JP2003053288A - Thin tube maintenance and inspection apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a thin tube maintenance and inspection apparatus which can improve working efficiency, can decrease the fatigue of a worker, can improve the work environment, has both a thin tube clamping function and a sealing function, and can carry out both the maintenance and inspection. SOLUTION: A plurality of cleaning guns are arranged on the same base plate, each cleaning gun being equipped with a gas/liquid pressure increase cylinder having a hollow piston rod. By the thrust force of the cylinder, a clamping collet attached to the tip of the piston rod is pressed via an elastic rubber arranged on the outer surface of the collet so that the outer surface of the rubber is pressed against the inner surface of a thin tube. Thus, the thin tube can be strongly fixed, the damage to the inner surface of the thin tube is prevented, and the leak of a cleaning liquid from the dividing plane of the clamping collet and from the contact section between the thin tube inner surface and the rubber to the thin tube opening side is prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a thin tube maintenance / inspection device capable of cleaning and inspecting thin tubes of a condenser or heat exchanger of a power plant and the like, and a robot equipped with the same.

[0002]

2. Description of the Related Art Conventionally, since seawater is taken in as cooling water in condensers and heat exchangers installed in thermal power plants and nuclear power plants, the inner walls of thin tubes of condensers and heat exchangers are Since slime, shells, etc. adhere and reduce the thermal efficiency, we regularly perform cleaning work on thin tubes. The target thin tube has an inner diameter of 22 to 31 mm and a length of 12 to 17 m.
There are about 10,000 to 20,000 per one in number, and pigs (brush bullets) are inserted into the mouths of these thin tubes.
Water pressure 1MPa-1.5MPa or air pressure 0.5MP
With the fluid of about a, the pig inserted in the mouth of the thin tube is moved to wash and remove slime, shells, etc. adhering to the inner wall of the thin tube.

The cleaning device used for these cleaning operations is disclosed in, for example, Japanese Patent Application Laid-Open Nos. 9-229589 and 5-22840.

[0004]

In any of the cleaning devices described in the above publications, it is necessary for an operator to directly hold the work and press it against the mouth of the thin tube, so that the operator is easily tired. In addition, the cleaning fluid is ejected from the fitting portion to deteriorate the working environment, and the working efficiency is not good. In addition, it was necessary to prepare a dedicated device for cleaning and inspecting the thin tubes.

In view of this, the present invention has both a thin tube clamping function and a sealing function, which can improve work efficiency, reduce fatigue of workers, and improve the working environment. The present invention provides a possible thin tube maintenance and inspection device.

[0006]

According to the present invention, a plurality of cleaning guns are arranged on the same base plate, and each cleaning gun comprises a gas-liquid booster cylinder having a hollow piston rod.
The thrust of the cylinder presses the clamping collet attached to the tip of the piston rod through the elastic rubber arranged on the outer peripheral surface of the piston, and the outer peripheral surface of the elastic rubber is pressed against the inner surface of the thin tube to firmly fix the thin tube. The inner surface of the thin tube is prevented from being damaged, and the cleaning fluid is prevented from leaking to the mouth side of the thin tube from the contact surface between the dividing surface of the clamping collet and the inner surface of the thin tube and the elastic rubber.

A vacuum ejector is provided on the piston rod inlet side to detect the vacuum pressure generated when the pig penetrates the thin tube and use it as a signal to complete the pig penetration.

An operator attaches the cleaning gun to each thin tube, and thereafter, the cleaning gun is automatically operated according to a preset operation pattern from the start to the completion of cleaning.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 14 is a cross-sectional view for explaining the principle of a pressure boosting cylinder used in the present invention. (A) is a state before a pipe is clamped, (b) is a state where the pipe is clamped. Is shown.

Cylinder 101, primary side flange 10
2, the booster piston 103, the output piston 104, the secondary side flange 105 and the rod 106 are on the same axis,
The output piston 104 and the rod 106 are screwed to each other by the screw portion
The piston rod 108 is fixed by 7 and integrated.

The pressure-increasing piston 103 includes a primary-side piston 3a that receives the primary-side fluid pressure and a secondary-side piston 3b that increases the fluid pressure sealed in the pressure-increasing chamber 109, which are integrated with each other. The through holes 3c are provided so that the axes of and are the same. The outer surface of each piston and the through hole 3c of the piston rod are provided with a groove for mounting a sealing.

The primary side flange 102 has a cylinder 1
01 is provided with a fitting part 102a which also serves as a stopper when the boosting piston 103 returns, and a through hole 102b is provided so that the shaft center of the piston rod 108 is the same. Has been. The outer surface of the fitting portion 102a and the through hole 102b of the piston rod 108 are provided with a groove for mounting a sealing.

The cylinder 101 includes a booster piston 10
3 is provided with a step portion for stopping the operation toward the pressure increasing chamber 109 side,
It has a primary side cylinder 101a, a pressure increasing chamber 109 and a secondary side cylinder 101b, and the pressure increasing chamber 109 and the secondary side cylinder 101b are formed as the same pressure chamber for the output piston 104. The axes of are arranged on the same axis.

The secondary side flange 105 has a cylinder 1
No. 01 is fitted with the same shaft center, and a through hole 105a is provided with which the piston rod 108 and the secondary side flange 105 have the same shaft center. The through hole 105
Grooves for mounting a seal ring are formed on a and the fitting portion.

The primary side flange 102 and the secondary side flange 105 are fixed to the cylinder 1 by bolts.

In this embodiment, the inlet / outlet port 102 for the primary fluid
Although c is provided on the outer surface of the primary side flange 102, it may be provided in parallel with the piston rod 108.

At the stepped base portion of the primary side cylinder 1a, the residual fluid inside is discharged to prevent the pressure rise due to the operation of the primary side piston 103a, or the fluid for pressurizing the primary side piston 103a for the returning operation of the pressure boosting piston 103. A doorway 102d is provided.

The stepped base of the secondary cylinder 101b is provided with an internal sealing fluid supply port 105C, which is closed with a plug after filling the sealing fluid.

The secondary side flange 105 is provided with a fluid inlet / outlet 105 for pressurizing the output piston 104 for discharging the internal residual fluid to prevent pressure rise due to operation of the output piston 104 or for returning operation of the piston rod 108.
b is provided.

