JPS63166477A - Automatic washer - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

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) Condensers in thermal power plants and nuclear power plants generally use seawater for cooling water, so marine organisms such as shellfish easily adhere to the inner surface of the cooling system piping of the condenser, and it remains as it is. If it is left as is, the inner area of the tube will be reduced and the resistance inside the tube will increase, reducing the cooling effect.
There was also a problem in that some of the detached marine organisms flowed into the condenser and corroded 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. In addition, in the vertical part of the piping, workers had to hold on to rope ladders while descending while working, which made the work extremely difficult and dangerous. Furthermore, since shellfish emit foul odors and toxic gases after they die, the working environment inside the pipes is extremely poor, posing many problems in terms of health and safety management for workers.

Therefore, the present invention solves the problems of the above-mentioned prior art, relieves the worker from cleaning work in a bad environment, and cleans horizontal pipes.
An object of the present invention is to provide an automatic cleaning device capable of efficiently and safely removing marine organisms attached to the inner surface of cooling system piping, regardless of the type of piping, such as vertical pipes or curved pipes.

(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 disposed on each of the frames and holding each frame within the pipe;
A posture control device 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 cleaning nozzle device is attached to the frame and cleans the inner wall surface of the tube. It is characterized by the fact that

(Function) To explain the function based on the above configuration, the entire cleaning device can be moved in the axial direction of the pipe while holding the pair of frames alternately in the pipe by the joint operation of the moving device and the fixing device, and can also be moved at any time. By activating the attitude control device 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. . 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 device 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 reference numeral M is disposed. This automatic cleaning device M has a pair of rectangular frames 1.2 separated in the tube axis direction, and this first
A fixing device 3 and a posture control device 4 having the same shape and function are incorporated into the second square frames 1 and 2, respectively.
Further, a cleaning nozzle device 5 is attached to the second rectangular frame 2.

The fixing device 3 includes the first and second square frames 1.
4 sets are provided at each corner of 2, and each fixing device 3
is equipped with wheels 6 disposed facing in the direction of the pipe axis to hold the cleaning device inside the pipe and to facilitate movement, and a pressure plate 7 for holding the cleaning device inside the pipe. It is fixed to the rod tip of a linear cylinder 8 that expands and contracts in the radial direction of the tube. The wheels 6 and the linear cylinder 8 are attached via brackets 11 to the ends of screw 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,
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, so that the screw shaft 10 moves in the radial direction of the tube in response to changes in the inner diameter of the tube. The wheel 6, which expands and contracts and is attached to the tip of the screw shaft 10, is always in contact with the inner wall surface of the pipe.

The first and second rectangular frames 1 and 2 are connected at their central portions via pins 15 to form an X-shaped moving device for moving the cleaning device in the tube axis direction together with the fixing device 3. A pair of arms 16a and 16b are installed to intersect with each other. One end of the arms 16a and 16b is pivotally attached 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 cylinders 18
．． 21 is fixed. By the operation of the pair of linear motion cylinders 18.21, 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 square frame 1.2. 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.
It is designed to be engaged.

Here, the guide grooves 22 at the other ends of the first and second square frames 1.2 are used for movement when cleaning straight pipe parts, and as shown in FIG. 17
The guide groove 20 of the bracket 19 is formed on a straight line B connecting the guide pin of the linear cylinder 21 on the arm 16, and the guide groove 20 of the bracket 19 is used for movement when cleaning a curved pipe section, and is formed on a parallel line B of the straight line B. ' is formed at an angle θ with respect to '. Further, the angle θ is determined to be 172 degrees of the angle α formed by the first and second square frames 1.2 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 the direction. Furthermore, arm 1 is attached to one arm 16b.
6a and 16b are provided, and the rod tip of the other drive cylinder 23 is connected to the arm 16b via a pin 24, and the rear end of the drive cylinder 23 is connected to the arm 16b. It is radically connected to a bracket 25 fixed to the monogonal frame 1 via a pin 26. 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 1.2 swing around the pin 15, and the square frames 1 and 2 approach in the tube axis direction. do or leave.

