JPH0543438B2 - - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to an automatic cleaning device, and particularly to a cooling system piping for a condenser used in a thermal power plant or a nuclear power plant. This invention relates to an automatic cleaning device suitable for cleaning internal surfaces.

(Conventional technology) Generally, condensers in thermal power plants and nuclear power plants are
Because seawater is used as cooling water, marine organisms such as shellfish can easily adhere to the inner surface of the condenser cooling system piping, and if left untreated, the internal area of the pipes will shrink and internal resistance will increase, reducing cooling effectiveness. However, there were also problems such as part of the detached marine organisms flowing into the condenser and corroding the cooling tubes inside the condenser. Therefore, in the past, these marine organisms had to be manually removed by workers during each periodic plant inspection.

(Problems to be Solved by the Invention) However, since the cooling system piping has a large diameter, long and deep structure, it is extremely difficult to remove the marine organisms and requires a great deal of effort. Furthermore, in the vertical part of the piping, workers have to hold on to rope ladders while descending while working, which is extremely inefficient and dangerous. Furthermore, since shellfish emit foul odors and toxic gases after they die, the working environment inside the pipes is extremely poor, causing many problems in terms of health and safety for workers.

Therefore, the present invention solves the problems of the above-mentioned prior art, frees workers from cleaning work in adverse environments, and cleans cooling system piping regardless of the type of piping, such as horizontal pipes, vertical pipes, or curved pipes. An object of the present invention is to provide an automatic cleaning device that can efficiently and safely remove marine organisms attached to the inner surface of a container.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a pair of frames arranged apart from each other in the direction of the tube axis, and a structure in which the pair of frames is made expandable and contractible in the direction of the tube axis. A moving device, a fixing device installed on each of the above frames to hold each frame in the pipe, and a fixing device installed on each of the above frames to rotate the entire device in a plane perpendicular to the pipe axis according to the shape of the pipe. and a cleaning nozzle device that is attached to the frame and cleans the inner wall surface of the pipe. one end of the arm member is pivotally connected to one end of the frame via a pivot pin, and the other end is formed at the other end of the frame via at least one guide pin. The guide pin is configured as a pair of guide pins for a straight pipe and a curved pipe that are moved back and forth by a cylinder, and the guide groove is engaged to slide within at least one guide groove for a straight pipe. It consists of a pair of guide grooves, a guide groove for straight pipes and a guide groove for curved pipes that is inclined at a predetermined angle with respect to the guide groove for straight pipes. It is characterized by being configured so as to be engaged with the groove.

(Function) To explain the function based on the above configuration, the entire cleaning device moves in the tube axis direction while holding the pair of frames alternately in the tube by the joint operation of the moving device and the fixing device. That is, when moving through a straight section of a pipe, the guide pin engages with the guide groove for the straight pipe, and when moving through a curved section of the pipe, the guide pin engages with the guide groove for the curved pipe, causing the straight pipe to move. It is possible to walk smoothly and continuously through both the curved pipe section and the curved pipe section. In addition, by activating the posture control device at any time and rotating the entire cleaning device in a plane perpendicular to the pipe axis according to the shape of the pipe to be moved, the cleaning device can be moved smoothly according to the shape of the pipe. can. During this movement, the cleaning nozzle device injects high-pressure water toward the inner surface of the tube, thereby making it possible to efficiently and safely clean the inner wall surface of the tube without manual intervention.

(Example) An example of an automatic cleaning apparatus according to the present invention will be described below with reference to FIGS. 1 to 7.

In FIGS. 1 and 2, reference numeral A indicates a cooling system piping for a condenser, and within this piping A, an automatic cleaning device generally designated by the reference numeral M is disposed. This automatic cleaning device M has a pair of rectangular frames 1 and 2 separated in the tube axis direction, and the first and second rectangular frames 1 and 2 each have a fixing device 3 and a posture control device 4 having the same shape and function. is incorporated, and a cleaning nozzle device 5 is attached to the second square frame 2.