When the pressure-increasing cylinder is clamped by the thrust of the pressure-increasing cylinder for inspecting or cleaning a thin tube used in a heat exchanger such as a condenser, a fixing plate fixed to the primary side flange 102. An elastic body 111 made of urethane rubber or the like is attached to the outer periphery of the tip of the rod 106 protruding from the through hole 10a of the rod 110. By pulling the rod 106, the elastic body 111 is pressed against the fixed plate 110 side and pressure-bonded to the expansion tube. By forming a through hole 6a that penetrates the rod 106 over the entire length, the through hole 106 is formed.
It is possible to insert a fiberscope into a, or to flow a cleaning liquid.

The load on the secondary side flange 105 can be suppressed by setting the axial length (L) of the output piston 104 to the stopper portion of the non-pressure receiving side shaft as follows. L3 = A2.L1. (Z-1) / A3 A2: Pressing area of secondary side piston 3b L1: Sliding stroke of primary side piston 3a Z: Pressure increasing ratio Pressure increasing ratio: Z = A1 / A2 A1: Primary pressure receiving Area A3: Pressure receiving area L of the output piston 4> L3 Next, the operation of clamping the pipe will be described.

As shown in FIG. 14B, the rod 106
After inserting the tip of the tube into the narrow tube and positioning it, when compressed air is supplied to the primary side cylinder 101a from the primary side fluid inlet 102c formed in the primary side flange 102, the pressure boosting piston 103 moves to the pressure boosting chamber 109 side. Move
The secondary side piston 103b of the pressure boosting piston 103 enters into the pressure boosting chamber 109, the pressure is boosted in the pressure boosting chamber 109 and pushes the output piston 104, and the rod 106 fixed to the output piston 104 is moved.

The movement of the rod 106 causes the rod 106 to move.
The rubber 111 attached to the tip of the is pressed against the fixed plate 110 side, swells, is pressed against the thin tube, and is clamped to the thin tube.

After that, the through hole 106a of the rod 106 can be used to insert a fiberscope for inspection or to flow a cleaning liquid for cleaning.

(1) Overall Configuration of the Device of the Present Invention FIG. 1 is a perspective view showing the outline when the device of the present invention is attached to a thin tube of a condenser and used, and FIG. 2 (a) is a nozzle cylinder 3a, 3b. 2B is a cross-sectional view before or after the thin tubes Pa and Pb are clamped by the operation of FIG. 2, FIG. 2B is a cross-sectional view when the thin tubes Pa and Pb are clamped, and FIG. FIG. 4 is a fluid circuit diagram of the entire apparatus, FIG. 5 is an explanatory diagram of a nozzle tip and a clamping collet, FIG. 6 is a diagram showing an embodiment when performing a flaw detection test on the inner surface of a thin tube, and FIG. FIG. 7A is a cross-sectional view of the probe attachment showing a seal state when the probe is supplied, and FIG. 7B is a seal release state.

In FIG. 1, this apparatus comprises one cleaning device (hereinafter referred to as "valve stand") and a plurality of thin tubes P.
The cleaning gun is capable of cleaning a and Pb at the same time. The valve stand 5 and the cleaning gun are connected to each other by a plurality of hoses for supplying cleaning fluid and controlling the operation of the entire apparatus. The valve stand 5 and the existing high-pressure water extraction valve and compressed air extraction valve are connected by the same number of hoses as the thin tubes Pa and Pb for simultaneous cleaning. The control compressed air is branched and supplied in the valve stand 5 and functions as pilot air, and the valve stand 5 is powered by the existing AC11.
Supply from 0V or AC100V power supply.

The washing gun unit 1 is arranged in the water chamber WR from the manhole MH of the water chamber WR, and the washing fluid supply hose and the pilot air hose group GH for operation are used to remove the washing gun unit 1 and the outside of the water chamber (outside the machine). The valve stand 5 arranged is connected.

In this example of use, two cleaning guns are arranged in the same parallel direction as shown in FIGS. 1 to 3, and the base plate 24 of the cleaning gun unit 1 has a pilot valve for automatic control. And the operating valve is located on the same plate.

In the present embodiment, two thin tubes Pa and Pb are cleaned at the same time. However, when three or more thin tubes are cleaned at the same time, a cleaning gun can be added according to the thin tube arrangement. Is. In that case, the valve stand 5 at the same time
It is necessary to increase the number of devices, circuits, and hoses to be connected inside according to the quantity.

(2) Structure of Cleaning Gun Unit As shown in FIGS. 2 to 4, the cleaning gun unit 1 is a nozzle cylinder 3a, 3b composed of two gas-liquid pressure increasing cylinders having hollow piston rods 2a, 2b. Ejectors 4a and 4b are arranged on the inlet side of the piston rods 2a and 2b, and a vacuum pressure switch provided on a valve stand 5 separate from the cleaning gun unit 1 on the side of the ejector 4a and 4b through which the cleaning fluid passes. Check (check) valves 7a, 7 for preventing inflow of pressurized fluid into 6a, 6b
The ejector 4a, 4b and the vacuum pressure switch 6a, 6b are connected by a hose 8a, 8b, and the signal of the vacuum pressure switch 6a, 6b is used as a signal indicating the completion of pig penetration. Further, solenoid valves 9a and 9b for vacuum reset are connected to the hoses 8a and 8b.

The inlet side 4a 'of the ejector 4a, 4b,
4b ′ and the outlet side 10a ″ of the intermediate block 10 attached to the base plate 24 of the cleaning gun unit 1, 10
b ″ and the inlet side 10a ′, 10b ′ of the intermediate block 10.
The cleaning fluid outlets 11a and 11b of the valve stand 5 are connected by hoses 12a and 12b, respectively. As shown in FIG. 5, at the tips of the piston rods 2a and 2b, as shown in FIGS. 3 (c) and 5, the planar shape is a “T” shape and the cross-sectional shape is an arc-shaped clan. Ping collet 13 and stopper 13 for clamping collet 13
a and an elastic rubber 14b such as urethane rubber are adhered or fused to the outer circumference, and the piston rods 2a, 2
The nozzle tip provided with a screw part that engages with the screw part at the tip of b is arranged.

