société dite: Verfahren und Vorrichtung zum Herausnehmen und Wiedereinsetzen eines Sondenträgers, der in einer unteren Kammer eines Durchlaufrohre aufweisenden Wärmetauschers angeordnet ist

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340741A1 (de) * 1992-12-01 1994-06-09 Ken Yanagisawa Wanderroboter
DE19545724C1 (de) * 1995-12-07 1997-01-30 Howaldtswerke Deutsche Werft Geräteträger
US20160176685A1 (en) * 2009-01-19 2016-06-23 Bwxt Nuclear Energy, Inc. Apparatus for automated positioning of eddy current test probe
EP2525368A1 (de) * 2010-01-15 2012-11-21 Mitsubishi Heavy Industries, Ltd. Arbeitsvorrichtung in einer wasserkammer und arbeitsverfahren in einer wasserkammer
EP2525368A4 (de) * 2010-01-15 2014-01-01 Mitsubishi Heavy Ind Ltd Arbeitsvorrichtung in einer wasserkammer und arbeitsverfahren in einer wasserkammer
US9341366B2 (en) 2010-01-15 2016-05-17 Mitsubishi Heavy Industries, Ltd. Water-chamber working apparatus and water-chamber working method
CN114905529A (zh) * 2022-06-06 2022-08-16 商丘职业技术学院 一种多功能送水机器人控制系统

Also Published As

Publication number Publication date
DE3676840D1 (de) 1991-02-21
EP0195454B1 (de) 1991-01-16
EP0195454A3 (en) 1987-06-16
JPS61217603A (ja) 1986-09-27
JPH086894B2 (ja) 1996-01-29

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