Four sets of the fixing devices 3 are provided at the corners of the first and second rectangular frames 1 and 2, and each fixing device 3 is attached to the tube axis in order to hold the cleaning device in the tube and to facilitate movement. It is equipped with wheels 6 arranged facing in the direction of the pipe, and a pressurizing plate 7 for holding the cleaning device inside the pipe, and the pressurizing plate 7 is fixed to the rod tip of a linear cylinder 8 that expands and contracts in the radial direction of the pipe. ing. The wheels 6 and the linear cylinders 8 are attached via brackets 11 to the tips of respective threaded shafts 10 of four sets of jacking devices 9 arranged in an X-shape on each square frame. Each jacking device 9 is provided with a screw shaft drive device 12 using a worm gear, and the driving force of a drive motor 13 disposed on the frame is transmitted to this screw shaft drive device 12 via a chain 14. As a result, the threaded shaft 10 expands and contracts in the radial direction in response to changes in the inner diameter of the pipe, so that the wheel 6 attached to the tip of the threaded shaft 10 is always in contact with the inner wall surface of the pipe.

In addition, the first and second square frames 1 and 2
A pair of arms 16a and 16b, which are connected at the center through a pin 15 and intersect in an X-shape, are installed as a moving device for moving the cleaning device in the tube axis direction in cooperation with the fixing device 3. There is. One end of the arms 16a and 16b is pivotally connected to one end of the side wall of each square frame 1, 2 via a pin 17, and the other end has a guide pin (not shown) at the tip of each rod. A pair of linear motion cylinders 18 and 21 are fixedly attached. By the operation of the pair of linear motion cylinders 18 and 21, the guide pin of one of the linear motion cylinders 18 is inserted into and engaged with the guide groove 20 of the bracket 19 fixed to the other end of each of the square frames 1 and 2. At the same time, the guide pin of the other linear cylinder 21 is inserted into the guide groove 22 formed at the other end of each square frame 1, 2,
It is about to be engaged.

Here, the first and second square frames 1 and 2 are
The guide groove 22 at the other end is used for movement when cleaning the straight pipe section, and as shown in FIG. On the other hand, the guide groove 20 of the bracket 19 is used for movement when cleaning a curved pipe section, and is formed at an angle θ with respect to a parallel line B' to the straight line B. ing. Further, the angle θ is determined to be 1/2 of the walking angle α, which is the angle formed by the first and second square frames 1 and 2 when the cleaning device moves through the curved pipe section. Then, by selectively operating the linear cylinders 18 and 21 according to the shape of the pipe to engage the corresponding guide pins and guide grooves, and operating the drive cylinder 23, which will be described later, the moving device is moved along the pipe axis. The cleaning device can be moved by expanding and contracting in different directions. Furthermore, the one arm 16
b is provided with a drive cylinder 23 which together with the arms 16a and 16b constitutes a moving device;
The rod end of the drive cylinder 23 is coupled to the arm 16b via a pin 24, and the rear end of the drive cylinder 23 is pivotally connected via a pin 26 to a bracket 25 fixed to the first square frame 1. There is. Then, by the operation of the drive cylinder 23, the arms 16a and 16b whose both ends are connected to the first and second square frames 1 and 2 swing around the pin 15, and the square frames 1 and 2 approach in the tube axis direction. or move away.

