JPS6128883B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a manipulator for working on a heat exchanger.

Conventionally, various manipulators have been used for work in dangerous environments or narrow spaces, and for various measurements and inspections. Manipulators are also used to scan the tube plate surface of a heat exchanger where a large number of heat transfer tubes are arranged for inspection and work, but most conventional manipulators are controlled from a predetermined reference point. Since the control method is complicated, the device must also be complicated, which not only poses problems in reducing weight and size, but also requires installation in dangerous or narrow spaces. The current situation was that they were forced to do the work. In addition, the conventional type is a walking guide device, which has limitations on the weight that can be guided, and has the drawbacks of operational constraints.

The present invention aims to eliminate the drawbacks of such conventional manipulators, and to provide a manipulator that is small and lightweight, has a simple control method, and is easy to install. The structure of the vertical heat exchanger is that the water is placed on a ball and supported by support arms extending laterally in a water chamber formed by a tube plate in which a large number of heat transfer tubes are arranged and a body lid. a support pedestal installed on the bottom surface of the chamber; a swivel pedestal rotatably supported by the support pedestal via a parallel adjustment mechanism capable of adjusting a rotating surface to be parallel to the tube plate; and the swivel pedestal. a main arm that is mounted on the main arm so as to be tiltable and is extendable; a sub-arm that is attached to the tip of the main arm so as to be tiltable and rotatable in a plane parallel to the tube plate; and a tip of the main arm. a clamp shaft that is installed coaxially with the rotation center axis of the sub-arm and that can be inserted into and clamp the heat exchanger tube; and a clamp shaft that is installed on the clamp shaft so that the clamp shaft is coaxial with the heat exchanger tube. and a position detection device for positioning.

EMBODIMENT OF THE INVENTION Hereinafter, one embodiment of the manipulator for working a heat exchanger of the present invention will be described in detail based on the drawings.

FIG. 1 is an external perspective view of a manipulator that operates within a water chamber formed by a tube plate at the lower end in which heat transfer tubes of a heat exchanger are arranged vertically, and a hemispherical body cover that covers this tube plate. . First, to briefly explain the overall configuration of the device of the present invention, one end is supported by a ball 10 placed at the bottom of the water chamber 2, and the other end is hooked to a fixing pin 12 provided in the manhole 6 with a hook 18. The water chamber 2 is supported by a pair of support arms 13a and 13b that open and close from side to side.
Various mechanisms are provided for scanning using polar coordinates (R, .theta.,) shown in FIG. 2, using the support frame 11 fixed therein as a reference. Therefore, the swivel base 151 (θ
A main arm 101 (R axis) that is provided on the swivel table 151 and is extendable and retractable, and an axis (axis) that raises and raises this main arm 101, and a sub arm 401 is provided at the tip of the main arm 101. This sub-arm 401 is also provided with a rotation axis (α-axis) for horizontal rotation, an axis for upward and upward movement (β-axis), and a clamp shaft 351 (C-axis) that moves in a direction perpendicular to the sub-arm 401. Additionally, swing axes (κ axis, λ axis) orthogonal to each other are provided in order to adjust the reference swivel table 151 so as to be parallel to the scanning plane (tube plate 3). Tools, inspection devices, etc. necessary for the work are attached to the tip of the sub-arm 401 and scanned to any desired position.

Below, the fixing mechanism of the support frame that serves as the reference plane mentioned above, the coordinate axis R axis of polar coordinates (R, θ,),
The θ-axis, α-axis, β-axis, C-axis, k-axis, and λ-axis will be explained respectively.