On the other hand, the posture control device 4 is connected to the first
and 2 at opposite positions of the second square frame 1.2, respectively.
Each posture control device 4 includes a pair of drive wheels 28 which are arranged in a row facing in the circumferential direction of the tube and rotated by a drive motor 27, and a pair of drive wheels 28 which are disposed between the drive wheels 28 and are arranged in a row in the circumferential direction of the tube. A pressurizing plate 29 is fixed to the rod tip of a linear motion cylinder 30 that expands and contracts, and the pair of drive wheels 28 and the pressurizing plate 29 are fixed to a support base 31. On the other hand, there are two
A set of jacking devices 32 are provided, and each jacking device 332 has a screw shaft 33 equipped with a screw shaft drive device 34 composed of a worm gear, and the driving force of a drive motor 35 disposed on the frame is provided. is transmitted to the screw shaft driving device 34 via the chain 36, so that the screw shaft 33 expands and contracts in the radial direction of the tube in response to changes in the inner diameter of the tube. Further, a bracket 37 is fixed to the tip of the screw shaft 33, and this bracket 37
and the support stand 31 are connected by a pantograph-shaped arm 38. In this arm 38, one end of the arm 38a on the bracket 37 side is pivotally connected to the bracket 37 by a pin 39a, and one end of the arm 38b on the support stand 31 side is fixed to the support stand 31 by a pin 39b. The other ends of 38a and 38b are pivoted via pins 40 to a threaded trunnion 41 which is disposed diagonally on the arm 38 and is screwed onto a threaded shaft 42 having a right-handed threaded portion and a left-handed threaded portion at both ends, respectively. It is worn. Further, the screw shaft 42 is connected to a drive motor 44 disposed on the frame via a flexible shaft 43, and when the drive motor 44 rotates, the screw shaft 42 rotates, and the threaded trunnion 41 moves along the screw shaft 42. By moving the arm 38, the arm 38 expands and contracts. Due to the expansion and contraction of this arm 38 and the expansion and contraction of 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 pipe, and the drive wheel 28 comes into contact with the inner wall surface of the pipe. ing.

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 Arm 4 supported at the tip of 45 facing in the radial direction of the tube
6, and a nozzle 48 with a spout facing the inner wall surface of the pipe is attached to the tip of the upper arm 46 via a bracket 47.

Racks 4 are provided on the sides of the support column 45 and arm 46, respectively.
9 is provided, and pinions (not shown) that engage with the racks respectively are rotated by the driving force of a drive motor 50 provided on the square frame 2 and the column 45, thereby moving the column 45 in the tube axis direction. And arm 46
moves in the radial direction of the tube. Further, a rotating device 51 for rotating the arm 46 is provided at the tip of the support column 45.
is provided, 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 tube,
Further, the nozzle 48 is attached to the bracket 47 via a pivot pin 52 and is connected to the rod end of a linear motion cylinder 53 provided on the bracket 47 via the pin, so that the linear motion cylinder 53 operates. pin 5
It is designed to tilt at any angle using 2 as a fulcrum.

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

Figures 4a, b, and c explain the case in which a zero-motion 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. 4a, the arms 38 of the attitude control devices 4 of the first and second rectangular frames 1.2 are reduced in size, the driving wheels 28 are separated from the inner wall surface of the tube, and the arms 16 are
a.

The guide pins of the direct-acting cylinders 21 of 16b are inserted into and engaged with the guide grooves 22 of the square frames 1 and 2, respectively, and the pressure plate 7 of the fixing device 3 of the first square frame 1 is pressed 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 16g 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 pressure plate 7 of the fixing device 3 of the second square frame 2 is pressed against the inner wall surface of the pipe to hold the second square frame 2 inside the pipe, and the suppression plate of the first square frame 1 7 away from the inner wall surface of the pipe to release the holding of the first square frame 1, and extend the drive cylinder 23 to release the arm 16a.
, 16b, the first rectangular frame 1 is moved to the second rectangular 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 rectangular frame 2 is operated to move the nozzle 48 along the inner wall surface of the pipe. high pressure water generated by a water pressure pump (not shown) is passed through a vibrator (not shown) to a nozzle 48.
By spraying it onto the inner wall surface of the tube, shellfish, limescale, etc. attached to the inner surface of the tube can be removed and cleaned.

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 of 16b are inserted into and engaged with the guide grooves 20 of the brackets 19 fixed to the first and second square frames 1 and 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 expanded and contracted to extend and contract the arm 16a.
, 16b in the direction of the pipe, the cleaning device moves in the direction of the arrow in the figure, and during this movement, the inner surface of the pipe can be cleaned by jetting high pressure water from the nozzle 48. Note that a direct-acting cylinder 53 is appropriately attached to the nozzle 48 in order to inject high-pressure water onto the inner surface of the curved pipe at an appropriate injection angle.
can be operated to tilt the nozzle 48 at an appropriate angle.

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. When the curved pipe portion is reached, the guide pin of the linear cylinder 18 is inserted into the guide groove 20 and engaged, and the guide pin of the linear cylinder 18 is inserted into the guide groove 20. 22 and linear 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. The operation of the direct-acting cylinders 18 and 21 can be easily switched 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 ML and second square frames 1.2 shown in FIG. 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 center position in the longitudinal direction of the threaded shaft 42 as the threaded shaft 42 rotates. This threaded trunnion 4
1, the pantograph-shaped arms 38a and 38b pin-connected 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, and the cleaning device is moved through the drive wheel 28. is held within the tube. 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 rotate the entire cleaning device perpendicular to the pipe axis. By rotating within a plane and stopping the device at a desired 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.