The clamping collet 13 is normally supported by the inner surface of the elastic rubber 14b and the piston rods 2a, 2b. When the thin tubes Pa and Pb are clamped, the nozzle tip 14 attached to the tips of the piston rods 2a and 2b is pulled toward the nozzle cylinders 3a and 3b to taper the nozzle tip 14, the stopper 13a and the clamping collet 13. Following the moving surface, the clamping collet 13 is pressed against the inner surface of the thin tube via the elastic rubber 14b, and at the same time, the elastic rubber 14b arranged on the outer peripheral surface thereof.
The outer peripheral surface of the thin tube is pressed against the inner surfaces of the thin tubes Pa and Pb at eight positions to firmly fix the thin tubes Pa and Pb, prevent damage to the inner surface of the thin tube, and divide the clamping collet 13 and the thin tube Pa. , Pb from the contact portion between the inner surface of Pb and the elastic rubber 14b is prevented from leaking to the mouth side of the thin tube.

When the inner diameters of the target thin tubes Pa and Pb are different, the nozzle tip 14 and the clamping collet 13 may be replaced according to the inner diameters of the thin tubes Pa and Pb to be cleaned.

After the condenser thin tube cleaning work, the thin tube inner surface may be inspected. In this case, as shown in FIGS. 6 and 7, in order to prevent damage to the probes 37a, 37b at the tips, The nozzle tip 32 having the cushion portion and the probe attachments 31a and 31b can be replaced by replacing the cleaning nozzle tip 14 and the ejectors 4a and 4b.

Here, the attachments 31a and 31b incorporate pistons 33a and 33b having communication holes therein, and the pistons 33a and 33b have a taper portion on one end side of the communication hole, and the taper portion is attached to the attachment 31a. Three
It engages with the tapered portions of the elastic rubbers 34a, 34b located on the inlet side of 1b. The pistons 33a and 33b slide toward the elastic rubbers 34a and 34b by compressed air when the probes 37a and 37b are supplied into the thin tubes Pa and Pb,
Probes 37a, 3 penetrating the elastic rubbers 34a, 34b
7b is pressed against the outer circumference of the cable to prevent leakage of compressed air. Also, the supply of compressed air is stopped and the cable 36
When winding a and 36b, springs SP2a and SP2b are built in between the elastic rubbers 34a and 34b and the attachment cylinders 35a and 35b, and by this spring force, the pistons 33a and 33b are returned to their original states, Release the seal with the cable.

Base plate 24 of the cleaning gun unit 1
Is provided as a set completion detection valve 15 which is a roller type mechanical valve for detecting the completion of insertion of the thin tubes Pa and Pb of the nozzle tip 14.
Is inserted into the thin tubes Pa and Pb and pressed against the tube sheet PL to operate the dog 15 ′ engaged with the valve 15, so that the set completion detecting valve 15 can be opened, and the set completion detecting valve 15 can be opened. Connected hose 16
Pressure switch 1 provided on the valve stand 5 via
7, the signal of the pressure switch 17 is used as a signal of completion of insertion of the nozzle tip 14 into the thin tubes Pa and Pb, and the solenoid valves 18a and 18b are switched to the A side.
The piston rods 2a and 2b of a and 3b are pulled to the cylinder side, and the clamping collet 13 is set to the thin tubes Pa and Pb.
While being pressed against and clamped to the inner surface of the pipe, the jetting of the cleaning fluid from the mouth of the thin pipes Pa and Pb is prevented.

In the patterns other than the work pattern 1, the thin tube clamp is automatically released after the work is completed, and the cleaning gun unit 1 is detached from the tube plate, so that the dog 15 'has the spring SP1 built therein. It is automatically reset by this spring force.

Further, a clamp reset valve 19 and an emergency stop valve 20 each of which is a lever type mechanical valve are connected to the outlet side of the set completion detecting valve 15, and the clamp reset valve 19 is connected to the nozzle cylinders 3a and 3b. This is used to release the clamp of the thin tubes Pa and Pb after setting the array pitch of the nozzle cylinders 3a and 3b by imitating the array pitch of the thin tubes Pa and Pb, and opening the valve 19. This releases the pressure between valve 19 and pressure switch 17,
By resetting the pressure switch 17, the solenoid valve 18
a, 18b is switched to the B side, the nozzle cylinder 3a,
The piston rods 2a and 2b of 3b are moved to the opposite cylinder side to release the pressure contact between the thin tubes Pa and Pb of the clamping collet 13.

The emergency stop valve 20 is a valve which is operated when an abnormality occurs during operation or when it is desired to stop operation (operation). The emergency stop valve 20 is connected to the emergency stop valve 20 by opening it. Pressure switch 2 provided in valve stand 5 via hose 21
2 is operated, the signal of the pressure switch S22 is used as a stop signal, and the solenoid valves 23a, 18a, 9a, 23b, 18b, 9 are operated.
Switch b to the non-excitation state and stop the operation.

(3) Operation pattern When operating the cleaning gun unit, the operation pattern is changed by the pattern changeover switch 26 provided on the control (operation) panel 25 attached to the valve stand 5 shown in FIG. The operation and operation of each of these patterns will be described with reference to FIGS. 3 to 4.

First, the cleaning gun piston rods 2a, 2
A stopper 13a is attached to the tip of b, and a clamping collet 1 according to the inner diameters of the thin tubes Pa and Pb to be worked
3 and the nozzle tip 14 are attached.

Pattern 1 is used for setting the arrangement pitch of the two nozzle cylinders 3a and 3b, and the pattern changeover switch 26 provided on the control (operation) panel 25 attached to the valve stand 5 is used.
After selecting the operation pattern with, the cylinder fixing bolt 3'of the long hole of the base plate 24 of the cleaning gun unit 1
In a state where all of the pistons 2a and 2b are loosened, the cleaning gun unit 1 is pressed against the tube plate PL by inserting the tips of the two piston rods 2a and 2b into the two thin tubes Pa and Pb to be cleaned. As a result, the two nozzle cylinders 3a,
3b is operated as described above, the clamping collet 13 attached to the tips of both piston rods 2a, 2b is pressed against the inner surfaces of the thin tubes Pa, Pb, and both nozzle cylinders 3a, 3b are arranged at the thin tube Pa, Pb array pitch. Then, by tightening the cylinder fixing bolt 3 ′ in this state, the arrangement pitch of the nozzle cylinders 3a and 3b is determined according to the arrangement pitch of the thin tubes Pa and Pb. To release the clamp, the clamp reset valve 1 provided on the cleaning gun unit 1 after the tightening of the bolt 3'is completed.
This can be done as described above by making 9 "open".

