JPS60205117A - Furnace wall cleaning and repairing device - Google Patents

Abstract

PURPOSE:To eanble an automatic inspection, repairing and the like to be performed in a boiler furnace by a method wherein more than one robots which can be moved on a furnace wall, a power unit for the robot and a service and dust collection unit are arranged. CONSTITUTION:Working robots 5a and 5b fixed to the vertical wall surface 6 of a boiler 1 are closely contacted to the vertical wall surface of the boiler under a magnetic force and then moved. A control and power unit 7 is arranged on a gondola suspended by wires 8 at the upper part of the boiler. A service section 10 arranged at the outer part of the boiler 1 is a service cart moving a floor, and this is connected to a dust collecting vehicle 11. Operation of the robot is performed in response to signals from the control and power unit 7 and an energy such as an electric power is also supplied from the control and power unit. The image of a TV camera 23 arranged at a manipulator 14 is displayed in a monitor TV within a service vehicle 10 through the power unit 7. The operator may confirm the condition of the wall surface of the boiler. The robot may clean and suck the dust adhered to the furnace wall surface through a cable hose and collect the dust in the dust collection vehicle 11.

Description

[Detailed description of the invention]

The present invention relates to a device for repairing and repairing the wall surface of a large iron boiler. For example, boilers for thermal power plants are required to undergo periodic inspections based on the law (Electricity Business Law). When carrying out a regular breakfast inspection, there is no need to stop boiler operation, so it is common to inspect and repair items other than the inspection items at the same time as this inspection. Among these repairs, inspection and repair of the inner surface of the boiler furnace is carried out manually by erecting scaffolding around the boiler furnace (c) and placing workers in the area of the furnace. Figure 1 shows the state of inspection and repair of the inner wall of the boiler. First, a worker carries materials for scaffold assembly from the boiler 1's hosono z2 to the furnace 3 (c), and assembles the scaffold 4 inside the furnace. In this case, the entrance for materials is limited to an extremely narrow space such as Hosonoshi 2, and the material must be shaped in an undesirable manner to fit the size of this entrance, and it is not possible to introduce machinery yet. Therefore, all internal assembly must be done manually. For this reason, it will take a long time to assemble the scaffolding.Incidentally, in the case of a 5o Wanrei Vbin boiler, the assembly FJ k father is 10" or more"2, and the removal of waste is 5H. (I'm confused about the number of days, 100 FIK
W-class boilers require an extremely long time to assemble, about 20 days, and dismantling about 10 days. In recent years, in addition to the increasing use of boilers, coal-fired boilers have been increasing their power [1, but coal, which has a lower fuel efficiency compared to oil], have been increasing their combustion power. Due to the maintenance of the 11th floor, the furnace tends to become even stiffer, and boiler Imaichi 1-1 has a temperature of 40 to 80.
m, in some cases approaching 1.00 m VC, scaffolding assembly, +Y (last 11fi, both tend to increase 6e) By the way, in a 50-70!Kw yl boiler, 1.
Issued on 11th and 21st! The electric energy that I get is lli', 57- is 50 (kawa 10,000 yen + Il lt and 1, I,
100717KW N Boiler f Ha11, January 10J
, j) It is said that it turns into dust. Picking up the boiler
1shi, R' +11υj not only included the assembly and removal of the scaffolding of the +iit series, but also included the time of Kyosuke and Kami 11, so in the end the boiler operation stoppage period was even longer (Tewatari's 1 hour lost Vi mistress) 2fJL is extremely ``assembling something that is blasphemous.'' 1.