A fixing mechanism for fixing the support pedestal 11 and fixing base 14, which serve as scanning standards, will be explained. A fixing base 14 is inserted into the manhole 6 and its tip is fixed to the manhole 6 with a bolt 15, and a supporting frame 1 is attached to a fixing pin 12 provided at the tip of the fixing base 14.
A hook 18 provided at one end of the support frame 11 is fitted, and the other end of the support frame 11 is placed on the ball 10. At this time, as shown in FIG. 3, the fixing pin 12 is oriented in a direction corrected by an angle η relative to the center of the water chamber 2 to prevent the support pedestal 11 from interfering with the partition wall 5 when the support pedestal 11 is inserted, which will be described later. There is. Further, in order to facilitate the insertion of this support frame 11, an insertion auxiliary base 16 is rotatably attached to the tip of the fixed base 14 with a pin 17, and a guide groove 23 is provided on the side surface of this insertion auxiliary base 16. , the support pedestal 11 can be inserted while sliding on the guide rails (not shown) of the support pedestal 11. In order to further fix the support frame 11 which has been inserted and has one end placed on the ball 10 and the other end fitted with the fixing pin 12 and the hook 18, support arms 13a and 13b which can be opened and closed on the left and right sides of the support frame 11 are attached to pins. 21a, 21b
Support rollers 25a, 25b are provided at the other ends of the support arms 13a, 13b, and an opening/closing cylinder 19 opens and closes the support arms 13a, 13b.
One end of a, 19b is attached to the support frame 11, and the other end is attached to the tip of the support arm 13a, 13b, respectively, with pins 22a, 2.
2b and pins 20a, 20b. Therefore, to fix the support frame 11, as shown in FIG.
Open 3a. At this time, the stretching force f ₁ of the opening/closing cylinder 19a produces f ₂ as its component force, so the supporting arm 13
a rotates clockwise together with the opening/closing cylinder 19a integrated with the pin 20a. When the opening/closing cylinder 19a further extends and rotates by the required rotation angle, the rotation of the support arm 13a is restrained by the stopper 24a provided on the opening/closing cylinder 19a, and only the extension is performed. 25a is brought into contact and fixed, and the support pedestal 11 is moved toward the partition wall 5 by the reaction force of the extension force _f3 of the opening/closing cylinder 19a, and the side surface of the support pedestal 11 is brought into contact with the partition wall 5, and due to the frictional force, as shown in FIG. It is also fixed in the direction perpendicular to the page. Next, fixing is performed by extending the other opening/closing cylinder 19b, as described above, but in this case, the partition wall 5 and the support arm 13b come into contact with each other before the stopper 24b comes into contact with each other,
The partition wall 5 functions as a stopper. The above-described operations of the support arm 13 and the opening/closing cylinder 19 generate a force f 4 that attempts to move the support frame 11 to the left in FIG. 4, but this force _{f 4 is} held by the aforementioned fixing pin 12. This is not a problem as it is a power that can be used. As described above, the support frame 11 is securely fixed to the hemispherical water chamber 2 by the fixing pin 12, the hook 18, the support arm 13, the support roller 25, and the ball 10.

Next, polar coordinates (R,
The R-axis, θ-axis, and axes that move according to θ, ) will be explained in order. As shown in FIGS. 1 and 5, the R-axis, that is, the main arm 101, has a mechanism that converts the forward and reverse rotation of the ball screw 102 into reciprocating motion, and is of a telescoping double-telescoping type, and has an outer shaft for holding. (R ₁ axis) 103, center axis (R ₂
It consists of a shaft) 104 and an inner shaft ( _R3 shaft) 105, and is provided on a θ axis, that is, a swivel table 151, which will be described later. This R ₁ axis 103, R ₂ axis 104, R ₃ axis 1
05 is slidably held by guide rails 106, 107 provided on the _R2 shaft 104 and the _R3 shaft 105 and holding bearings, as shown in detail in FIG. The guide rail 106 has a bolt 10
8 and a support pin 1 fixed to the _R2 shaft 104 with a nut plate 109 and fixed to the _R1 shaft 103.
It has a structure supported by 10. Similarly, the guide rail 107 is connected to the _R3 axis 105 by the bolt 113 and the holding frame 115 of the ball screw 102.
and is slidably held by a support pin 116 fixed to the _R2 shaft 104, a bearing 117, and a roller 118. These R-axes 101 are driven by an R-axis drive motor 119, as shown in FIG.
The pinion 120 coupled to the ball screw 102
It meshes with a gear 121 fixed to. This ball screw 102 is provided with a ball nut 122 fixed to an _R3 shaft 105 (not shown in FIG. 6), and rotational motion is converted into reciprocating motion. Also, R
The detection mechanism for detecting the amount of expansion and contraction of the shaft 101 includes a detection gear 123 fixed to the ball screw 102 and a gear 125 fixed to the encoder 124.
The amount of expansion and contraction of the R shaft 101 is detected from the amount of rotation of the ball screw 102. Note that during the expansion and contraction operation, the _R2 axis 104 and the _R3 axis 105 are regulated by expansion amount regulating stoppers (not shown), so both axes are expanded and contracted at an appropriate rate.