Also, when cleaning is performed by moving the 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 in 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
By releasing the hold on the square frame 1, extending the drive cylinder 23, and contracting the arms 16a, 16b, the first square frame 1 is moved into the large diameter pipe in which the second square 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 cleaning is carried out by moving the automatic cleaning device inside a large-diameter cooling system piping, the first
Then, the jacking device 9 of each fixing device 3 of the second square frame 1.2 is operated, and the screw shaft drive device 12 extends the screw shaft 10, so that the wheel 6 attached to the tip of the screw shaft comes into contact with the inner wall surface of the pipe. At the same time, the jacking device 32 of each posture control device 4 of each rectangular frame 1, 2 is activated, and the screw shaft drive device 34 extends the screw shaft 33, thereby driving the screw shaft attached to the tip of the screw shaft via arms 38a, 38b. wheel 2
8 close to the inner wall surface of the pipe to hold the cleaning device inside the pipe. Thereafter, the inside of the pipe can be cleaned by operating the cleaning device according to the procedure described above. Here, the operation of the jacking device 9.32 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. The actuation of the jacking device 9.32 thus makes it possible to use the cleaning device in response to changes in the tube diameter within the range of the jacking device stroke.

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 inside pipe inspection work and inside pipe painting work. It can also be used for

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the entire cleaning device is moved 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, and the posture control device Since the entire cleaning device is rotated in a plane perpendicular to the pipe axis by the operation of the pipe, the cleaning device can be moved smoothly according to the shape of the pipe, and the inner wall surface of the pipe can be cleaned efficiently and safely without manual intervention. Can be washed.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of a zero-motion cleaning device according to the present invention, FIG. 2 is a side view of the automatic cleaning device, and FIG. 3 is an explanatory diagram of a guide groove formed in the automatic cleaning device. ! ! 4
The figure is an explanatory diagram of movement in the straight pipe section of the automatic cleaning device,
FIG. 5 is an explanatory diagram of the movement of the automatic cleaning device in a curved pipe section, FIG. 6 is an explanatory diagram of the movement of the automatic cleaning device in a pipe section with different diameters, and FIG. 7 is an explanatory diagram of the movement of the automatic cleaning device in a large diameter pipe section. It is an explanatory view of movement of a section. 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, 16a, 16b...arm, 18°21・
...Linear cylinder, 20.22...Guide groove, 23...
- Drive cylinder, 28... Drive wheel, 29... Pressure plate, 31... Support stand, 32... Jacking device, 33
...screw shaft, 38a, 38b, 7-m, 41...
Threaded trunnion, 42... Screw shaft, 45... Support column, 46... Arm, 48... Nozzle, 49... Rack, 51... Rotating device, 53... Direct acting cylinder. Applicant's agent Mr. Sato, Figure 3, Figure 6

Claims (1)

[Scope of Claims] 1. A pair of frames disposed apart 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, a fixing device that holds the device in 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; An automatic cleaning device comprising: a cleaning nozzle device for cleaning. 2. The moving device includes a pair of arm members whose central portions are connected by a pin, and a drive cylinder device, and one end of the arm member is pivotally connected to one end of the frame via a pivot pin, and the other arm member is pivotally connected to one end of the frame via a pivot pin. The end is engaged to slide within at least one guide groove formed at the other end of the frame via at least one guide pin, and the arm member is configured to be swingable by expansion and contraction of the drive cylinder device. An automatic cleaning device according to claim 1, characterized in that: 3. The guide pins are configured as a pair of guide pins for straight pipes and for curved pipes, and the guide grooves are configured as a pair of guide grooves for straight pipes and curved pipes. Claim 1 characterized in that the guide groove is configured to engage with the guide groove.
The automatic cleaning device described in section. 4. The fixing device consists of a jack device that expands and contracts in the radial direction of the pipe, a cylinder device and wheels attached to the tip of the jack device, and expands and contracts the jack device according to the pipe diameter, and also expands and contracts the cylinder. Claim 1 characterized in that the device is configured to be expandable and retractable so that a pressure plate fixed to the cylinder device can be pressed against the inner wall surface of the pipe.
The automatic cleaning device described in section. 5. The attitude control device includes a jack device that expands and contracts in the radial direction of the pipe, an arm device that is attached to the tip of this jack device and that expands and contracts in the radial direction of the tube, and a stiffener that is attached to the tip of this arm device. Consisting of a pressure plate and a drive wheel, the jack 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 of the pipe, and the rotation of the drive wheel moves the entire device up and down the pipe shaft. The automatic cleaning device according to claim 1, wherein the automatic cleaning device is configured to rotate in a plane perpendicular to the cleaning device.