Pattern 2 This is selected when performing pig cleaning with high-pressure water and automatically blowing air remaining in the thin tubes Pa and Pb. When air blowing after pig cleaning is not required, The air blow operation can be omitted by setting the air blow time setting timer 27 of the control (operation) panel 25 attached to the valve stand 5 to "0". Therefore, in the case of this pattern, the air blow time setting timer 27 provided on the control (operation) panel 25 is set to a desired time T1 in advance, and the pattern changeover switch 26 provided on the panel 25 is selected.

In the operation, pigs Ba and Bb are previously inserted into the target thin tubes Pa and Pb, both nozzle tips 14 are inserted into the thin tubes Pa and Pb, and the cleaning gun unit 1 is pressed against the tube plate PL. As a result, the pressure switch 17 operates and clamps the thin tubes Pa and Pb as described above.

Next, the solenoid valves 23a and 23b are switched to the A side, pilot air is sent to the valves 29a and 29b, the valves 29a and 29b are automatically "opened", and the ejector 4a is passed through the hoses 12a and 12b. 4b, and the piston rod 2 of the nozzle cylinder 3a, 3b
a, 2b through the communication holes 2a ', 2b', the thin tubes Pa, Pb
Supply high pressure water to.

At this time, the pigs Ba and Bb are the thin tubes Pa and P.
While passing through the inside of b, the resistance in the pipe is large and a positive pressure state is reached, but the pressure switches 6a and 6b are operated by the check valves 7a and 7b.
When the pigs Ba and Bb penetrate the thin tubes Pa and Pb, the resistance inside the tubes becomes small, and the ejectors 4a and 4b
The internal pressure of the hoses 8a and 8b connected to b becomes a vacuum pressure, and the pressure switches 6a and 6b operate.

The electromagnetic valves 23a and 23b are automatically switched from A to B respectively by the signal of the operation of the pressure switches 6a and 6b, the valves 29a and 29b are "closed", the valves 30a and 30b are "open", and the cleaning is performed. The fluid automatically switches from high-pressure water to compressed air, and the compressed air is supplied to the thin tubes Pa and Pb through the same hoses 12a and 12b as the high-pressure water supply for a preset air blow setting time T1 seconds. When the air blow time has elapsed T1 seconds or the air blow time setting timer 27 is set to "0", the solenoid valves 23a and 23b are in the non-excited (neutral) state and the supply of compressed air is stopped, and the solenoid valve 18a, 18b is switched to the B side, and both nozzle cylinders 3a,
The piston rods 2a and 2b of 3b are operated to the side opposite to the cylinder side to release the clamp of the thin tubes Pa and Pb.

When the cleaning gun unit 1 is detached from the thin tubes Pa and Pb, the set completion detecting valve 15 is "closed", and the pressure switch 17 is released by exhausting pilot air from the hose 16 on the downstream side of the valve 15. The electromagnetic valves 18a and 18b are returned to the neutral state, and the next cleaning work is prepared.

The solenoid valves 9a and 9b are normally in the "open" state, and at the same time as the operation of the pressure switch 17, the solenoid valves 9a and 9b are opened.
a and 9b are excited to form a sealed circuit in the hoses 8a and 8b, the generated vacuum pressure is detected by the pressure switches 6a and 6b, and the solenoid valve 9 is released at the same time when the pressure switch 17 is released.
a and 9b become "open", the internal pressures of the hoses 8a and 8b are returned to atmospheric pressure, the pressure switches 6a and 6b are released, and preparation for the next cleaning is performed, so that continuous thin tube Pa and Pb cleaning operations can be performed. .

Pattern 3 Pig cleaning is performed with compressed air, and then a thin tube P made of high-pressure water is used.
After cleaning a and Pb, the water remaining in the thin tubes Pa and Pb after cleaning is selected when air-blowing.
When high pressure water cleaning or air blowing is not required as in the above, each blow operation can be omitted by setting the corresponding blow time setting timers 27 and 28 to "0". Therefore, in the case of this pattern, the "air blow time setting timer 27" and the "high pressure water blow time setting timer 28" provided in advance on the control (operation) board 25 are set to desired times T2 and T3, and the board 25 is set. "3" is selected by the pattern changeover switch 26 provided on the.

As for the operation, similarly to the above, the pigs are previously inserted into the target thin tubes Pa and Pb, both nozzle tips 14 are inserted into the thin tubes Pa and Pb, and the cleaning gun unit (1)
By pressing against the tube sheet, the thin tubes Pa and Pb are automatically clamped.

Next, the S solenoid valves 23a and 23b are switched to the B side, pilot air is sent to the valves 30a and 30b, and the valves 23a and 23b are automatically opened.
Ejectors 4a and 4b through the hoses 12a and 12b
Through the piston rods 2a, 2b of the nozzle cylinders 3a, 3b and the communication holes 2a ', 2b'.
Supply compressed air to b.

As described above, the pigs Ba and Bb are thin tubes Pa and
While passing through the inside of Pb, the resistance in the pipe is large and a positive pressure state occurs, but the pressure switches 6a and 6b are provided with the check valve 57a,
67b protects the pigs Ba and Bb from the thin tubes Pa and P.
If it penetrates b, the resistance inside the pipe will decrease and the ejector 4
The internal pressure of the hoses 8a and 8b) connected to a and 4b becomes a vacuum pressure, and the pressure switches 6a and 6b operate.

The solenoid valves 23a and 23b are automatically switched from B to A by the signals of the pressure switches 6a and 6b, respectively, the valves 30a and 30b are "closed", the valves 29a and 29b are "open", and the cleaning is performed. The fluid is automatically switched from compressed air to high pressure water, and high pressure water is supplied to the thin tubes Pa and Pb through the same hoses 12a and 12b as the compressed air for a preset high pressure water blow setting time T2 seconds.

When the high-pressure water blowing time has passed T2 seconds, the solenoid valves 23a and 23b are switched from A to B again.

If the high pressure water blow time setting timer 28 is set to "0", the solenoid valves 23a and 23b after pig cleaning are set.
Is kept at B, compressed air is supplied to the same hoses 12a, 12b for a preset air blow setting time T3 seconds.
To the thin tubes Pa and Pb.