Next, a swivel base 151 that rotates around the θ axis, that is, horizontally.
As shown in FIG. 7, the swivel tube 152 is provided with a cylindrical rotating tube 152 that protrudes downward at the center, and includes a κ-axis holding frame 459 that forms one of the parallel adjustment mechanisms of the rotating base 151, which will be described later. Links 457, 458 (second
It is rotatably supported by rotary bearings 154, 155 and a thrust bearing 156, which are installed on a fixed gear stand 153, which is connected to the gear base 153 (see Fig. 1). In addition, a joint free frame 163 provided on the top surface of the swivel base 151
is fixed with bolt 164, so this bolt 1
At 64, the joint frame 163 and the swivel base 151 can be separated. As shown in FIG. 8, the drive unit of this swivel base 151 has a pinion 158 and a drive pinion 161 fixed to a θ-axis drive motor 157 fixed to the swivel base 151.
61 is a fixed gear 162 fixed to the swivel base 151
mesh with. Further, the amount of rotation is detected by the pinion 158 meshing with a gear 160 of an encoder 159 provided on the swivel base 151. This θ-axis operation is performed by the θ-axis drive motor 157.
from the drive pinion 161 to the swivel base 151.
The rotational force is transmitted to the fixed gear 162 , and the θ-axis drive motor 157 revolves together with the swivel base 151 .
Further, by separating the joint frame 163, the above-mentioned R axis and θ axis, as well as later-described axes, α axis, and β axis are also divided. Further, the amount of turning can be determined by the encoder 159.

Next, the axis, that is, the elevation axis will be explained. This axis is the main arm 101 (R axis) mentioned above.
It is a way of looking up and down. As shown in FIG. 8, the turning pin 2 provided at the base end of the _R1 shaft 103
02 is rotatably supported by a bearing 204 held in a bearing holding frame 203 fixed to the swivel base 151. Also, a pair of elevating cylinders 201 are arranged on the sides of the R axis 101, one end of which is attached to the upper part of the _R1 shaft 103 with pins 208a, 208b, and the other end is fixed to the inner cylinder 215 of the elevating cylinder 201. A ball screw 212 is provided, and a bevel gear 217 is fixed to the tip.
The other elevation cylinder has a similar configuration. Also, bevel gears 207 and 218 are provided at both ends of a rotating shaft 206 supported by a bearing holder 205 provided at one end of the joint frame 163, and this bevel gear 207 is connected to the bevel gear 217.
mesh with. As shown in FIG. 8 and FIG. 9, which is a partially enlarged view of FIG.
13 is provided, a shaft drive motor 209 is provided on the outer cylinder 216 of the elevation cylinder 201,
A drive gear 21 is attached to the tip of this shaft drive motor 209.
0 is provided, and this drive gear 210 is the idler 2.
Rotating gear 2 of the ball screw 212 via 11
meshes with 13. Furthermore, the bevel gear 218 of the other elevating cylinder 201 is driven in the same way, allowing smooth elevating. Further, the amount of elevation is detected by the detection gear 220 fixed to the rotation pin 202 at one end of the R axis 101 meshing with the detection gear 222 of the encoder 221. As shown in FIGS. 8 and 10a, the rotational force of the shaft drive motor 209 is controlled by the idler 2.
11→Transmitted to the ball screw 212 by the rotating gear 213. At the same time, rotational force is transmitted to the ball screw 219 located symmetrically to the ball screw 212 via the bevel gear 217 → bevel gear 207 → bevel gear 218 of the rotating shaft 206 → bevel gear 223, and the ball screw 219 rotates by the same amount as the ball screw 212. At this time, a thrust force f ₂ as shown in _FIG .
03 is held by a bearing 204, its component force _f6 acts as a rotational force, causing the R shaft 101 to move up and down by a considerable amount around the pivot pin 202.

