JPH0451234B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic remote cleaning device for cleaning and inspecting shellfish and seaweed attached to the inside of a pipe that introduces cooling water using seawater, for example.

[Technical background of the invention and its problems]

Generally, in thermal power plants and nuclear power plants,
For example, a large amount of shellfish and seaweed grow inside the circulating water piping that cools the condenser, and these shellfish and seaweed reduce the effective area inside the pipe. Not only does this create a resistance to the intake of cooling water and reduce the cooling efficiency of the condenser, but shellfish and seaweed that have adhered to the pipes naturally peel off and flow into the smoke tubes of the condenser. Not only does it impede its function, but it also blocks the flow of cooling water.
Moreover, cleaning and inspection work is carried out regularly to prevent corrosion.

On the other hand, nuclear power plants have taken measures to construct power plant buildings on bedrock from the viewpoint of earthquake-resistant structures, and in particular, in order to save energy on the power of circulation pumps, the inlets and outlets of circulation water pipes have been Due to the method of submerging water in the intake and tailrace channels, approximately half of the power plant building is often located below sea level, and the condenser located at the bottom of the power plant building is cooled. The installation of circulating water piping forms complex flow paths such as bends, steep slopes, vertical pipes, and branch sections.

In this way, cleaning and inspection work inside the circulating water piping, which has a complex flow path, has conventionally been carried out regularly by hand without relying on machines.
It has drawbacks such as low work efficiency and poor working environment. In particular, the work of removing shellfish adhering to the inner walls of pipes is not only hard work, but also produces a terrible odor due to rotting shellfish, and there is a risk of oxygen deficiency due to the generation of toxic gas. In addition, the inside of the pipes is dark and extremely slippery due to residual water and seaweed, and in the vertical pipe sections, work may be done while climbing down rope ladders, making the work environment extremely difficult for long periods of time. It is being done.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and is capable of cleaning the inside of a pipe by automatically and remotely controlling a pipe work vehicle equipped with a cleaning tool etc. to clean the inside of the pipe using circulating water that forms a complicated flow path. The purpose of this invention is to provide an automatic remote cleaning device for inside pipes, which aims to improve the efficiency of cleaning operations under poor working conditions without manual intervention.

[Summary of the invention]

The present invention has a magnetic anchor provided on the running surface side and is mounted on a pipe work vehicle that travels inside a pipe, and is mounted on the pipe work vehicle and rotates while expanding and contracting according to the size of the inside of the pipe, and is attached to its free end. An arm on which a tool can be detachably attached, a hoisting device that winds up a control cable whose one end is connected to an in-pipe work vehicle, a winding machine that winds up a hanging rope connected to the in-pipe work vehicle, and a hoisting device that A control lead wire is connected to the other end of the control cable that is hoisted, and the ground side remotely monitors and controls the operation and cleaning work of the work vehicle in the pipe, and accordingly controls the operation of the hoist and winding machine. and an operation control device installed in the pipe, and the pipe work vehicle is automatically and remotely controlled to clean and inspect the pipe interior.

[Embodiments of the invention]

Hereinafter, an illustrated embodiment in which the present invention is applied to cleaning and inspection work inside circulating water piping in a nuclear power plant will be described.

In the figure, code 1 indicates underground 2 of the nuclear power plant.
This pipe is a circulating water pipe buried in
A manhole 3 is provided in a part of the manhole 3, and directly above the manhole 3, for example, a winding device 4 including a cable reel device and a winding machine 6 for the hanging rope 5 are installed. Further, a guide roller 7 is attached at a position directly below the hoisting device 4, and a control cable 8a of the hoisting device 4,
and a power cable 8b are connected to the piping 1 via the guide roller 7.
It is connected to an in-pipe work vehicle 9 that travels inside the pipe. Furthermore, this pipe work vehicle 9 has an arm 1 that rotates while expanding and contracting in accordance with the diameter of the pipe inside the pipe 1.
A tool 11, such as a cleaning tool or an inspection tool, is detachably provided at the free end of the arm 10. A magnetic anchor 9 is installed at the bottom of the trolley 9a of the pipe work vehicle 9.
a1 is installed. Furthermore, the winding machine 6
The hanging rope 5 wound around the pipe is connected to the pipe working vehicle 9 via a guide roller 12, and the hanging rope 5 suspends the pipe working vehicle 9.

On the other hand, the control cable 8a of the hoisting device 4
The operation control device 13 installed on the ground side 2a
is connected via a control lead wire 14,
This operation control device 13 is installed on a control console 13a.
It is constructed by adding a TV monitor 13b and an operating lever 13c. The operation control device 13 controls the operation of the winding device 4 that sends out and winds up the cable 8 in synchronization with the traveling speed of the pipe work 9 . Similarly, the operation control device 13 also controls the operation of the winding machine 6 that lowers and lifts the hanging rope 5 connected to the trolley 9a. In addition, the winding machine 6
A power device (power feeding device) 15 is installed on the ground side 2a between the drive control device 13 and the operation control device 13, and this power device 15 is connected to a power lead wire 16.
It is connected to the operation control device 13 and the hoisting device 4 via a and 16b, respectively. On the other hand, a TV camera 17 is attached to the trolley 9a of the pipe work vehicle 9 so as to photograph the wall surface and running path inside the pipe 1 and display the image on the TV monitor 13b. The TV camera 18 photographs the part of the tool 11 and
It is attached to the monitor 13b so as to selectively display images. The motion control device 13 adjusts the magnetic force of the magnetic anchor 9a1 installed on the cart 9a to prevent the in-pipe working vehicle from falling due to the reaction force of the tool 11 during work, and also to stabilize the vertical pipe and the inclined pipe. This makes it possible to drive with ease.

Therefore, the in-pipe work vehicle 9 that can travel within the pipe 1 receives power from the power unit 15 by remote control of the operation control device 13 to travel within the pipe 1, and also operates the arm 10. The cleaning tool 1 attached to the free end of this arm 10 rotates while expanding and contracting in accordance with the size of the pipe diameter.
1 peels off shellfish and seaweed adhering to the tube wall, and photographs the peeled pieces using the TV cameras 17 and 18, which are then displayed on the TV monitor 13a. On the other hand, when cleaning the inside of the pipe 1 of the vertical pipe portion 1a, the hoisting device 4 and the winding machine 6 are driven, the pipe work vehicle 9 is suspended using the hanging rope 5 and the cable 8, and the mag By the magnetic force of the net anchor 9a1, the arm 10 is rotated while expanding and contracting according to the size of the pipe diameter, as described above, while being attracted to the inner wall surface of the pipe.
A cleaning tool 11 attached to the free terminal 0 is used to peel off and clean shellfish and seaweed from the tube wall, as well as to perform inspection.

In this way, the present invention allows the operation control device 13 on the ground side to move the pipe working vehicle 9 of the pipe 1 while removing shellfish and seaweed attached to the pipe wall using the arm 10.
The cleaning tool 11 is used for peeling and cleaning.

Incidentally, although the present invention has been described with respect to an embodiment in which the power unit 15 is provided on the ground side, the design may be changed to mount the battery on the trolley 9a, for example, without changing the gist of the present invention. Be free. Further, although the above-mentioned in-pipe work vehicle 9 has been described as using tires, the rear wheels may be covered with belts to increase the propulsion force.

On the other hand, it goes without saying that the cleaning tool 11 may use high-pressure jet water as a stripping tool.

〔Effect of the invention〕

As described above, the present invention allows cleaning to be carried out continuously over a long period of time even in pipes with poor working environments, thereby greatly improving cleaning work efficiency and helping workers avoid the dangers of scaffolding. Not only can the cleaning of the circulating water piping, which has a complicated flow path, be completed in a short time, but the present invention also enables the installation of magnetic anchors on the body of the pipe work vehicle. As a result, the posture of the pipe work vehicle can be stably supported even when the pipe work vehicle is subjected to a large moment due to the reaction force during lifting and lowering of the vertical pipe or when working with the tool at the end of the arm. Furthermore, by suspending the pipe work vehicle using a hanging rope and adhering it to the pipe inner wall using a magnetic anchor installed on the running surface of the pipe work vehicle, it is possible to clean vertical and inclined walls. Furthermore, the present invention is capable of simultaneously photographing the traveling road and work surface within the jurisdiction using a camera mounted on the work vehicle within the jurisdiction, and simultaneously displaying the traveling road and work surface within the jurisdiction on the monitor of the operation control device. , it becomes possible to observe the running road while grasping the condition of the wall surface before and after cleaning, which has excellent effects such as enabling safe and reliable operation of the pipe work vehicle and cleaning work.

[Brief explanation of drawings]

The figure is a diagram showing an automatic remote cleaning device inside a pipe. 1... Piping, 3... Manhole, 4... Hoisting device, 5... Hanging rope, 6... Winding machine, 8... Cable, 9... Pipe work vehicle, 10... Arm, 1
1... Tool, 13... Operation control device, 15... Power device, 17, 18... TV camera.

Claims (1)

[Claims] 1. A magnetic anchor is provided on the running surface side,
An in-pipe work vehicle that travels inside a pipe; an arm mounted on the pipe work vehicle that rotates while expanding and contracting to match the size of the inside of the pipe; and a tool attached to the free end of the arm that can be detachably attached to the arm; A hoisting device that winds up a control cable connected to one end of the control cable, a winding device that winds up a hanging rope that is connected to an in-pipe work vehicle, and a control cable that is connected to the other end of the control cable that is hoisted to the hoisting device. It is characterized by having an operation control device connected to the lead wire and installed on the ground side to remotely monitor and control the operation and cleaning work of the work vehicle in the area, and to control the operation of the hoist and winding machine accordingly. An automatic remote cleaning device for pipes. 2 A camera is installed on the work vehicle within the jurisdiction and is capable of simultaneously photographing the running road and work surface within the jurisdiction, and a monitor is installed to display images from the camera installed on the work vehicle within the jurisdiction. 2. The automatic remote cleaning device for pipes according to claim 1, further comprising an operation control device provided on the ground side for remotely monitoring and controlling the hoisting machine and controlling the operation of the hoisting machine and the winding machine.