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5,000, 薊↑山1: ``The two works became dangerous in BL'? Because it is necessary to save time, many people are sometimes required, and 1
Also an accident! 1 - This invention makes it easier to carry out 1) This invention is based on the above-mentioned points - fj + r IRL - Inspection of reboiler furnace interior, phase h-1), automatic inspection of sleeves, etc.;
What we can do is provide 4JI. 'This invention is based on human bones h 1i;j[111
Multi-) 1 force I°) -I-I- robot, give this robot's Ml IIIli and stop energy Ii'l fjli . +Ia no Tokoro 1・1shi, ry
71;'Nodo'l++ One who takes revenge on the flute system - Bisek/yo/, and depending on the slander, Kojiseku/yo/to is 6 + 1
1) kL) k1'-. The implementation of this invention will be explained below. In the second evil?゛1-bows 5a and 5 + are for boiler 1! IV IEj - There is a 7-piece construction site that has been installed on wall 6, and there is a 7-bonoto on the wall (in addition to this on the electric power site), and on the vertical wall enclosure of 9 boilers. It widens and moves (the movement mechanism will be explained later). 7 is a control power unit, which is distributed to a gondola suspended by a wire 8 attached to the top of the boiler. These robots 5a, 5b and the power unit are connected to each other by cable hoses 9a, 9b which are connected shafts. Next, ladle No. 10 is a service section 7 installed on the outside of the boiler 1.
They are service vehicles. 1] Jj is a car that is a μs section connected to the service car,
As a trailer to be used as a service vehicle (this is also possible), this service vehicle and the collection II system may be integrated. 12 connects the service vehicle 1u and the control unit/power unit 7, etc. Figure 3 shows the details of the robot. In the figure, reference numeral 1:3 is the robot body, and there are 14 manipulators attached to the body of the cigarette, 15 is the tip of the manipulator
・The sole is maintained by Tsuku 14 a, and is J5
Corresponding to the specific construction) - le J5 can be changed to another knoll 15' with 5 rows attached to the corpuscle 13, ]()
★'J is a small body 1.1 and two rods are extended by the rotating part of the rod -C, which moves in the direction of XJ, and the rod +ij + is moved in the direction of the heart. It is used for The upper end of D No. 11b (-1:' becomes the first pigeon sucking part south of the city magnet right 18, ], and the end is the second: sucking heat q-0 that does not include the electromagnet 19. .21 is the central suction part 1 which can be freely rotated with respect to the main body 13, and the part 12 is also attached to this central suction part. , First of all,
Niky? 4 brothers + 9j in 1 to evening the passing Yukiai. - 1.4 lLC rotation during production is %lh 6h iJh, ]-9,22 is compared to the water shield wall furnace y6. Magnetic in this state: iL8
゜1 so to stay (, fi L, and the same 1'', 5 to 2/m (
4) Turn + to B9・(lA not shown) and draw 8:+ part V (slightly back to 11, and support the robot's load only by magnet 22. Place the main body. Using the driving table 16 (not shown), which is set at 13, set the rod 0 in two directions (1 day, 19 [at the fixed position 16? Tomo et al. demagnetize the magnet 21 and remove the central attraction part 21
Pull back slightly to the side and raise the main body 1:3b body f along the lot 16 using the drive device inside the body. By repeating this action, the robot climbs up the vertical wall as if it were an inchworm. Lowering is performed by performing the operation opposite to the above. Cedar in the direction of 恷fc@! I! I]
The robot main body 13 is rotated with only the central suction part 21 mounted on the wall. For example, this can be done by setting the axis of the upper and lower blade directions in the horizontal direction as shown in FIG. The basic movements of this robot are performed by signals from the control/power unit 7, and the energy of the electric field is also supplied from this power unit. Next, manipulator 1
A TV camera 2:j is attached to 4, and this image is displayed on the monitor TV in the Zuhis vehicle 10 via the power unit 7. Sentence the book. Besides this C]) U
, record, printer etc. 1+iii, data d
Makes a judgment, checks and issues commands, and also valves the cable hose connected to the robot to clean and suction the dust adhering to the furnace wall and collect it via the main cable hose 12 to the tank @ car IJ. . In one defeat, the robot on the side and the control of one's control t・1''・The power unit's Ml is also I3e rounded to other furnaces, and the rent is μ・The power unit is intensively V in the service vehicle
12' in Figure 2 is the main cable hose that connects to other control/power units. Since Kotoriko, who implements this invention, does not have to manually inspect the image surface and cover the sleeves inside the furnace, it is not necessary to assemble the scaffolding.
This eliminates the need for removal work, greatly shortens the time between the points and the sodori moe, and since all operations of the soft fD can be performed from outside the reactor, there is no need to worry about downgrading accidents, and it is extremely safe. 4.14 MJJ General Explanation Figure 1 is a boiler cross-section 1111 showing the conventional state of the furnace wall-to-wall joints and sleeve value production, and Figure 2 shows the 90-year confectionery production state according to this invention. Part of the boiler furnace shown)? JJ diagram, 3rd
The figure is a side view of the working robot. l...Fist boiler, 5a+ 5b--Working robot, 6
...Furnace wall surface, 7...Control/power unit, 9a
, 9b...cable hose, 10...service vehicle,
11... Dust collector, 12. 12'... Main cable hose. Figure 1 Figure 2 Figure 3

Claims (1)

[Scope of Claims] 1) A work robot that moves the wall surface constituting the boiler furnace and performs at least one of inspection, cleaning, and repair of the furnace wall, and one or more of the work robots and a cable hose, etc. Furnace wall cleaning and repair characterized by comprising a power unit connected by a connection line, and a service section and/or dust collection section connected to one or more of these control power units via a connection line such as a main cable hose. Device. 2) The service section) The dust collecting section is configured to be movable on the floor.
1. The furnace wall cleaning and repair device described in Section 1 of Box 10. 3) The control/power unit is connected by a wire or the like hanging from the ceiling of the furnace, and is configured to be movable vertically and horizontally parallel to the wall surface.
Furnace wall cleaning and repair equipment as described in section.