The R-axis, θ-axis, and axes described above are provided at the base end of the main arm 101 and scan the tip of the main arm 101 to an arbitrary scanning point by extending/contracting, turning, and tilting, respectively.
A sub-arm 401 is provided at the tip of the sub-arm 401 for attaching tools and the like, and various operations are performed using the tools and the like at this tip. This sub arm 401
Also, β-axes, α-axes, and C-axes are provided for expanding the scanning range, adjusting the posture during scanning, holding the load, etc. Therefore, we will first discuss the β-axis. As shown in FIG. 11, a β axis, that is, an auxiliary elevation axis is provided at the tip of the R axis 101 in order to correct the attitude of the sub-arm 401. To support this β axis, β
The shaft frame 305 is R ₃ bolts 304 to the shaft 105
is fixed. A frame 301 protrudes from this β-axis frame 305, and this frame 3
01 is provided with a bearing, a swing pin 303 is rotatably held, and a sub-arm 401 is mounted on the swing pin 30.
It is fixed at 3. Sub arm 401 around β axis
The drive of R ₃ is attached to the β-axis frame 305.
β-axis drive motor 306 protruding to the shaft 105 side and β
Pinion 30 provided within shaft frame 305
7. Connection gears 309, 310, worm gear 31
The pinion 307 of the β-axis drive motor 306 rotates the worm shaft 312 via the connecting gears 309 and 310, and the worm 311 of the worm shaft 312 and the worm wheel 313 mesh with each other. A reduction gear 314 provided coaxially with the drive gear 302 provided on the pivot pin 303 meshes with each other, and the rotational force of the motor is transmitted. The amount of elevation is detected as shown in Figure 12.
Encoder 316 provided within β-axis frame 305
is the encoder gear 31 provided on the worm shaft 312.
5 and a pinion provided on the encoder 316 mesh with each other, and the encoder 316 is rotated. The β-axis movement prevents the sub-arm 401 from changing its posture with respect to the tube plate 3 due to the above-mentioned axis movement, and as shown in FIG. When the R-axis 101 is horizontal, the sub-arm 401 and the tube plate 3 are parallel, but as the angle changes clockwise due to elevation, the attitude of the sub-arm 401 also changes, and when the R-axis 101 finally becomes vertical. It becomes perpendicular to tube plate 3. Therefore, by tilting the sub-arm 401 around the β-axis as the angle changes, it is possible to keep the sub-arm 401 parallel to the tube plate 3 at all times.

Next, the α-axis that rotates this sub-arm 401,
In other words, the rotation around the clamp shaft 351 is
As shown in the figure, a gear 402 is attached to a sub-arm 401 supported by a bearing (not shown) on a clamp shaft 351.
is provided. As shown in FIG. 14, this α-axis drive unit includes an α-axis drive motor 403, a pinion 4
10, an idler 404, a reduction gear 405, a reduction gear 406, and a drive gear 407. Further, the amount of rotation is also detected by rotating an encoder 409 using a detection gear 408 that meshes with a reduction gear 405. The turning operation of the sub-arm 401 is caused by the rotational force of the α-axis operating motor 403 as follows: pinion 410 → idler 404 → reduction gear 405 → reduction gear 406 →
This is done by being transmitted to gear 402 via drive gear 407. In this way, the sub arm 40
1, it is possible to scan the entire area, including the corner of the water chamber 2 and the vicinity of the partition wall 5, without interfering with the wall of the water chamber 2 or the partition wall 5.
This is shown in FIG. In the figure, 411 shows the concept of the overall shape of the α-axis drive unit, 412 shows the scanning point, and the part shown by the two-dot chain line is the sub-arm 4.
In the case where 01 is not present, the shaded area indicates an interference state. By setting the length of the sub-arm 401 to be 5 times the pitch of the tube arrangement (in the case of a square lattice arrangement when viewed from any direction) or an integral multiple thereof, or 13 times the length or an integral multiple thereof, the sub-arm 401
Increases the number of heat transfer tube positions that can be scanned when turning. This is shown in FIG. In the figure, each intersection indicates the position of a heat exchanger tube, and when the length of the sub-arm 401 is set to five times the piping pitch, 12 points indicated by circles can be scanned.

