JP2008025893A - Moving device in boiler water tube group - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving device in a boiler water tube group capable of arbitrarily moving in the boiler water tube group, to perform the inspection and cleaning of the boiler water tube group without imposing a burden on a worker. <P>SOLUTION: This moving device in the boiler water tube group comprises a water tube group traveling device 3 moving in the boiler water tube group 1 in the tube axial direction and the vertical direction, and a tube row direction-moving device 4 storing the water tube group traveling device 3 and moving it in the pipe row direction. The water tube group traveling device 3 includes retaining mechanisms 6 mounted to the pipe axial front and rear of a device body, and retaining mechanisms 7 provided at both side surfaces facing the boiler water tubes of the device body. Each retaining mechanism 6 includes rollers adapted to retain the device body by being pressed to adjacent right and left boiler water tubes and to move the device body forward and backward in the tube axial direction by rotating. Each retaining mechanism 7 includes a support member adapted to retain the device body in place of the retaining mechanism 6 when the device body moves vertically, and to move the device body vertically by vertically moving. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a boiler water pipe group moving device that moves in a boiler water pipe group for cleaning and inspection of the boiler water pipe installed in a boiler that recovers heat from exhaust gas generated in an incinerator or the like. Is.

  Incinerators such as waste are provided with a boiler for recovering thermal energy from exhaust gas, and a number of boiler water pipes through which water and steam pass are installed in the boiler. A boiler water pipe group is formed by a predetermined number of boiler water pipes arranged at predetermined intervals in the vertical and horizontal directions, and a plurality of boiler water pipe groups are arranged in the vertical direction.

  When high-temperature exhaust gas passes between the boiler water pipe and the boiler water pipe installed in this way, heat exchange is performed between the exhaust gas and the boiler water pipe, and the thermal energy of the exhaust gas is recovered. Ashes and other substances in the boiler adhere to and accumulate on the surface of the boiler water pipe, causing a decrease in heat exchange efficiency and exhaust gas passage rate. Inspection work to periodically stop the incinerator and check the ash adhesion on the water pipe surface And cleaning work to remove the attached ash. In addition, after the ash is removed, inspection work is performed to check the corrosion status of the water pipe.

  A conventional cleaning operation is performed by an operator entering the boiler, positioned between the boiler water tube group and the boiler water tube group, and stripping off the attached ash with a jig or applying shot blasting. As for the inspection work, the worker enters the boiler, is positioned between the boiler water tube group and the boiler water tube group, and measures the wall thickness of the boiler water tube by visual inspection or an ultrasonic probe.

  However, the space between the boiler water pipe group and the boiler water pipe group is very narrow, and it is necessary to wear protective equipment for preventing dioxin exposure and enter the boiler. Is under heavy load.

  In order to cope with this problem, a technique aimed at saving labor in the boiler has been proposed (see, for example, Patent Document 1).

  In the technique described in Patent Document 1, the carriage travels on the rails laid along the pipe axis direction above the pipe group, and the working device suspended from the carriage so as to be lifted up and down is disposed between the pipe and the pipe. And work with the equipment installed in the work device.

In [Best Mode for Carrying Out the Invention], the following Patent Document 2 is cited and described here.
JP 7-145907 A JP 2004-251476 A

  However, in the technique described in Patent Document 1, when the working device is moved in the direction of the row of the boiler water pipes, it is necessary to relay the traveling rail, and each time the worker re-lays the work in the boiler Must enter. The inside of the boiler is very narrow and re-laying work in a narrow place, which places a burden on the workers.

  The present invention has been made to solve the above-described problems, and can freely move in the boiler water tube group, and performs inspection and cleaning of the boiler water tube group without imposing a burden on workers. It is an object of the present invention to provide a moving device in a boiler water tube group.

  The present invention has the following features in order to solve the above problems.

[1] A boiler water tube group moving device that moves in the boiler water tube group in the tube axis direction, the vertical direction, and the tube row direction,
A water tube group traveling device that moves in the boiler water tube group in the tube axis direction and the vertical direction;
It is arranged on the uppermost boiler water tube of the boiler water tube group, and includes a tube row direction moving device that houses the water tube group traveling device and moves it in the tube row direction,
The water tube group traveling device is
A pair of first holding mechanisms attached to the front and back of the apparatus body in the tube axis direction;
A pair of second holding mechanisms provided on both side surfaces facing the boiler water pipe of the apparatus body,
The first holding mechanism includes rollers configured to hold the apparatus main body by pressing against the adjacent horizontal and horizontal boiler water pipes and to move the apparatus main body back and forth in the tube axis direction by rotating. ,
The second holding mechanism holds the apparatus main body instead of the first holding mechanism when the apparatus main body moves in the vertical direction, and can move the apparatus main body in the vertical direction by moving in the vertical direction. A boiler water tube group moving device comprising a support member configured as described above.

[2] In the above [1], the water tube group traveling device is
A boiler water tube group moving device comprising an inspection device for inspecting a boiler water tube.

[3] In the above [1] or [2], the water tube group traveling device is
A boiler water tube group moving device comprising a cleaning device for cleaning a boiler water tube.

[4] In any one of the above [1] to [3], the water tube group traveling device is
A boiler water pipe group moving device comprising a repair device for repairing a boiler water pipe.

  By using the boiler water tube group moving device of the present invention, the boiler water tube group can be moved freely, and by installing an inspection device and a cleaning device, inspection and cleaning of the boiler water tube in the boiler water tube group can be performed. It becomes possible to carry out efficiently without putting a burden on a worker.