On the other hand, two sets of posture control devices 4 are provided at opposite positions of the first and second square frames 1 and 2 sandwiched by the fixing device 3, and each posture control device 4 faces in the circumferential direction of the tube. Parallel drive motor 2
7, and a pressure plate 29 fixed to the rod tip of a linear cylinder 30 that is disposed between the drive wheels 28 and expands and contracts in the radial direction of the pipe. The wheels 28 and the pressure plate 29 are fixed to a support stand 31. On the other hand, two sets of jacking devices 32 are provided at opposing positions on the rectangular frame sandwiched by the jacking devices 9, and each jacking device 32 has a screw shaft equipped with a screw shaft drive device 34 composed of a worm gear. 33, and the driving force of a drive motor 35 disposed on the frame is transmitted to the screw shaft drive device 34 through the chain 36, so that the screw shaft 33 is adjusted in response to changes in the inner diameter of the tube. It is designed to expand and contract in the radial direction of the tube. A bracket 37 is fixed to the tip of the screw shaft 33, and the bracket 37 and the support base 31 are connected by a pantograph-shaped arm 38. This arm 3
8, one end of the arm 38a on the side of the bracket 37 is pivotally connected to the bracket 37 by a pin 39a, and one end of the arm 38b on the side of the support base 31 is attached to the pin 37.
The other ends of the arms 38a and 38b are screwed into a threaded shaft 42 which is disposed diagonally to the arm 38 and has a right-handed threaded portion and a left-handed threaded portion at both ends, respectively. It is pivotally connected to the mated threaded trunnion 41 via a pin 40. Further, the screw shaft 42 is connected to a drive motor 44 disposed on the frame via a flexible shaft 43.
When the screw shaft 42 rotates, the threaded trunnion 41 moves along the screw shaft 42, and the arm 38 expands and contracts. And this arm 3
8 and the screw shaft 33, the support base 31 to which the drive wheel 28 and pressure plate 29 are attached moves in the radial direction of the tube, so that the drive wheel 28 comes into contact with the inner wall surface of the tube.

Further, as shown in FIG. 2, the cleaning nozzle device 5 attached to the second rectangular frame 2 includes a support 45 supported in the center of the second rectangle frame 2 in the direction of the tube axis, and a support An arm 46 is provided at the distal end of the nozzle 45 and supported in the radial direction of the tube, and a nozzle 48 with an ejection port facing the inner wall surface of the tube is attached to the distal end of the arm 46 via a bracket 47. A rack 49 is provided on each side of the column 45 and the arm 46, and a pinion (not shown) that engages with the rack, respectively, is connected to a drive motor 5 provided on the square frame 2 and the column 45.
By rotating with a driving force of 0, the column 45
moves in the axial direction of the tube, and the arm 46 moves in the radial direction of the tube. Further, a rotating device 5 for rotating the arm 46 is provided at the tip of the support column 45.
1, and a nozzle 48 provided at the tip of the arm 46 can move in the circumferential direction along the inner wall surface of the pipe, and the nozzle 48 is attached to the pivot pin 5.
A linear cylinder 53 is attached to the bracket 47 via the cylinder 2 and provided on the bracket 47.
Since it is connected via the rod end and pin,
The actuation of the linear cylinder 53 allows the pin 52 to be used as a fulcrum to tilt at an arbitrary angle.

Next, the operation of the automatic cleaning device configured as described above will be explained.

Figures 4a, b, and c illustrate a case in which an automatic cleaning device installed in cooling system piping composed of horizontal or vertical pipes is moved in the direction of the arrow in the figure to clean the inner wall surface of the pipe. , First, as shown in FIG.
8 away from the inner wall surface of the tube, and the arms 16a, 1
Insert and engage the guide pins of the direct-acting cylinders 21 of 6b into the guide grooves 22 of the respective square frames 1 and 2, and further press the pressure plate 7 of the fixing device 3 of the first square frame 1 against the inner wall surface of the pipe. A first square frame 1 is held within the tube. Next, the drive cylinder 23 installed between one arm 16b and the first square frame 1 is reduced, and the arms 16a and 16b are extended in the tube axis direction as shown in FIG. The frame 2 is moved in the direction of the arrow in the figure. Furthermore, as shown in FIG. 4c, the second square frame 2
The pressure plate 7 of the fixing device 3 is pressed against the inner wall surface of the pipe to hold the second rectangular frame 2 inside the pipe and to hold the second rectangular frame 2 inside the pipe.
The press plate 7 of the square frame 1 is separated from the inner wall surface of the pipe to release the first square frame 1, and the drive cylinder 23 is extended and the arms 16a, 16b are contracted, thereby converting the first square frame 1 into a second square shape. Move it to the frame 2 side. By sequentially repeating such operations, the cleaning device moves within the pipe, and when the cleaning device moves, the cleaning nozzle device 5 attached to the second square frame 1 is operated to move the nozzle 48 along the inner wall surface of the pipe. The shellfishes attached to the inner surface of the tube are removed by moving in the circumferential direction and injecting high-pressure water generated by a water pressure pump (not shown) onto the inner wall surface of the tube from a nozzle 48 through a pipe (not shown).
It can be cleaned by removing limescale etc.

In addition, when the automatic cleaning device is moved within the cooling system piping composed of curved pipes to perform cleaning work, unlike the movement in the straight pipe section, as shown in FIGS. 5a and 5b, the arm 16a, The guide pins of the direct-acting cylinder 18 (16b) are inserted into and engaged with the guide grooves 20 of the brackets 19 fixed to the first and second square frames 1, 2, respectively. Other points are the same as in the case of the straight pipe section, and the first square frame 1 and the second square frame 2 are alternately held in the pipe, and the drive cylinder 23 is extended and contracted to extend and contract the arms 16a and 16b in the direction inside the pipe. By doing so, the cleaning device moves in the direction of the arrow in the figure. In this case, as described above, the guide groove 20 forms an angle of 1/2 of the walking angle α, so that the guide groove 20 is forced to walk with the center point of the radius of curvature of the curved pipe portion as the virtual center. Become. During this movement, the inner surface of the tube can be cleaned by jetting high-pressure water from the nozzle 48. In order to inject high-pressure water onto the inner surface of the curved pipe at an appropriate injection angle, the nozzle 48 can be tilted at an appropriate angle by actuating the linear cylinder 53 attached to the nozzle 48 as appropriate.

Furthermore, when cleaning is performed by moving the automatic cleaning device in a cooling system piping where a straight pipe section and a curved pipe section are continuous, insert the guide pin of the linear cylinder 21 into the guide groove 22 in the straight pipe section. , and while moving the cleaning device, high-pressure water is injected from the nozzle 48, and when it reaches the bent pipe section, the guide groove 20 is
Insert and engage the guide pin of the linear motion cylinder 18 into the guide groove 22 and the linear motion cylinder 21.
The straight pipe portion and the curved pipe portion can be continuously cleaned by jetting high pressure water from the nozzle 48 while continuously moving the cleaning device by releasing the engagement with the guide pin. Note that the above-mentioned direct-acting cylinders 18, 2
Switching of the operation of step 1 can be easily performed using a switching valve (not shown).

Further, the attitude control device 4 is operated at the transition portion so that the automatic cleaning device can smoothly move from the straight pipe portion to the curved pipe portion following the radius of curvature of the curved pipe as described above. That is, when the cleaning device is positioned in front of the bent pipe section, it rotates the drive motor 44 of each posture control device 4 of the first and second square frames 1 and 2 shown in FIG.
When the threaded shaft 42 is rotated through the screw shaft 42, each threaded trunnion 41 screwed into the right-hand threaded portion and the left-hand threaded portion of the threaded shaft 42 moves toward the longitudinal center position of the threaded shaft 42 as the threaded shaft 42 rotates. do. Due to this movement of the threaded trunnion 41, the pantograph-shaped arms 38a, 38b pin-coupled to the threaded trunnion 41 extend, and the drive wheel 28 attached to the tip of the arm 38b comes into contact with the inner wall surface of the pipe.
The cleaning device is held within the pipe via this drive wheel 28. Next, the jacking device 9 of each fixing device 3 is activated to release the contact between the walking wheels 6 and the inner wall surface of the pipe, and the drive motor 27 of the drive wheel 28 is rotated to move the entire cleaning device perpendicular to the pipe axis. By rotating within a plane and stopping the device at an arbitrary position, the posture of the cleaning device can be controlled along the radius of curvature of the curved pipe section to be moved, and this posture control allows the cleaning device to The straight pipe section and the curved pipe section can move smoothly within the continuous cooling system piping.

In addition, when cleaning is performed by moving the above-mentioned automatic cleaning device within cooling system piping of different diameters, for example, when moving the cleaning device from a small diameter pipe of φC to a large diameter pipe of φD as shown in Fig. 6. First, when the cleaning device is positioned in front of the large diameter pipe, the first square frame 1 is held inside the small diameter pipe, and then the arms 16a and 16b are extended in the pipe axis direction by contraction of the drive cylinder 23, and the second square frame is opened. 2 into the large diameter pipe.
Thereafter, the posture control device 4 of the second square frame 2 is activated, and the arms 38a and 38b are extended to bring the driving wheel 28 at the tip of the arm 38b into contact with the inner wall surface of the pipe, and the pressure plate 29 disposed between the driving wheels 28 is brought into contact with the inner wall surface of the pipe. The second square frame 2 is held inside the large diameter pipe by being pressed against the inner wall surface of the pipe. Furthermore, the first square frame 1
is released, the drive cylinder 23 is extended, and the arms 16a, 16b are contracted, thereby moving the first rectangular frame 1 into the large diameter tube in which the second rectangular frame 2 is held. Here, the injection distance between the nozzle 48 and the pipe inner wall surface at the transition part can be easily adjusted by operating the drive motor 50 in response to a command from a sensor (not shown) and moving the support 45 and arm 46 via the rack 49 and pinion. Furthermore, the spray angle of the nozzle 48 can be adjusted by operating the direct-acting cylinder 53.

Furthermore, when the above-mentioned automatic cleaning device is moved inside a large-diameter cooling system piping for cleaning work, as shown in FIG. 9 is activated, the screw shaft 10 is extended by the screw shaft drive device 12, and the wheel 6 attached to the tip of the screw shaft is brought into contact with the inner wall surface of the pipe, and the jacks of each attitude control device 4 of each rectangular frame 1, 2 are activated. The device 32 is operated, the screw shaft drive device 34 extends the screw shaft 33, and the drive wheel 28 attached to the tip of the screw shaft via arms 38a, 38b approaches the inner wall surface of the pipe to hold the cleaning device inside the pipe. do. Thereafter, the inside of the pipe can be cleaned by operating the cleaning device according to the procedure described above. The operation of the jacking devices 9 and 32 is controlled by a command output from a sensor (not shown) when the tip of the jacking device contacts or approaches the inner wall surface of the pipe. By operating the jacking devices 9 and 32, the cleaning device can be used in response to changes in the diameter pipe within the stroke range of the jacking device.

In the above-described embodiment, the wheels 6 of the fixing device 3 are constructed as working wheels, but a drive motor can also be attached to configure them as driving wheels to increase the moving speed in the straight pipe section of the cleaning device and improve work efficiency. Furthermore, as described above, by using pneumatic pressure or water pressure as a driving source without using electric power, the cleaning device can be used even in dangerous locations where there is a risk of explosion. Furthermore, by attaching inspection equipment, a painting gun, etc. in place of the nozzle 48 at the tip of the arm 46 attached to the second square frame 2, the cleaning device can be used not only for cleaning work but also for other purposes such as pipe interior inspection work and pipe painting work. It can also be used for other purposes.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, fixing devices are connected by crossed arm members, and guide pins for straight pipes and curved pipes are provided on the arm members, and these guide pins The moving device has a guide groove for straight pipes and a guide groove for curved pipes that engage with each other, and the moving device is constructed so that each guide pin engages and releases in accordance with the shape of the pipe, resulting in a very simple structure. Also, by using a controlled method, it is possible to clean the straight pipe portion and the curved pipe portion within the pipe while continuously walking. Moreover, in the curved pipe section, complicated walking control is performed by mechanically controlling the movement of the arm member by engaging the guide pin in the curved pipe guide groove that forms a predetermined angle with respect to the straight pipe guide groove. Even without it, you can walk smoothly. In addition, with the installation of a posture control device, the entire cleaning device can be rotated within the vertical plane of the pipe axis to change the walking direction of the curved pipe, allowing smooth movement of curved pipes in all directions, including horizontal, vertical, and diagonal bends. Can be easily washed on foot.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the automatic cleaning device according to the present invention, FIG. 2 is a side view of the automatic cleaning device, FIG. 3 is an explanatory diagram of guide grooves formed in the automatic cleaning device, and FIG. FIG. 4 is an explanatory diagram of the movement of the automatic cleaning device in a straight pipe section, FIG. 5 is an explanatory diagram of the movement of the automatic cleaning device in a curved pipe section, and FIG. 6 is an explanatory diagram of the movement of the automatic cleaning device in a pipe section of different diameters. FIG. 7 is an explanatory diagram of the movement of the large-diameter pipe portion of the automatic cleaning device. DESCRIPTION OF SYMBOLS 1, 2... Square frame, 3... Fixing device, 4... Posture control device, 5... Washing nozzle device, 6... Wheel, 7
...Pressure plate, 9...Jacking device, 10...Screw shaft, 1
6a, 16b... Arm, 18, 21... Direct-acting cylinder, 20, 22... Guide groove, 23... Drive cylinder,
28... Drive wheel, 29... Pressure plate, 31... Support stand,
32... Jacking device, 33... Screw shaft, 38a, 3
8b...Arm, 41...Threaded trunnion, 42...
Screw shaft, 45... Support, 46... Arm, 48... Nozzle,
49...Rack, 51...Rotating device, 53...Direct cylinder.

Claims (1)

[Scope of Claims] 1. A pair of frames disposed apart from each other in the tube axis direction, a moving device that allows the pair of frames to expand and contract in the tube axis direction, and a moving device disposed on each of the frames to move each frame. a fixing device that is held inside the tube; a posture control device that is installed on each of the frames and rotates the entire device in a plane perpendicular to the tube axis according to the shape of the tube; and a posture control device that is attached to the frame and rotates the inner wall surface of the tube. a cleaning nozzle device for cleaning; the moving device includes a pair of arm members that intersect at the center and are connected by pins; and a drive cylinder device that swings the arm members; one end of the arm member is It is pivotally connected to one end of the frame via a pivot pin, and the other end is engaged to slide within at least one guide groove formed in the other end of the frame via at least one guide pin. The guide pin is configured as a pair of guide pins for a straight pipe and a curved pipe that are moved back and forth by a cylinder, and the guide groove is selectively set in a predetermined position relative to the guide groove for the straight pipe and the guide groove for the straight pipe. It is characterized by a pair of guide grooves for curved pipes that are inclined at an angle of Automatic cleaning equipment. 2. The automatic transmission according to claim 1, wherein the curved pipe guide groove is formed at an angle of 1/2 of the walking angle α of the frame with respect to the straight pipe guide groove. cleaning equipment. 3. The fixing device consists of a jacking device that expands and contracts in the radial direction of the pipe, a cylinder device and wheels attached to the tip of the jacking device, and expands and contracts the jacking device according to the size of the pipe diameter. 2. The automatic cleaning device according to claim 1, wherein the cylinder device is expandable and retractable so that a pressure plate fixed to the cylinder device can be pressed against an inner wall surface of the pipe. 4 The attitude control device includes a jacking device that expands and contracts in the radial direction of the tube, an arm device that is attached to the tip of the jacking device and expands and contracts in the radial direction of the tube, and a pressure plate that is attached to the tip of the arm device. and a drive wheel, the jacking device expands and contracts in response to changes in the pipe diameter, and the arm device extends and contracts to bring the drive wheel into contact with the inner wall surface of the pipe, and the rotation of the drive wheel causes the entire device to align with the pipe shaft. The automatic cleaning device according to claim 1, wherein the automatic cleaning device is configured to rotate within a vertical plane.