Next, the C-axis, that is, the clamp axis, provided at the distal end of the main arm 101 and the base end of the sub-arm 401 will be described. A clamp shaft 351 for clamping to the thin tube hole 7 of the tube plate 3 is vertically supported by the sub-arm 401 and is movable up and down. As shown in detail in FIG. 17, the clamping mechanism at the tip of the clamp shaft 351 has a tapered tip, and a quarter claw 3 at the bottom.
52 is provided, and the outer periphery of this pawl 352 is held by an O-ring 353. Further, a clamp piston 354 is integrally provided at the other end of the clamp shaft 351. Further, the clamp shaft 351 is assembled inside the lifting shaft 359, and placed in a clamp cylinder 358 formed inside the lifting shaft 359. The outer periphery of this clamp cylinder 358 becomes a lifting piston 361 and is placed inside the lifting cylinder 360. Air is supplied to the clamp cylinder 358 through a clamp air supply hole 364 of an air supply block 355 provided at the lower end of the clamp shaft 351, through the center of the clamp shaft 351, and through a clamp air hole 358 communicating with the clamp piston 354. The clamp is released by a supply pipe 357 which is provided through the unclamping air supply hole of the air supply block 355 and penetrates into the lifting cylinder 360 and communicates with the clamp cylinder 358. Furthermore, in order to raise and lower the elevator shaft 359, a lifting cylinder 360 is provided with a lifting air hole 362 at its lower end and a lowering air hole 363 at its upper end. Moreover, at the tip of the clamp shaft 351,
A fiber head 367 is provided as a position detection device, and a scale plate 370 (see FIG. 18) is provided through the fiber scope 366.
It is optically coupled to an ITV camera 368 and coupled to a TV monitor 369. Therefore, observation of the thin tube hole 7 and positioning of the clamp shaft 351 can be easily performed.

This clamping operation of the clamp shaft 351 is performed by moving the clamp shaft 351 along the R, θ, and other axes to the thin tube hole 7.
This is done after being scanned at the bottom. FIG. 17 shows the clamp completed state. First, compressed air is sent to the lifting cylinder 360 through the lifting air hole 362 by an air supply device (not shown), and the lifting piston 36
1 rises, the elevating shaft 359 and the clamp shaft 351 rise together, and are inserted into the thin tube hole 7.
Next, compressed air is supplied to the clamp cylinder 358 through the clamp air supply hole 364 → the clamp air hole 358, and the clamp shaft 351 integrated with the clamp piston 354 is pushed down, and the claw 352
Because of the tapered part, it opens circumferentially and is crimped against the pipe wall. Therefore, the clamp shaft 351 is securely fixed to the thin tube hole 7 by the frictional force. The clamp shaft 351 can be released by supplying compressed air from the unclamp air supply hole 365, contrary to the clamping process, to release the clamp shaft 351 that is integrated with the clamp piston 354.
rises, the contracting force of the O-ring causes the pawl 352 to contract and separate from the tube wall, and the supply of compressed air to the descending air hole 363 causes the elevating piston 361 to descend and close the thin tube hole 7.
more drawn out.

The position detection device provided at the tip of the clamp shaft 351 operates by reading the size of the thin tube hole 7 on the TV monitor 369, since the ITV camera 368 is connected to the fiberscope 366 via the scale plate 370. This allows the displacement of the clamp shaft 351 to be known. To explain this in detail with reference to FIGS. 19a to 19e, in FIG.
is smaller than the previously measured size 373, and as it approaches, it becomes larger as shown in FIG. 19b. By reading this magnitude from the scale plate 370, the distance from the tube plate 3 to the clamp shaft 351 can be known. In addition, if the clamp shaft 351 shifts in the horizontal direction, the TV
Since it appears on the monitor 369, it is also possible to know the deviation in the horizontal direction. .

As explained above, it is possible to scan to any position by operating the R, θ, , β, α, and C axes, but the fixing error of the support frame 11, which serves as the reference plane, affects the swivel base 151, etc. Therefore, a mechanism for correcting the swivel table 151 on the support frame 11 to be parallel to the tube plate 3 is provided to correct this. For this reason, the swing mechanism, that is, the κ axis and the λ axis
They are provided at mutually orthogonal positions on the swivel table 151 at the top. As shown in FIGS. 20 and 21, the κ-axis and the λ-axis are connected to the κ-axis holding block 459. A κ-axis holding block 459 is provided on the support pedestal 11, and a swivel table 151 is placed on top of the κ-axis holding block 459. The λ axis, which is supported by the support frame 11 and is provided in a direction perpendicular to the rotating base 151, is supported by the support frame 11, and the λ axis is
By tilting the shaft holding block 459, the swivel base 151 is tilted.