  One embodiment of a boiler water tube group moving device according to the present invention is shown in FIGS. FIG. 1 is a side view showing a state in which a boiler water tube group moving device 2 is arranged in a boiler water tube group 1, and FIG. 2 is a front view thereof.

  The boiler water pipe group moving device 2 enters a horizontal gap between the boiler water pipes 80 arranged in the vertical direction and the horizontal direction, and is equipped with an inspection device and a cleaning device (not shown here) to determine the pipe axis direction. A water tube group traveling device 3 that is movable in the vertical direction, and a horizontal pipe that is disposed on the uppermost boiler water tube 80 of the boiler water tube group 1 and that houses the water tube group traveling device 3 and is orthogonal to the tube axis direction of the boiler water tube group 1. And a tube row direction moving device 4 that moves in a direction (hereinafter referred to as “tube row direction”).

  FIG. 3 shows a side view of the water tube group traveling device 3. The water tube group traveling device 3 includes a main body 5, holding mechanisms 6 a and 6 b provided before and after the main body 5 in the tube axis direction, a holding mechanism 7 provided on the main body 5 and movable in the vertical direction with respect to the main body 5. , An inspection device and / or a cleaning device (not shown here).

  FIG. 4 shows the configuration of the holding mechanism 6a. FIG. 4A is a top view of the holding mechanism 6a, and FIG. 4B is a side view thereof. Reference numeral 8 denotes a drive motor. A gear 10 is attached to a rotation shaft of the drive motor 8 via a plate 9, and the gear 10 is engaged with the gear 11. A holding arm 13 is fixed to the gear 10 via a plate 12, and a holding arm 14 is also fixed to the gear 11 via a plate 12. Rollers 15a and 16a are respectively attached to the tips of the holding arms 13 and 14 so as to be rotatable in the horizontal direction. When the drive motor 8 rotates, the gears 10 and 11 rotate, the holding arm 13 rotates about the rotation axis of the gear 10, and the holding arm 14 rotates about the rotation axis of the gear 11, respectively. Moves in the horizontal direction of the holding mechanism 6a.

  The holding mechanism 6b has a structure in which the holding mechanism 6a is reversed left and right. Similarly, rollers 15b and 16b are attached to the tips of the holding arms 13 and 14 so as to be rotatable in the horizontal direction.

  The holding mechanisms 6a and 6b operate independently of each other. That is, the holding arms 13 and 14 provided in each holding mechanism rotate independently, stop at a position where the load applied to each driving motor 8 becomes a predetermined value, and are attached to the tip. The distance between the two rollers is automatically adjusted individually.

  Further, a motor 17 for rotating the roller 16a is attached to the holding mechanism 6a in a form directly connected to the roller 16a, and a motor 18 for rotating the roller 16b is attached to the holding mechanism 6b in a form directly connected to the roller 16b. Yes.

  FIG. 5 shows a state in which the water tube group traveling device 3 is held in the boiler water tube group by the holding mechanisms 6a and 6b. A boiler water pipe 80 rotates the holding arms 13 and 14 of the holding mechanisms 6a and 6b so that the rollers 15a, 16a, 15b and 16b at the tips of the holding arms 13 and 14 are side surfaces of the boiler water pipe 80 adjacent in the horizontal direction. The water pipe group traveling device 3 is held by the frictional force generated between the rollers 15a, 16a, 15b, 16b and the boiler water pipe 80. And it is comprised so that it can drive | work to the pipe-axis direction of the boiler water pipe 80 by driving the motors 17 and 18 and rotating the rollers 16a and 16b.

  The holding mechanisms 6a and 6b operate independently. For this reason, even if there is a portion where the ash mass or the like is locally attached somewhere on the side surface of the boiler water pipe 80 and the interval between the side surfaces of the boiler water pipe 80 is narrow, it is pressed against the ash mass. As the reaction force received by the roller increases, the holding arm to which the roller is attached rotates to a position where the load of the drive motor 8 reaches a predetermined value and stops there. As a result, the interval between the two rollers attached to each holding mechanism is automatically adjusted in accordance with the change in the interval between the sides of the boiler water pipe 80. As a result, even if an ash lump or the like is locally attached to the side surface of the boiler water pipe 80, each roller can smoothly travel along the side surface of the boiler water pipe 80 without being caught. Similarly, even when the side surface of the boiler water pipe 80 is locally deformed and has irregularities, each roller can smoothly travel along the side surface of the boiler water pipe 80.

  FIG. 6 shows a configuration example of the holding mechanism 7 provided in the main body 5. In FIG. 6, the holding mechanism 7 is illustrated as being provided inside the main body 5, but is not limited thereto. In FIG. 6, reference numeral 19 denotes a drive motor. A gear 20 is attached to the rotation shaft of the drive motor 19, and the gear 20 and the gear 21 are engaged with each other. A shaft 22 is fixed to the gear 21, and arms 23 a and 23 b that are support members and a gear 24 are attached to the shaft 22. The gear 24 fixed to the shaft 22 meshes with the gear 26 fixed to the shaft 25, and arms 27a and 27b, which are also supporting members, are attached to the shaft 25.

  When the drive motor 19 rotates, the gears 20 and 21 rotate and the shaft 22 rotates. As the shaft 22 rotates, the gear 24 and the gear 26 rotate, and the shaft 25 rotates. Then, the arms 23a and 23b attached to the shaft 22 and the arms 27a and 27b attached to the shaft 25 are developed out of the main body through slits 28a and 28b provided on both side surfaces of the main body 5 facing the boiler water pipe. It is like that.

  The shafts 22 and 25 are attached so as to penetrate the slider 29 in the left-right direction. The slider 29 moves up and down when the ball screw 30 rotates. A pulley 31 is attached to the lower end of the ball screw, and the pulley 31 and the pulley 32 are connected by a timing belt 33. The pulley 32 is attached to the rotating shaft of the drive motor 34. By rotating the drive motor 34, the pulley 32 rotates, the pulley 31 rotates through the timing belt 33, the ball screw 30 rotates, and the slider 29 moves up and down. Here, the moving distance of the slider 29 in the vertical direction needs to be greater than or equal to the vertical pipe pitch of the water pipe.

  FIG. 7 shows a configuration example of the tube row direction moving device 4. FIG. 7A shows a view from the front, and FIG. 7B shows a view from the side. The tube row direction moving device 4 includes a storage portion 35 for storing the water tube group traveling device 3 and crawlers 36 and 37.

  The storage part 35 has a total of four tubular members 38a, 38b, 39a, 39b, two rows in the vertical direction and two rows in the tube row direction. The tubular members 38a, 38b, 39a, 39b are arranged at the same piping pitch as the boiler water pipe 80. One end side of each tubular member 38a, 38b, 39a, 39b is fixed to the plate 73, and the other end side is a plate. 74 is fixed.

  The friction force generated between the rollers 15a, 15b, 16a, 16b and the tubular members 38a, 38b by pressing the rollers 15a, 15b, 16a, 16b of the water tube group traveling device 3 against the side surfaces of the tubular members 38a, 38b. While being held, the water tube group traveling device 3 is accommodated in the accommodating portion 35.

  Further, crawlers 36 and 37 are respectively attached to the side surfaces of the lower ends of the plates 73 and 74. By driving the crawlers 36 and 37, the tube axis direction of the tubular member coincides with the tube axis direction of the boiler water tube. The storage portion 35 arranged to do so can be moved in the tube row direction along the upper surface of the uppermost boiler water tube 80.

  At that time, the crawlers 36 and 37 are configured to move the storage portion 35 in the tube row direction by a servo motor (not shown) by the same distance as the pipe pitch in the tube row direction of the boiler water pipe. The 35 tubular members 38a and 39a and the tubular members 38b and 39b are stopped so as to be positioned directly above the uppermost boiler water pipe 80, respectively.

  The crawlers 36 and 37 are preferably provided with a stop position correcting mechanism for correcting the stop position to the predetermined stop position when the crawlers 36 and 37 are stopped out of the predetermined stop position for some reason.

  FIG. 8 is a diagram illustrating a configuration example of the stop position correcting mechanism. As shown in FIG. 8 (a), a pair of left and right stop position correcting arms 40a and 40b rotate inside a crawler 36 and a rotation shaft 41a provided at the same interval as the pipe row direction pipe pitch of the boiler water pipe. It is attached to the shaft 41b. The stop position correcting arms 40a and 40b are rotated in an arrow direction from an initial position by a drive mechanism (not shown). As shown in FIG. 8B, the rotation of the stop position correcting arms 40a and 40b is stopped at a position where the side surface comes into contact with the side surface of the uppermost boiler water pipe 80. The crawler 37 is also provided with similar stop position correcting arms 40a and 40b.

  Thus, during the movement by the crawlers 36, 37, the stop position correcting arms 40a, 40b are stored in the initial positions inside the crawlers 36, 37, and once the crawlers 36, 37 are stopped, the stop position correcting arms are stopped. By rotating 40a, 40b from the initial position to the rotation stop position, the crawler 36 or the crawler 37 is corrected to the predetermined stop position even when the crawler 36 or the crawler 37 is stopped from the predetermined stop position. Can be stopped.

  Below, the operation | movement which the boiler water pipe group moving apparatus 2 moves the inside of the boiler water pipe group 1 is demonstrated, referring FIG. 9 and FIG. FIG. 9 is a diagram for explaining the overall operation of the boiler water tube group moving device 2, and FIG. 10 is a diagram for explaining the operation when the water tube group traveling device 3 moves in the vertical direction. Here, for convenience of explanation, among the boiler water pipe 80, the uppermost stage is referred to as a boiler water pipe 81, the second stage is a boiler water pipe 82, and the third stage is a boiler water pipe 83.

  In FIG. 9, the pipe row direction moving device 4 is arranged on the uppermost boiler water pipe 81 of the boiler water pipe group 1 so that the pipe axis directions of the tubular members 38a, 38b, 39a, 39b coincide with the pipe axis direction of the boiler water pipe. Placed in. The water tube group traveling device 3 is accommodated in the accommodating portion 35 of the tube row direction moving device 4 while being held between the tubular members 38a, 38b, 39a, 39b.

  Then, the water tube group traveling device 3 accommodated in the accommodating portion 35 of the tube row direction moving device 4 is detached from the accommodating portion 35, and the uppermost boiler water pipe 81, the first stage boiler water pipe 82, the third stage The boiler water pipe 83 is moved downward in the order of the boiler water pipe 83 in the order described below, and the boiler water pipes of the respective stages travel in the pipe axis direction using the rollers 15a, 15b, 16a, and 16b.

  When the water tube group traveling device 3 reaches the lowest boiler water tube, the water tube group traveling device 3 moves upward in the reverse order and is accommodated in the accommodating portion 35 of the tube row direction moving device 4.

  The pipe row direction moving device 4 housing the water pipe group traveling device 3 drives the crawlers 36 and 37 to move along the upper surface of the uppermost boiler water pipe 81 by one pipe pitch in the pipe row direction and stop. To do. Then, the water tube group traveling device 3 accommodated in the tube row direction moving device 4 moves in the vertical and horizontal directions in the gap between the boiler water tubes in the same manner as described above.

  If necessary, the pipe row direction moving device 4 may be moved several pipe pitches at a time.

  Here, the operation | movement which the water pipe group traveling apparatus 3 detach | leaves from the accommodating part 35, and moves the clearance gap of a boiler water pipe to an up-down direction is demonstrated using FIG.

  First, as shown in FIG. 10 (a), the arms 23a and 23b are hooked on the tubular member 38a in contact with the rollers 15a and 15b of the holding mechanisms 6a and 6b by the operation of the holding mechanism 7 to hold the arms 27a and 27b. The rollers 16a and 16b of the mechanisms 6a and 6b are hooked on the tubular member 38b that is in contact.

  Next, as shown in FIG. 10B, the holding mechanisms 6a and 6b are rotated to separate the rollers 15a, 15b, 16a and 16b from the tubular members 38a and 38b.

  Next, as shown in FIG. 10C, the ball screw 30 is rotated while the arms 23a, 23b, 27a, 27b are held by the tubular members 38a, 38b, so that the rollers 15a, 15b, 16a, 16b are tubular members. The main body 5 is lowered until it comes to the same position as the side surfaces 39a and 39b.

  Next, as shown in FIG. 10D, the holding mechanisms 6a and 6b are rotated to press the rollers 15a, 15b, 16a and 16b against the side surfaces of the tubular members 39a and 39b.

  Next, as shown in FIG. 10 (e), the arms 23 a, 23 b, 27 a, 27 b are separated from the tubular members 38 a, 38 b by the operation of the holding mechanism 7 and stored in the main body 5.

  Then, as shown in FIG. 10 (f), the ball screw 30 is rotated, and the slider 29 is lowered until the arms 23a, 23b, 27a, 27b are at the same position as the side surfaces of the tubular members 39a, 39b.

  By repeating the above operation, the water tube group traveling device 3 can move downward one step at a time, and the gap of the boiler water tube can be moved downward. Further, by performing this operation in reverse, the gap in the boiler water pipe can be moved upward.

  By making the said water pipe group traveling apparatus 3 the said structure and operation | movement, it becomes possible to position the test | inspection apparatus and / or cleaning apparatus with which the main body 5 of the water pipe group traveling apparatus 3 was located under the lowermost boiler water pipe. . As a result, it becomes possible to inspect and clean the lower surface side of the lowermost boiler water pipe where much dust adheres.

  In this way, the water tube group traveling device 3 used in this embodiment can freely move inside the boiler water tube group 1 without placing a burden such as rail laying change like the device described in Patent Document 1 above. Can travel.

  FIG. 11 is a diagram illustrating an overall configuration of the boiler water tube group moving apparatus 2 according to the first embodiment of the present embodiment. A water tube group traveling device 3 and a tube row direction moving device 4 are arranged in the boiler water tube group 1.

  In the example shown in FIG. 11, the case where the thickness measuring unit 42 which is a boiler water pipe test | inspection apparatus is mounted in the water pipe group traveling apparatus 3 is shown. In addition, a monitoring camera 43 is attached to the water tube group traveling device 3 in order to visually inspect the situation in the boiler water tube group 1. Furthermore, a monitoring camera 44 is also attached to the tube row direction moving device 4.

  A controller 45 and controller 46 for controlling the water tube group traveling device 3 and the tube row direction moving device 4, a PC 47 for recording the wall thickness data measured by the wall thickness measuring unit 42, and a monitor 48 for displaying images from the monitoring cameras 43 and 44. However, it is installed outside the boiler.

  FIG. 12 shows the configuration of the thickness measuring unit 42. The thickness measuring unit 42 is fixed to the water tube group traveling device 3 by a plate 49. Reference numerals 50 and 51 denote servo motors. The rotating shaft of the servo motor 50 passes through the plate 49 and the horizontal arm 52, and a pulley 53 is attached to the tip portion thereof. The pulleys 53 and 54 are connected by a timing belt 55, and the pulley 54 is attached to a vertical arm 56. The vertical arm 56 is disposed to penetrate the horizontal arm 52, and rotates around the rotation axis of the pulley 54 when the servo motor 50 rotates.

  A gear 57 is attached to the rotation shaft of the servo motor 51, and the gear 57 and the gear 58 are engaged with each other. A horizontal arm 52 is fixed to the upper surface of the gear 58. When the servo motor 51 rotates, the horizontal arm 52 rotates around the rotation axis of the gear 58, and the vertical arm 56 moves in a direction approaching the boiler water pipe on the side surface of the thickness measuring unit 42.

  An inspection head 59 for measuring the thickness of the side surface of the water tube is attached to the upper end of the vertical arm 56, and a solenoid 60 is attached near the center of the vertical arm 56. An inspection head 62 for measuring the thickness of the lower portion of the water pipe is attached to the solenoid 60 via a fixing member 61.

  FIG. 13 shows a side view of the inspection heads 59 and 62. As the inspection heads 59 and 62, a head constituted by a water immersion focus type ultrasonic probe 63 and a holder 64 can be used. The tip of the holder 64 has an arc shape so that it can be in close contact with the surface of the boiler water pipe 80. Further, a tube (not shown) for sending water as a contact medium is attached to the lower part of the holder 64, and is configured so that water can be sent from the outside of the boiler to the inspection head by a pump 72.

  In such a configuration, the wall thickness is measured by pressing the holder 64 against the water pipe 80, feeding water from the pump 72, and filling water between the ultrasonic probe 63 and the surface of the boiler water pipe 80. Done.

  The operation of the inspection unit will be described with reference to FIG.

  First, as shown in FIG. 14A, the servo motor 50 (not shown) is rotated to rotate the vertical arm 56 by 90 °. In the figure, the inspection head 59 is in a state of facing the left side.

  Next, as shown in FIG. 14B, the servo motor 51 is rotated to bring the vertical arm 56 toward the side of the boiler water pipe 80 and press the inspection head 59 against the side of the boiler water pipe 80.

  And as shown in FIG.14 (c), the solenoid 60 is operated and the test | inspection head 62 is pressed on the boiler water pipe 80 lower part.

  Here, in the state of FIG. 14C, water is sent from the outside of the boiler by a pump 72 (not shown) to measure the thickness.

  To return the inspection unit to the original state, the reverse operation of FIG. 14 is performed. Further, if the servo motors 50 and 51 are rotated in the reverse direction, the thickness of the boiler water pipe 80 on the opposite side to FIG. 14 can be measured.

  A procedure for inspecting a boiler water pipe using the boiler water pipe group moving device 2 configured as described above will be described with reference to FIG.

  (1) First, the tube row direction moving device 4 in which the water tube group traveling device 3 is housed is disposed on a predetermined uppermost boiler water tube 81. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (2) Next, by the operation shown in FIGS. 9 and 10, the water tube group traveling device 3 is detached from the tube row direction moving device 4 and moved into the boiler water tube group 1.

  (3) Next, the water tube group traveling device 3 is moved in the tube axis direction and the vertical direction to the position where the wall thickness measurement is performed.

  (4) Next, the wall thickness of the boiler water pipe is measured by the operation shown in FIG. 14, and the wall thickness data is recorded on the recording PC 47 installed outside the boiler.

  (5) Hereinafter, the thickness of the boiler water pipe is measured by sequentially repeating the movement of the water pipe group traveling device 3 in the pipe axis direction and the vertical direction.

  (6) After completion of the wall thickness measurement, the water tube group traveling device 3 is raised and stored in the tube row direction moving device 4.

  (7) Next, as shown in FIG. 9, the crawlers 36 and 37 of the tube row direction moving device 4 are operated to move the tube row direction moving device 4 containing the water tube group traveling device 3 to 1 in the tube row direction. Move column. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (8) Hereinafter, the above (1) to (7) are repeated to inspect the boiler water pipes in each row.

  The above procedure may be performed by the operator remotely operating each device while monitoring the situation in the boiler while looking at the monitor 48 on which images from the monitoring cameras 43 and 44 are projected. In addition, although operation of the water pipe group traveling apparatus 3 may be performed by individual operation, the lifting operation may be automatically moved up and down by one step for simplification of the operation.

  Further, for example, when an obstacle 65 such as a support member of a soot blow pipe is detected in the traveling direction of the water pipe group traveling device 3 from the video of the monitoring camera 43, a one-step ascending or descending operation is performed, and the obstacle 65 is moved upward. Alternatively, when the vehicle travels below and passes through the obstacle 65, the obstacle 65 may be detoured by performing a one-step descending or raising operation to return to the original state.

  Further, in (6) above, when the water tube group traveling device 3 is housed in the tube row direction moving device 4, the water tube group traveling device 3 is The water tube group traveling device 3 may be lifted and stored in the tube row direction moving device 4 by operating so as to be directly below the storage portion 35 of the tube row direction moving device 4.

  In the present embodiment, since the water tube group traveling device 3 moves freely in the boiler water tube group 1 and inspects the boiler water tube, the inspection of the boiler water tube in the boiler water tube group 1 is burdened on the worker. Can be done efficiently.

  Hereinafter, a second embodiment of the present embodiment will be described with reference to the drawings. FIG. 16 is a diagram illustrating an overall configuration of the boiler water tube group moving apparatus 2 according to the second embodiment.

  A water tube group traveling device 3 and a tube row direction moving device 4 are arranged in the boiler water tube group 1. The water tube group traveling device 3 is equipped with a wall thickness measurement unit 42 which is a boiler water tube inspection device. Further, a rotary encoder 66 for detecting the position of the water tube group traveling device 3 in the tube axis direction from the traveling distance is attached to the roller (for example, the roller 15a) of the water tube group traveling device 3. Further, the water tube group traveling device 3 is provided with an obstacle detection sensor 67 for detecting an obstacle in the traveling direction and a boiler side wall. As the obstacle detection sensor 67, an ultrasonic distance meter, a laser distance meter, or the like can be used.

  Further, an up / down movement counter 68 for detecting the vertical position of the water tube group traveling device 3 is attached in association with the raising / lowering of the holding mechanism 7.

  The tube row direction moving device 4 includes a storage guidance sensor 69 for guiding the water tube group traveling device 3 so that the water tube group traveling device 3 can be positioned directly below the storage portion 35 of the tube row direction moving device 4, and the water tube group traveling device 3. Is attached to the tube row direction moving device 4. As the storage guidance sensor 69, an ultrasonic distance meter, a laser distance meter, or the like can be used. Also. As the storage confirmation sensor 70, a limit switch that is sensitive when the water tube group traveling device 3 is stored in the tube row direction moving device 4 can be used.

  A crawler (for example, crawler 36) of the tube row direction moving device 4 is attached with a rotary encoder 71 for detecting the position of the tube row direction moving device 4 in the tube row direction.

  On the other hand, outside the boiler, a control device 45 and a controller 46 for controlling the water tube group traveling device 3 and the tube row direction moving device 4 and a PC 47 for recording the thickness data measured by the thickness measuring unit 42 are installed. The Based on the structure of the boiler water tube group 1 to be inspected, the control device 45 moves the movement distance in the tube axis direction and the vertical direction of the water tube group traveling device 3 (here, for example, the position directly below the tube row direction moving device 4). And the movement distance in the tube row direction of the tube row direction moving device 4 are set in advance, and the water tube group traveling device is compared with the outputs of the rotary encoder 66, the vertical movement counter 68, and the rotary encoder 71. 3 and the position of the tube row direction moving device 4 are controlled. Further, a position where the thickness is measured by the thickness measuring unit 42 is set in advance, and the water tube group traveling device 3 is moved to a predetermined position of the boiler water tube group based on the information.

  The procedure for inspecting the boiler water pipe using the boiler water pipe group moving device 2 configured as described above will be described with reference to FIG.

  (1) First, the tube row direction moving device 4 in which the water tube group traveling device 3 is housed is disposed on a predetermined uppermost boiler water tube 81. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (2) Next, by the operation shown in FIGS. 9 and 10, the water tube group traveling device 3 is detached from the tube row direction moving device 4 and moved into the boiler water tube group 1.

  (3) Next, based on the outputs of the rotary encoder 66 and the up / down movement counter 68, the water tube group traveling device 3 is moved in the tube axis direction and the up / down direction to the position where the wall thickness measurement is performed.

  (4) Next, the wall thickness of the boiler water pipe is measured by the operation shown in FIG. 14, and the wall thickness data is recorded on the recording PC 47 installed outside the boiler.

  (5) Hereinafter, the thickness of the boiler water pipe is measured by sequentially repeating the movement of the water pipe group traveling device 3 in the pipe axis direction and the vertical direction.

  (6) When the wall thickness measurement is completed, the water tube group traveling device 3 is raised, and the water tube group traveling device 3 is accommodated in the tube row direction moving device 4 while referring to the outputs of the storage guidance sensor 69 and the storage confirmation sensor 70. .

  (7) Next, as shown in FIG. 9, the crawlers 36 and 37 of the pipe row direction moving device 4 are operated, and the pipe row in which the water tube group traveling device 3 is accommodated while referring to the output of the rotary encoder 71. The direction moving device 4 is moved by one row in the tube row direction. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (8) Hereinafter, the above (1) to (7) are repeated to inspect the boiler water pipes in each row.

  The above procedure may be automatically performed by the control device 45 and the controller 46. At this time, whether or not the water tube group traveling device 3 is appropriately traveling can be confirmed based on the output of the rotary encoder 66. In this case, for example, if the state in which the travel distance based on the output of the rotary encoder 66 does not change continues for a certain time or more, it is determined that there is an abnormality, the water tube group travel device 3 is stopped, and the operator uses a buzzer, a lamp, or the like. You may make it report.

  Further, when an obstacle 65 such as a support member of a soot blow pipe is detected in the traveling direction of the water pipe group traveling device 3 from the output of the obstacle detection sensor 67, a one-step up or down operation is performed and the obstacle 65 is moved upward. Alternatively, when the vehicle travels downward and passes through the obstacle 65, the obstacle 65 is detoured by performing a one-step lowering or raising operation. At that time, since the buzzer or the lamp indicates that the obstacle 65 has been detected, an alarm may be issued to the operator.

  Further, in the automatic operation as described above, a monitoring camera may be provided in the water tube group traveling device 3 and the tube row direction moving device 4 so that the operator can monitor the situation in the boiler by an image from the monitoring camera. Then, an operator may perform a manual operation based on a video from a monitoring camera or an alarm such as a buzzer or a lamp.

  In the present embodiment, since the water tube group traveling device 3 moves freely in the boiler water tube group 1 and inspects the boiler water tube, the inspection of the boiler water tube in the boiler water tube group 1 is burdened on the worker. Can be done efficiently.

  In the above embodiment, although the case where the thickness measuring unit 42 which is a boiler water pipe inspection device is mounted on the water tube group traveling device 3 has been described, the present invention is not limited to this. In the present invention, a boiler water pipe cleaning device may be provided instead of the boiler water pipe inspection device or in addition to the boiler water pipe inspection device. Hereinafter, in the first and second embodiments, a case where a boiler water pipe cleaning device is provided instead of or in addition to the boiler water pipe inspection device will be described. The configuration other than replacing or adding the inspection device to the cleaning device is the same as in the first and second embodiments.

  Hereinafter, the operation when the cleaning device is attached instead of the inspection device will be described with reference to FIG. 18 corresponding to the first embodiment. The following description can be similarly applied to the operation when a cleaning device is attached instead of the inspection device in the second embodiment.

  In the figure which shows the whole structure of the boiler water pipe group moving apparatus 2 of FIG. 18, the water pipe group traveling apparatus 3 and the pipe row direction moving apparatus 4 are arrange | positioned inside the boiler. The water tube group traveling device 3 is equipped with a rotating brush 75 as a cleaning jig and a driving motor (not shown) that rotationally drives the rotating brush 75. Further, in order to monitor the internal situation of the boiler, a plurality of monitoring cameras 43 are attached to the water tube group traveling device 3, and a monitoring camera 44 is also attached to the tube row direction moving device 4.

  On the other hand, a control device 45 and a controller 46 for controlling the water tube group traveling device 3 and the tube row direction moving device 4 and a monitor 48 for projecting images from the monitoring cameras 43 and 44 are provided outside the boiler. Yes.

  A procedure for cleaning the boiler water pipe using the boiler water pipe group moving device 2 configured as described above will be described with reference to FIG.

  (1) First, the tube row direction moving device 4 in which the water tube group traveling device 3 is housed is disposed on a predetermined uppermost boiler water tube 81. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (2) Next, by the operation shown in FIGS. 9 and 10, the water tube group traveling device 3 is detached from the tube row direction moving device 4 and moved into the boiler water tube group 1.

  (3) Next, the rotary brush 75 is driven to rotate, and the water tube group traveling device 3 is caused to travel in the tube axis direction to clean the lower surface of the uppermost boiler water tube 81 and the upper surface of the second boiler water tube 82.

  (4) When the water tube group traveling device 3 reaches the end in the tube axis direction, the traveling is stopped and the rotation of the rotary brush 75 is stopped. Next, the water tube group traveling device 3 is moved downward by one stage by the operation shown in FIG.

  (5) Next, the rotary brush 51 is driven to rotate, and the water tube group traveling device 3 is caused to travel in the direction of the tube axis opposite to the above (3), so that the lower surface of the second stage boiler water tube 82 and the third level The upper surface of the boiler water pipe 83 is cleaned.

  (6) Hereinafter, the water tube group traveling device 3 is sequentially traveled in the tube axis direction and moved downward to clean the boiler water tube.

  (7) Then, when cleaning of the lowermost boiler water pipe is completed, the water pipe group traveling device 3 is raised and stored in the pipe row direction moving device 4.

  (8) Next, as shown in FIG. 9, the crawlers 36 and 37 of the tube row direction moving device 4 are operated to move the tube row direction moving device 4 containing the water tube group traveling device 3 to one row in the tube row direction. Move minutes. At that time, the stop position correcting mechanism shown in FIG. 8 may be operated.

  (9) Hereinafter, the above (1) to (8) are repeated to clean the boiler water pipes in each row.

  Note that the above procedure may be performed remotely by the operator while monitoring the situation in the boiler on the screen of the monitor 48 on which images from the monitoring cameras 43 and 44 are projected.

  At that time, in a place where the amount of deposits is locally large, the rotation speed of the rotary brush 75 may be increased, or the traveling speed of the water tube group traveling device 3 may be decreased to perform careful cleaning. Conversely, at locations where the amount of deposits is small, the traveling speed of the water tube group traveling device 3 may be increased to allow faster passage.

  In addition, although operation of the water pipe group traveling apparatus 3 may be performed by individual operation, the lifting operation may be automatically moved up and down by one step for simplification of the operation.

  Further, for example, when an obstacle 65 such as a support member of a soot blow pipe is detected in the traveling direction of the water pipe group traveling device 3 from the video of the monitoring camera 43, a one-step ascending or descending operation is performed, and the obstacle 65 is moved upward. Alternatively, when the vehicle travels below and passes through the obstacle 65, the obstacle 65 may be detoured by performing a one-step descending or raising operation to return to the original state.

  In addition, in (7) above, when the water tube group traveling device 3 is housed in the tube row direction moving device 4, the water tube group traveling device 3 is The water tube group traveling device 3 may be lifted and stored in the tube row direction moving device 4 by operating so as to be directly below the storage portion 35 of the tube row direction moving device 4.

  Thus, in this embodiment, since the water pipe group traveling apparatus 3 carrying the rotating brush 75 moves freely in the boiler water pipe group 1 and cleans the boiler water pipe, the boiler water pipe group 1 The boiler water pipe can be efficiently cleaned without placing a burden on the worker.

  In this embodiment, a rotating brush is used as a cleaning jig, but in addition, shot blasting, high-pressure air, or a brass disc that strikes a boiler water tube as described in Patent Document 2 above. You may use the cleaning jig provided with.

  Although FIG. 18 mentioned above demonstrated the case where the boiler water pipe cleaning apparatus was provided instead of the boiler water pipe inspection apparatus, you may make it provide both the boiler water pipe inspection apparatus and the boiler water pipe cleaning apparatus. In this case, it is possible to inspect the water pipe portion after the cleaning at the same time as cleaning is performed by the cleaning device. Thereby, cleaning and inspection of the water pipe can be performed during one movement operation of the water pipe group traveling device 3, cleaning and inspection can be performed in a short time, and efficient operation is possible.

  Further, in the present invention, a boiler water pipe repair device may be provided instead of or in addition to the inspection device and / or the cleaning device. As the repair device, a build-up welding device that performs build-up welding or the like can be used in a portion where the thickness is determined to be thinner than a predetermined reference value.

  By providing a repair device, for example, after performing a thickness inspection, or when a thickness inspection device is mounted together as an inspection device, the thickness is determined by a predetermined standard in the inspection by the thickness inspection device. It becomes possible to repair the portion determined to be thinner than the value after the inspection or simultaneously with the inspection.