If the air blow time elapses T3 seconds or the air blow time setting timer 27 is set to "0", the solenoid valves 23a and 23b are in the non-excited (neutral) state, and the solenoid valves 18a and 18b are set to B respectively. Side, and the piston rods 2a, 2b of both nozzle cylinders 3a, 3b are moved to the opposite cylinder side, and the thin tube Pa,
Release the clamp on Pb.

That is, the high pressure water blow time setting timer 28
If both the air blow time setting timer 27 are set to "0", the solenoid valves 23a and 23b are in the non-excited (neutral) state by the operation of the pressure switches 6a and 6b, and the solenoid valves 18a and 18b are respectively set to the B side. Switching, piston rod 2a of both nozzle cylinders 3a, 3b,
2b can be operated to the side opposite to the cylinder to release the clamp of the thin tubes Pa and Pb.

When the cleaning gun unit 1 is detached from the thin tubes Pa and Pb, the set completion detecting valve 15 is released as described above.
Is "closed", and the pressure switch 17 is released by exhausting pilot air from the hose 16 on the downstream side of the valve 15, and the solenoid valves 28a and 18b are returned to the neutral state to prepare for the next work.

The solenoid valves 39a and 39b operate in the same manner as described above, and by preparing for the next cleaning, continuous thin tube Pa and Pb cleaning operations can be performed.

Pattern 4 is selected when removing water remaining in the thin tubes Pa and Pb, and is controlled (operated) in advance in the same manner as described above.
Air blow time setting timer 27 provided on the board 25
Is set to a desired time T4, and "4" is selected by the pattern changeover switch 26 provided on the board 25.

The operation is carried out in the same manner as described above by the target thin tube P.
By inserting both nozzle tips 14 into a and Pb and pressing the cleaning gun unit 1 against the tube plate PL, the thin tubes Pa and Pb are automatically clamped, and the solenoid valves 23a and 23b.
The solenoid valve of b is switched to the B side, and the valves 30a and 30b
Pilot air is sent to the nozzle cylinders 3a and 30b to automatically "open" them, pass the ejectors 4a and 4b through the hoses 12a and 12b, and pass through the nozzle cylinder 3
a, 3b piston rods 2a, 2b communication holes 2a ', 2
Compressed air is supplied to the thin tubes Pa and Pb via b '.

Compressed air supply time to the thin tubes Pa and Pb is T
If 4 seconds have passed, SOL-A123a, SOL-B
123b is in a non-excited (neutral) state, the supply of compressed air is stopped, the solenoid valves 18a and 18b are switched to the B side, respectively, and the piston rods 2a and 2b of both nozzle cylinders 3a and 3b are operated to the anti-cylinder side. , Thin tube P
Release the clamp of a and Pb.

When the cleaning gun unit 1 is disengaged from the thin tubes Pa and Pb, the set completion detecting valve 15 is released as described above.
Is "closed", and the pressure switch 17 is released by exhausting pilot air from the hose 16 on the downstream side of the valve 15, and the solenoid valves 18a and 18b are returned to the neutral state to prepare for the next work.

In this case, it is not necessary to detect the operation of the pressure switches 6a and 6b, and the solenoid valves 39a and 39b are in the "open" state.

Pattern 5 This is selected in advance for the work of removing the residue inside the thin tubes Pa and Pb with high pressure water, and similarly to the above, the high pressure water blow time set beforehand on the control (operation) panel 25 is set. The timer 28 is set to a desired time T5, and "5" is selected by the pattern changeover switch 26 provided on the board 25.

In this case, both nozzle tips 14 are inserted into the thin tubes Pa and Pb in the same manner as described above, and the cleaning gun unit 1
By pressing the tube against the tube sheet PL, the thin tubes Pa and Pb are automatically
Solenoid valve 23a, 23b is switched to the A side, pilot air is sent to valves 29a, 9b,
The valves 29a, 29b are automatically "opened" and passed through the ejectors 4a, 4b via the hoses 12a, 12b and the piston rods 2a of the nozzle cylinders 3a, 3b.
High-pressure water is supplied to the thin tubes Pa and Pb through the 2b communication holes 2a ′ and 2b ′.

High-pressure water supply time to the thin tubes Pa and Pb is T5
If the second has elapsed, the solenoid valves 23a, 23
b becomes a non-excitation (neutral) state, the supply of high pressure water is stopped, the solenoid valves 18a and 18b are switched to the B side, respectively, and the piston rods 2a and 2b of both nozzle cylinders 3a and 3b are operated to the anti-cylinder side. , Thin tube Pa,
Release the clamp on Pb.

When the cleaning gun unit 1 is detached from the thin tubes Pa and Pb, the set completion detecting valve 15 is released as described above.
Is "closed", the pilot air of the hose 16 on the downstream side of the valve 15 is exhausted to release the pressure switch 17, and the solenoid valves 18a and 18b are returned to the neutral state to prepare for the next work.

In this case, it is not necessary to detect the operation of the pressure switches 6a and 6b, and the solenoid valves 9a and 9b are "open".
It becomes a state.

In each of patterns 2 to 5, the clamp reset valve 19 is "opened" during the work.
By operating to the side, even if the pressure switch 17 is released, for safety, the signal of the switch 17 is set to be invalid.

Further, the cleaning gun unit 1 is attached to the thin tubes Pa, P.
b When used for supplying the inner surface flaw detection probes 33a, 33b, the ejector 4a, 4b portion is replaced with the attachment 31 and the nozzle tip is replaced with the nozzle tip 32 as shown in FIG. Can be provided.

Cleaning Work Robot As a further embodiment of the present apparatus, the cleaning work robot shown in FIGS. 8 to 12 can be provided.

Here, the cleaning work robot will be described.

(1) Overall Configuration FIG. 8 is a perspective view of an overall embodiment when the present device is used for a condenser.

As a device arrangement, the robot 5 is installed on the water chamber side WH.
0, the valve stand 5 ′ and the control device 49 are arranged outside the water chamber (outside the machine), and they are connected to the cleaning fluid supply hose 12
The control air hoses GH and the control cable GC are connected to a and 12b.

The robot body 50 includes drive units 50a, 50
b, 50c, 50d and telescopic arms 51a, 51b, 5
It consists of 1c and 51d, and the water chamber WH is divided in each state.
It is carried in and they are engaged with each other by the hinge pin 52.

The drive unit has cleaning guns 1a, 1b, 1c, 1d used for the cleaning gun unit 1 in the center thereof, and the cleaning fluid supply hoses 12a, 12 are attached to the cleaning guns.
b, each control air hose group GH, the control cable GC, etc. are connected to the valve stand 5 ′ and the control device 49 arranged outside the water chamber (outside the machine).

FIG. 9 is an overall schematic view of the robot, in which the cleaning guns 1a, 1b, 1c, 1 used for the cleaning gun unit 1 are provided at the central portions of the drive units 50a, 50b, 50c, 50d.
nozzle cylinders 3a at the center of each
3b, 3c, 3d are arranged, and the nozzle cylinders 3a, 3
b, 3c, 3d head flanges 3a ", 3b", 3
Hollow air cylinder 5 attached to c "and 3d"
3a, 53b, 53c, 53d, and the cylinder 53
bearing mounting flanges 54a, 54b, 54c, 54d integrated with the flanges a, 53b, 53c, 53d, and bearing bearings 55, a coupling housing 56, and a drive on the outer side of the bearing mounting flanges 54a, 54b, 54c, 54d. Arrange the gear 57.

The drive gear 57 is an internal gear, and hollow air cylinders 53a, 53b, 53c, 53d.
Geared motor 58 mounted on the outside of the cylinder
And the driving force is generated by the motor.
A rotary encoder 59 is connected to the shaft end side of the motor 58 to detect the rotation angle of the drive gear.

Here, the drive gear 57 and the connecting housing 56 are provided with three through holes 56 ', and the through holes 5'
An abacus roller 61 is rotatably fixed to the tube plate side of the rod 6 through a rod 60 which slidably moves. The rod 60 transmits the rotational force of the geared motor 58, and a hollow air cylinder 53a, which will be described later,
Piston rods 2a, 2 of the nozzle cylinders 3a, 3b, 3c, 3d) by the operation of 53b, 53c, 53d.
It has a guide function when the tips of b, 2c, and 2d are separated from the thin tube.

The roller 61 is a guide plate 62 attached to the piston rod of the hollow air cylinder.
Is engaged with the V-groove 62 ′ of the outer periphery of the guide plate 6
2 is sandwiched by turn plates 63 on both outer peripheral sides thereof, and a piston rod 53 of a hollow air cylinder is provided.
It is fixed to a ', 53b', 53c ', 53d'.

The rotation stop pin 64 passing through the inner hollow portion of the drive gear 57 is fixed to the guide plate 62, and the through hole 6 of the bearing mounting flanges 54a, 54b, 54c and 54d.
4'is slidably provided.

The rotation stop pin 64 rotates along with the rotation of the drive gear 57 so that the abacus roller 61 follows the V groove 62 'of the guide plate 62. At this time, the abacus roller 61 is rotated.
Hollow air cylinders 53a, 53 by the rotational reaction force of
b, 53c, 53d piston rods 53a ', 53d
Prevent rotation of b ', 53c', 53d '.

The turn plate 63 has a telescopic arm 51.
A pin hole 52 'for engaging a, 51b, 51c, 51d is provided.

Telescopic arms 51a, 51b, 51c, 51
d is composed of two arm plates 65 and 66, one part of which has an abacus shape so that one end thereof is engaged with the V groove 62 ′ of the guide plate 62.

A bearing block 67 and a ball screw nut 68 engaged with the bearing block 67 are provided on the tube plate side of the arm plate 65, and a gear 69 for driving a ball screw shaft 74 is attached to the nut 68. Further, a geared motor 70 is arranged on the side opposite to the tube plate of the plate 65, and the power of the geared motor 70 is transmitted to the gear 6 by an output gear 72 via an electromagnetic clutch 71.
9 is transmitted. Further, a rotary encoder 73 is connected to the side opposite to the motor of the output gear 72, and
The strokes a, 51b, 51c, 51d are detected.

On the tube plate side of the arm plate 66, a housing 75 for fixing the ball screw shaft 74 is attached.

FIG. 10 is a fluid circuit diagram applied to the robot 50, and an electric circuit is omitted.

In this circuit, the cleaning gun 1 is attached to the robot 50.
Since the four a, 1b, 1c, and 1d are arranged, the electromagnetic valves 18c, 18d, 9c, and 9d arranged on the valve stand 5 ',
77a, 77b, 77c, 77d, 78, clamp reset valves 19b, 19c, 19d and pressure switch 1
7b, 17c, 17d, 6c, 6d etc. are added,
The operation pattern of the circuit is similar to that of the fluid circuit of the cleaning gun unit 1, and therefore its explanation is omitted. However, although the present apparatus 50 uses four cleaning guns 1a, 1b, 1c, and 1d, in the actual cleaning operation, two thin tube cleanings are alternately performed, and the cleaning fluid supply hoses 12a and 12b are used.
Is the same, and a switching valve 76 that switches the flow direction of the supply fluid according to the thin tube to be cleaned is arranged at the connection port of the cleaning fluid supply hoses 12a and 12b of the robot.

The switching valves 76a and 76b are spool type air driven valves, and are automatically switched by a solenoid valve 78.

(2) Example of Robot Operation Before using the robot 50, the pigs Ba, B are used in advance.
b, Bc, Bd ... Are inserted into the thin tubes in the cleaning target range.

As described above, the robot 50 is composed of four driving units 50a, 50b, 50c and 50d) and four sets of telescopic arms 51a, 51b, 51c and 51d.
The operation will be described below.

FIG. 11 is a front view showing an operation pattern of the robot 50.

For attachment to the tube plate, first, in a divided state, the respective drive parts 50a, 50b, 50c, 50d are clamped to the tube plate within a range where the telescopic arms 51a, 51b, 51c and 51d can be mounted, and then the telescopic arm. 51a, 51b, 51
The electromagnetic clutch 71 of c and 51d is disengaged, and the respective drive units 50a, 50b, 50c and 50d and the telescopic arm 51a,
51b, 51c and 51d are connected.

FIG. 11A shows four telescopic arms 51a,
FIG. 12A shows a cross section (A-O-B) in a state in which 51b, 51c, and 51d are contracted. At this time, first, the thin tubes clamped by the driving units 50b and 50d are washed, and when the thin tube washing of the driving units 50b and 50d is completed, the thin tubes clamped by the driving units 50a and 50c are washed. .

At the same time when the driving units 50a and 50c are switched to the thin tube cleaning, the driving units 50b and 50d start the movement operation to the next thin tube, and while the driving units 50a and 50c perform the thin tube cleaning, the driving units are driven. 50b and 50d complete the clamping of the next capillary.

12 (b) to 12 (f), the drive unit 50b,
The cross section (A-O-B) when 50d moves is shown.

In FIG. 12 (b), the driving units 50a and 50c perform thin tube cleaning and clamp the thin tubes to support the robot 50, and the driving units 50b and 50d are nozzle cylinders 3b.
It is the figure which moved the piston rods 2b and 2d of 3d to the thin tube side, and released the thin tube clamp.

In FIG. 12C, the hollow air cylinders 53a, 53c of the drive units 50a, 50c and the piston rods 53a ', 53c' of the drive units 50a, 50c are moved to the side opposite to the tube plate to drive the drive units other than the nozzle cylinders 3a, 3c. Nozzle cylinder 3
It is a figure which shows the cross section (A-O-B) when the tip of b, 3d piston rods 2b, 2d is detached from the thin tube.

FIG. 12D shows the telescopic arms 51a and 51a.
b, 51c, 51d are operated to drive the drive units 50b, 50d.
Cross section (A-
It is a figure which shows OB).

In FIG. 12 (e), the piston rods 53a 'and 53c' of the hollow air cylinders 53a and 53c of the drive units 50a and 50c are moved to the tube sheet side, and the drive unit 50 is driven.
b, 50d Nozzle cylinders 3b, 3d Piston rods 2b, 2d Cross-section (A)
It is a figure which shows -OB).

FIG. 12 (f) shows the nozzle cylinders 3b of the drive units 50b and 50d and the piston rods 2b and 2 of the drive cylinders 3d and 3d.
It is a figure which shows the cross section (A-O-B) at the time of pulling d to the non-tube plate side and clamping a thin tube.

At this time, the position of the thin tube is converted into X and Y coordinates in advance and stored in the control device, but in order to eliminate the manufacturing error due to the machining of the tube sheet hole and the sliding part error of the robot main body 50, the telescopic arm 51a. , 51b, 51c, 51d disengage the electromagnetic clutch 71 of the geared motor 70,
The centering operation by the thin tube clamp operation is followed, the movement amount by the follow-up is detected by the rotary encoder 73, and the result is fed back to the arithmetic device incorporated in the control device to correct the thin tube position. 11B and 11C show the driving unit 50.
It is a figure which shows the condition at the time of moving a drive part 50a, 50b, fixing a thin tube with a, 50b.

FIG. 13 is a diagram showing a situation where the robot 50 moves from left to right in the figure.

In FIG. 13 (a), telescopic arms 51a, 5
1b, 51c and 51d are all in a contracted state, and a case where the robot 50 moves from the left side to the right side in the drawing in this state will be described as an example.

FIG. 13B shows the driving units 50a, 50b and 5
Hollow air cylinder 53 by clamping a thin tube at 0d
a, 53b, 53d piston rods 53a ', 53d
b ′ and 53d ′ are moved to the opposite tube plate side, the tip of the piston rod 2c of the nozzle cylinder 3c of the drive unit 50c is separated from the thin tube, and the telescopic arms 51b and 51c are extended.
The drive unit 50c is moved to an appropriate position in the right direction. After the movement, the piston rods 53a ', 53b', 53d 'of the hollow air cylinders 53a, 53b, 53d are moved to the tube plate side, and the tip of the piston rod 2c of the nozzle cylinder 3c of the drive unit 50c is inserted into the thin tube. The thin tube is clamped by the nozzle cylinder 3c, and the drive unit 50c is fixed to the thin tube.

Next, as shown in FIG. 13 (c), with the driving parts 50a and 50c clamping the thin tubes, the nozzle cylinders 3 of the driving parts 50b and 50d are similarly to the above.
b and 3d are detached from the thin tube, and telescopic arms 51a, 51
Simultaneously with the extension of d, the telescopic arms 51b and 51c are contracted to move the drive units 50b and 50d to the appropriate positions in the right direction, and the drive units 50b and 50d are fixed to the thin tube in the same manner as described above.

Next, as shown in FIG. 13D, with the driving parts 50b, 50c, 50d clamping the thin tube, the nozzle cylinder 3a of the driving part 50a is detached from the thin tube and expanded and contracted in the same manner as described above. The arms 51a and 51d are contracted to move the drive unit 50a to an appropriate position in the right direction, and the drive unit 50a is fixed to the thin tube in the same manner as described above.

As described above, in this robot, by setting the number of thin tube clamps to two or three, the robot can move freely vertically and horizontally without dropping from the tube sheet and simultaneously and automatically perform a plurality of thin tube cleaning operations. You can proceed to.

The cleaning pattern is based on the cleaning pattern of the cleaning gun unit 1.

[0112]

The present invention has the following effects.

(1) The work efficiency is doubled as compared with the conventional one, and the work time or man-hour can be reduced.

(2) It is possible to prevent the cleaning fluid (high-pressure water or compressed air) from leaking during cleaning and improve the working environment.

(3) When the cleaning fluid is injected during cleaning, the reaction force generated in the cleaning gun can be prevented and the fatigue of the worker can be reduced.

(4) Labor can be saved not only in the cleaning work but also in the work for supplying the flaw detection probe on the inner surface of the thin tube.

(5) In this technical field, a variety of thin tube cleaning work robots for improving work efficiency are provided.
Although devised, a low-cost cleaning device can be provided compared to the robot.

(6) In robot operation, complicated description and knowledge are not required, and anyone can handle it safely.

(7) In the thin tube cleaning work robot of the present invention, since the thin tube clamp and the thin tube to be cleaned are the same, the number of operating cylinders can be reduced and the robot mechanism can be simplified. .

(8) In the cleaning work robot, the thin tube clamp mechanism and the cleaning gun can use the same equipment, and it is not necessary to use the guide rails and hydraulic cylinders adopted in the prior art. The cost to configure is low.

(9) Washing work In the washing robot, the washing work can be performed while moving the robot. Therefore, the work speed by introducing the robot is greatly improved.

(10) Assembling and disassembling work of the cleaning robot in the water chamber can be facilitated.

[Brief description of drawings]

FIG. 1 is a perspective view showing an outline when the device of the present invention is attached to a condenser and used.

FIG. 2A is a cross-sectional view before or after releasing the thin tube by the operation of the nozzle cylinder, and FIG. 2B is a cross-sectional view when the thin tube is clamped.

FIG. 3 is a fluid circuit diagram of the booster cylinder of the present invention.

FIG. 4 is a fluid circuit diagram of the entire apparatus of the present invention.

FIG. 5 is an explanatory diagram of a nozzle tip and a clamping collet.

FIG. 6 is a diagram showing an example in the case of performing a flaw detection test on the inner surface of a thin tube.

FIG. 7A is a cross-sectional view of a probe attachment showing a seal state when a probe is supplied, and FIG.

FIG. 8 is a perspective view showing an entire embodiment when this device is used as a condenser of a cleaning work robot.

FIG. 9 is an overall schematic diagram of a robot.

FIG. 10 is a fluid circuit diagram applied to a robot.

FIG. 11 is a front view showing an operation pattern of the robot.

FIG. 12 is a cross section (A-O-B) when the drive unit moves.
FIG.

FIG. 13 is a diagram showing a situation when the robot moves from left to right in the figure.

14A and 14B are cross-sectional views of a pressure boosting cylinder used in the present invention, where FIG. 14A shows a state before the tube is clamped, and FIG. 14B shows a state in which the tube is clamped.

[Explanation of symbols]

1: Cleaning gun unit 2a, 2b: Piston rod
3a, 3b: Nozzle cylinder 4a, 4b: Ejector 5: Valve stand 6a, 6b: Vacuum pressure switch 7a, 7b: Check valve 8a, 8b: Hose
9a, 9b: Solenoid valve 10: Intermediate block 11a, 1
1b: Cleaning fluid outlet 12a, 12b: Hose 13:
Clamping collet 14: Nozzle tip 14b:
Elastic rubber 15: Set completion detection valve 16: Hose 17: Pressure switch 18: Solenoid valve 19: Clamp reset valve 20: Emergency stop valve 25: Control panel 26: Pattern change switch 27, 28: Air blow time setting timer 29a, 29b , 30a, 30b: valve 31a, 31b: probe attachment 32:
Nozzle tip 33a, 33b: Piston 34a, 3
4b: elastic rubber 35a, 35b: attachment cylinders 36a, 36b: cable 49: control device 50: robot 50a-50d: drive unit 51a-
51d: Telescopic arm 53a to 53d: Cylinder 5
4a to 54d Bearing mounting flange 57: Drive gear 5
8: Geared motor 59: Rotary encoder 60: Rod 61: Roller 62: Guide plate 6
3: Turn plate 65: Arm plate 67: Bearing block 68: Ball screw nut 70: Geared motor 71: Electromagnetic clutch 72: Output gear 7
4: Ball screw shaft 76: Switching valve 77: Solenoid valve 101: Cylinder 102: Primary side flange 10
3: booster piston 104: output piston 105: secondary side flange 106: rod 106a: through hole 10
7: Screw part 108: Piston rod 109: Booster chamber 110: Fixing plate 11: Elastic body B
a, Bb: Pig Pa, Pb: Thin tube

Front page continuation (51) Int.Cl. ⁷ Identification code FI theme code (reference) F28G 1/16 F28G 15/04 15/04 B08B 9/04 Z

Claims (14)

[Claims] 1. A washing gun is inserted into a plurality of thin tubes, and the washing gun is automatically clamped in accordance with the thin tube array pitch by the operation of a pressure boosting cylinder equipped with a piston rod having through holes penetrating both ends, A thin tube maintenance and inspection device that enables maintenance and inspection of multiple thin tubes at the same time. 2. A washing gun, which is provided at the tip of a piston rod of a pressure boosting cylinder, has an eight-division clamping collet having a T-shaped plan and an arc-shaped cross section, and a stopper for the clamping collet. An elastic rubber is adhered or fused to the outer periphery, and a nozzle tip provided with a threaded portion that engages with the threaded portion of the piston rod tip is attached to the inner surface of the nozzle tip to clamp the thin tube by the pulling force of the piston rod, and at the same time the cleaning fluid. The thin tube maintenance / inspection device according to claim 1, which is capable of sealing. 3. Penetration of a cleaning brush or cleaning pig,
3. The thin tube maintenance and inspection device according to claim 2, wherein the cleaning gun has an ejector directly connected to the communication hole for the cleaning fluid. 4. The thin tube maintenance / inspection apparatus according to claim 3, wherein the vacuum pressure by the ejector is detected and used as a signal for passing through a thin tube of a cleaning brush or a cleaning pig. 5. The thin tube according to claim 4, further comprising a check valve arranged on a side of the ejector connected to the cleaning gun for communicating a cleaning fluid, for protecting a switch for detecting a signal through the thin tube of the pig. Maintenance inspection device. 6. The thin tube maintenance inspection according to claim 1, wherein the thin tube inner surface flaw detection probe supply cleaning gun can be replaced with a probe supply attachment and a probe supply nozzle tip in place of the ejector and nozzle tip. apparatus. 7. The thin tube maintenance / inspection apparatus according to claim 1, which has a function of automatically detecting completion of attachment of the cleaning gun to the thin tube by pilot air pressure. 8. The thin tube maintenance / inspection device according to claim 1, which has a function of releasing the thin tube clamp by pilot air pressure after setting the cleaning gun array pitch according to the thin tube array pitch. 9. The capillary maintenance / inspection device according to claim 1, wherein the emergency stop function is detected by pilot air pressure in preparation for an unexpected situation that occurs during the capillary cleaning operation. 10. A plurality of cleaning guns disposed inside the condenser or heat exchanger are provided with control pilot valves, and are controlled by a pilot air circuit without using any electrical equipment. The capillary maintenance / inspection device according to claim 1. 11. A cleaning device capable of arbitrarily switching the operation switching of the cleaning device according to each work. 12. A robot equipped with a thin tube maintenance / inspection device for supporting a thin tube washing work robot by a washing gun using a hollow booster cylinder. 13. A robot equipped with a thin tube maintenance / inspection device according to claim 12, wherein a thin tube cleaning work and a moving work can be performed simultaneously by a cleaning gun using a hollow booster cylinder. 14. A washing gun using a hollow booster cylinder enables a plurality of thin tube washing operations.
A robot equipped with the thin tube maintenance inspection device described in 2.