First, regarding the κ-axis, holding frames 462 and 463 protruding from the lower end surface of the swivel base 151 are rotatably mounted on the κ-axis holding block 459 using pins 460 and 461, and the swivel base is also mounted in a direction perpendicular to this. A protrusion is provided below 151, and links 457a, 457b and link 458 are attached to this protrusion.
a, 458b are provided rotatably by pins 451 and 452, and the respective links 457a, 45
Nuts 455 and 456 are fixed between links 458a and 458b, forming U-shaped links, and κ-axis ball screws 453 and 454 are attached to the nuts 455 and 456, respectively.
are screwed together. This κ-axis ball screw 453,4
54 have opposite threads, and when rotated in the same direction, they move in the opposite direction and tilt the swivel table 151. The ball screws 453 and 454 are driven by a drive pinion 468 of a κ-axis drive motor 464 fixed to a κ-axis holding block 459 via an idler 467 to a ball screw drive gear 465 provided at the end of the ball screw.
This is done by meshing with 466. A mechanism with a similar configuration is also provided for the λ axis that drives the λ axis in a direction perpendicular to this, and this λ axis is connected to a κ axis holding block 459 with rotation pins 511 and 512, and a bearing held on the support frame 151. 51
3,514 and is rotatably held. Also,
The κ-axis ball screw 45 is attached to the κ-axis holding block 459.
3,454 in the direction perpendicular to the λ-axis ball screw 50.
1,502 are screwed into nuts 503, 504 provided on links 505, 506. Also, link 50
5 and 506 are rotatably held by a κ-axis holding block 459 by holding pins 507 and 508. The λ-axis ball screws 501 and 502 are driven by a ball screw drive gear 51 provided at the end of the λ-axis ball screw.
8,519 meshes with the drive pinion 516 of the λ-axis drive motor 515 via the idler 517.

Adjustment of the parallelism of the swivel base 151 using the κ and λ axes is shown in FIGS.
The meshing order of the gears is partially different), as shown in κ
The rotational force of the shaft drive motor 464 is applied to the drive pinion 46.
8 to the idler 467, and then to the ball screw drive gears 465, 466, and the ball screw 45
Rotate 3,454. At this time, ball screw 4
53 and 454 have opposite threads, so nut 4
55 and 456 move the same amount in the opposite direction. Therefore, links 457, 458, holding pins 451, 4
52, the link mechanism consisting of the pivot pins 460, 461 rotates around the pivot pins 460, 461 and tilts the pivot table 151. Also, in the direction perpendicular to this, a similar mechanism is used to hold the κ-axis holding block 459.
Since the swivel table 151 is tilted, the swivel table 151 is tilted.

Above, each axis, R, θ,, β, α,
Although the individual configurations and operations of the C, κ, and λ axes have been explained, scanning work that comprehensively uses these is to first fix the fixed base 14 and the support base 11 in the water chamber 2, and then move the support base Swivel base 15 on 11
1 to be parallel to the tube plate 3, parallel adjustment is performed using a swinging mechanism. As mentioned above, the κ and λ axes are used for this purpose, but the parallelism is determined using a position detection device such as a fiber scope 366 provided at the tip of the C axis, that is, the clamp shaft 351, as shown in FIG. Make them parallel using the principle shown in . That is, for the ball screw plane of the λ axis, the inclination angle is = ₁
If the distance between the tube plate 3 (thin tube hole 7) and the fiber head 367 at this time is _Z1 , and the distance when this is rotated 180 degrees is _Z2 , there will be an attitude error between the support frame 11 and the tube plate 3. If Δλ exists, ΔZ=Z ₂ −Z ₁ Δλ=tan ⁻¹ Z ₂ −Z ₁ /2Rsin (However, Z ₁
≠Z ₂ ). Therefore, Z ₁ =Z ₂ , that is, ΔZ=
If you move the λ axis so that it becomes O, the κ axis block 459
becomes parallel to the tube plate 3. Similarly, the swivel table 151 is made completely parallel to the tube plate 3 using the κ axis. With this operation, a reference plane is formed. Next, each axis (R,
By instructing θ,), scanning is performed to the corresponding position while detecting the amount of operation. By using a visual inspection device at this time, the fine tube hole 7 is always kept in view before clamping, so the degree of positional deviation can be visually confirmed at all times. Corrections will be made. After scanning in this manner, the clamp shaft 351 of the sub-arm 401 is clamped to the thin tube hole 7. After this,
Work is performed using tools, inspection equipment, etc. installed on the sub-arm 401. At this time, as described above, by making the length of the sub-arm 401 appropriate, it is possible to scan a large number of thin tube holes when rotating. Furthermore, when changing tools due to a change in work, by folding this device, the sub-arm 401 is brought closer to the manhole 6, making it possible to perform industrial changes.