  In addition, boilers that inspect, clean, and repair using the boiler water tube group moving device of the present invention include waste incinerators and waste melting furnaces that incinerate or melt waste such as municipal waste and industrial waste. The present invention can be widely applied to attached boilers, oil-fired boilers, coal-fired boilers, boilers for thermal power plants, and the like.

It is a side view which shows one Embodiment of the boiler water pipe group moving apparatus which concerns on this invention. It is a front view which shows one Embodiment of the boiler water pipe group moving apparatus which concerns on this invention. It is a figure which shows the side surface of the water pipe group traveling apparatus which concerns on this invention. It is a figure which shows the structure of the holding mechanism which concerns on this invention, (a) is a top view of a holding mechanism, (b) is the side view. It is a figure which shows the state by which the water pipe group traveling apparatus which concerns on this invention is hold | maintained in the boiler water pipe group by the holding mechanism. It is a figure which shows the example of 1 structure of the holding mechanism provided in the main body of the water pipe group traveling apparatus which concerns on this invention. It is a figure which shows one structural example of the tube row direction moving apparatus which concerns on this invention. It is a figure which shows the example of 1 structure of the stop position correction mechanism which concerns on this invention. It is a figure explaining the whole operation | movement of the boiler water pipe group moving apparatus which concerns on this invention. It is a figure explaining operation | movement at the time of the water pipe group traveling apparatus which concerns on this invention moving to an up-down direction. It is a figure showing the whole boiler water tube group moving device which is the 1st form in this embodiment concerning the present invention. It is a figure which shows the structure of the thickness measurement unit which concerns on this invention. It is a side view of the inspection head in the thickness measuring unit according to the present invention. It is explanatory drawing of operation | movement of the test | inspection unit which concerns on this invention. It is explanatory drawing of the procedure which test | inspects a boiler water pipe using the boiler water pipe group moving apparatus which concerns on this invention. It is a figure which shows the whole structure of the moving apparatus in boiler water pipe groups in 2nd Embodiment. It is explanatory drawing of the procedure which test | inspects a boiler water pipe using the boiler water pipe group moving apparatus which concerns on this invention. It is a figure which shows the whole structure of the moving apparatus in boiler water pipe group in other embodiment which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Boiler water pipe group 2 Boiler water pipe group moving apparatus 3 Water pipe group traveling apparatus 4 Tube row direction moving apparatus 5 Main body 6a, 6b Holding mechanism 7 Holding mechanism 8 Drive motor 9 Plate 10, 11 Gear 12 Plate 13, 14 Holding arm 15a, 15b, 16a, 16b Roller 17, 18 Motor 19 Drive motor 20, 21 Gear 22 Shaft 23a, 23b Arm 24 Gear 25 Shaft 26 Gear 27a, 27b Arm 28a, 28b Slit 29 Slider 30 Ball screw 31, 32 Pulley 33 Timing belt 34 Motor 35 Storage section 36, 37 Crawlers 38a, 38b, 39a, 39b Tubular members 40a, 40b Stop position correcting arms 41a, 41b Rotating shaft 42 Thickness measuring units 43, 44 Monitoring camera 45 Controller 46 Controller 47 Recording PC
48 Monitor 49 Plate 50, 51 Motor 52 Horizontal arm 53, 54 Pulley 55 Timing belt 56 Vertical arm 57, 58 Gear 59 Inspection head 60 Solenoid 61 Fixing member 62 Inspection head 63 Submerged focus type ultrasonic probe 64 Holder 65 Failure Object 66 Rotary encoder 67 Obstacle detection sensor 68 Vertical movement counter 69 Storage guidance sensor 70 Storage confirmation sensor 71 Rotary encoder 72 Pump 73, 74 Plate 75 Rotary brush 80 Boiler water pipe 81 Uppermost boiler water pipe 82 Second stage boiler water pipe 83 3rd stage boiler water pipe

Claims (4)

A boiler water tube group moving device that moves in the boiler water tube group in the tube axis direction, the vertical direction and the tube row direction,
A water tube group traveling device that moves in the boiler water tube group in the tube axis direction and the vertical direction;
It is arranged on the uppermost boiler water tube of the boiler water tube group, and includes a tube row direction moving device that houses the water tube group traveling device and moves it in the tube row direction,
The water tube group traveling device is
A pair of first holding mechanisms attached to the front and back of the apparatus body in the tube axis direction;
A pair of second holding mechanisms provided on both side surfaces facing the boiler water pipe of the apparatus body,
The first holding mechanism includes rollers configured to hold the apparatus main body by pressing against the adjacent horizontal and horizontal boiler water pipes and to move the apparatus main body back and forth in the tube axis direction by rotating. ,
The second holding mechanism holds the apparatus main body instead of the first holding mechanism when the apparatus main body moves in the vertical direction, and can move the apparatus main body in the vertical direction by moving in the vertical direction. A boiler water tube group moving device comprising a support member configured as described above. The water tube group traveling device
The boiler water tube group moving device according to claim 1, further comprising an inspection device for inspecting the boiler water tube. The water tube group traveling device
The boiler water tube group moving device according to claim 1 or 2, further comprising a cleaning device for cleaning the boiler water tube. The water tube group traveling device
The boiler water tube group moving device according to any one of claims 1 to 3, further comprising a repair device for repairing the boiler water tube.

Images