As described above in detail with the embodiments, by using the heat exchanger working manipulator of the present invention, it is possible to easily fix the heat exchanger without entering the narrow part of the water chamber, and The time error can also be corrected, and a scanning reference plane can be accurately obtained. Furthermore, since the amount of change corresponding to polar coordinates is used for positioning the scanning point, the control method is simple, and the entire apparatus can be made small and lightweight. In addition, by providing a sub-arm, it is possible to scan the entire area of the tube plate surface, and when positioning, the position detection device of the clamp shaft is used to check the distance and deviation from the tube plate. Can be measured. Furthermore, the load holding capacity can be dramatically increased by clamping the tube into the tube hole using the clamp shaft. Therefore, there are fewer restrictions on work, and accurate positioning and misalignment correction are possible. In addition, when exchanging tools on the sub-arm, since the device is located close to the manhole when folded, it can be easily exchanged, which is a great advantage.

[Brief explanation of the drawing]

Fig. 1 is an external perspective view of the work manipulator of the heat exchanger of the present invention installed in the water chamber of the heat exchanger, Fig. 2 is an explanatory diagram showing the relationship between polar coordinates and orthogonal coordinates, and Fig. 3 is An explanatory diagram of the difference in the installation direction of the fixing base and fixing pin, Figure 4 is an explanatory diagram of the operation when installing the support frame in the water chamber, Figure 5 is a cross-sectional view of the main arm (R axis), Figure 6 is a view in the direction of arrow B in Fig. 1, showing the driving part of the main arm, Fig. 7 is a central sectional view of the swivel table (θ axis), and Fig. 8 is a view in the direction of arrow B in Fig. 1, showing the driving part of the main arm. ), the ninth
The figure is an enlarged cross-sectional view of a part of the driving part of the elevation cylinder. Figures 10a and b are explanatory diagrams of the operation of the elevation cylinder, where a is a plan view, b is a front view, and Figure 11 is the same as in Figure 1. A view showing the tip of the main arm,
Fig. 12 is an enlarged cross-sectional view showing the elevating mechanism (β-axis) of the sub-arm and its detection part, Fig. 13 is an explanatory diagram of the elevating relationship between the main arm and the sub-arm, and Fig. 14 shows the rotation drive part of the sub-arm. Fig. 15 is an explanatory diagram of the scanning range of the sub-arm, Fig. 16 is an explanatory diagram of the scanning point of the sub-arm, and Fig. 17 is an enlarged sectional diagram of the clamp axis (C-axis). , FIG. 18 is an explanatory diagram of the scale plate,
Fig. 19 is an explanatory diagram of the operation of the position detection device, Fig. 20 is an explanatory diagram of the assembly of the swing mechanism (κ axis, λ axis), Fig. 21
22 and 23 are diagrams explaining the operation of the swinging mechanism, and FIG. 24 is a diagram explaining the principle of parallel adjustment by the swinging mechanism. In the drawing, 2 is a water chamber, 3 is a tube plate, 4 is a heat exchanger tube, 5
is a bulkhead, 6 is a manhole, 10 is a ball, 11 is a support frame, 12 is a fixing pin, 18 is a hook, 19
101 is the opening/closing cylinder, and 101 is the main arm (R
102 is a ball screw, 103 is an outer shaft for holding (R ₁ axis), 104 is a center shaft (R ₂ axis), 105 is an inner shaft (R ₃ axis), 151 is a swivel table (θ axis), 201 is an elevation Cylinder (axis), 351 is clamp axis (C axis),
401 is a sub arm.

Claims (1)

[Claims] 1 A vertical heat exchanger is placed on a hole in a water chamber formed by a tube plate in which a large number of heat exchanger tubes are arranged and a body lid, and is supported by support arms extending laterally, so that the bottom surface of the water chamber is a support frame installed in the
A swivel table rotatably supported on the support frame via a parallel adjustment mechanism that can adjust the rotation surface to be parallel to the tube plate; a main arm that is freely movable; a sub-arm that is attached to the distal end of the main arm so as to be tiltable and rotatable and that is rotatable in a plane parallel to the tube plate; a clamp shaft that is installed coaxially with the dynamic center shaft and that can be inserted into the heat exchanger tube and clamp it; and a position detection device that is provided on the clamp shaft and positions the clamp shaft so that it is coaxial with the heat exchanger tube. A manipulator for working a heat exchanger, characterized by comprising: