JPS6343159B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a heat exchanger whose deepest part is closed with a mirror plate for heating crude oil and exchanging heat with seawater or industrial water, for example in petroleum complex equipment. This invention relates to a cleaning device for the inner surface of a long pipe.

[Conventional technology and its issues]

The inner surfaces of long pipes of heat exchangers in this type of petroleum complex equipment must be cleaned regularly because sludge and rust from seawater or industrial water adhere to them. Conventionally, it took about eight hours for two workers to enter the pipe and clean it using cleaning tools such as wire brushes. In other words, I was in a situation where I could only wash one bottle a day.

However, since this type of pipe is connected to other equipment, harmful gas may be generated inside the pipe, and if this gas is not completely removed, workers may enter the pipe. Can not. This degassing work usually requires about 24 hours, so conventional cleaning work is slow and has serious problems such as danger to workers. Improvement was desired.

[Means to solve the problem]

The present invention was developed in view of these circumstances, and enables unmanned cleaning without degassing, and completely cleans the entire inner surface of a pipe to be cleaned that has an end plate at its deepest part. It is an object of the present invention to provide a device that can clean the pipe in an extremely short time, and solves the problems of the conventional technology. A wire brush 27 and a center wire brush 24, which rotate on mutually symmetrical trajectories and have an axis parallel to the advancing and retreating axis direction of the crawler, are provided at the tip on a pedestal having a crawler that advances and retreats inside. In an automatic pipe cleaning device, the machine is equipped with a machine that can move up and down, and a sensor such as an ultrasonic sensor is installed on the top of the machine to detect the inner end of the opening of the pipe to be cleaned and temporarily stop the crawler. A guide trochanter provided on the fuselage is brought into pressure contact with the pipe on the inner surface of the ceiling wall, the fuselage is raised to an intermediate position between the guide trochanter and the pedestal, and the center wire brush 24
The pair of wire brushes 27 are rotated reciprocatingly within a range of 180°, with the center of the pair of wire brushes 27 pivoted relative to the machine body perpendicular to the moving direction of the device. The second arm 25 is rotatably attached to the tip of the second arm 25, one end of which is pivoted to both ends of the moving first arm 23, and the wire brush 27 is attached to the end of the second arm 25,
One end of the short third arm 28 is pivotally supported, and this third
The other end of the arm 28 is parallel to the axis of the wire brush 27, and its tip is located slightly inward from the tip of the wire brush 27, and is in contact with the pipe head plate to prevent the rotation of the wire brushes 24, 27. An extendable end plate sensor 29 is provided to start the operation.
The other end of the third arm 28 and the first arm 23
The ends of the wire brushes 27 are connected by a connecting rod 32, and the end plate sensor 2
9 is always positioned, and when a signal indicates that the pressing force of the pair of wire brushes 27 against the side wall of the pipe to be cleaned exceeds a set value, the crawler moves within a stroke range within which the length of the wire brushes 27 is not exceeded. The wire brush 27 is configured to move backward intermittently, and the wire brush 27 sequentially cleans the inner side surface of the pipe toward the opening direction.

〔Example〕

Embodiments of the present invention will be described in detail with reference to the drawings.

Fig. 1 is an explanatory diagram, Fig. 2 is an explanatory diagram showing the position of the device inside the pipe, Fig. 3 is a partially cutaway side view of the device,
FIG. 4 is a front view of the same as above, FIG. 5 is an explanatory diagram showing the trajectory of the wire brush and end plate sensor, and FIGS. 6 and 7 are explanatory diagrams showing the correspondence between the pipe, the wire brush, and the end plate sensor.

The details of the apparatus of the present invention will be explained with reference to FIGS. 3-5. As is clear from FIG. 4, 1 is a crawler installed on the left and right sides of the pedestal 2. As shown in FIG. It is configured to move forward and backward. A body 4 is mounted on the pedestal 2 so as to be movable up and down, and a power unit 5 for moving the crawler 1 forward and backward is built inside the body 4. Reference numerals 6 and 7 denote inner cylinders having rack teeth (not shown) that are vertically installed at the front and rear of the pedestal 2, into which outer cylinders 8 and 9 provided on the fuselage 4 are fitted so as to be movable up and down, respectively. Pinions 10 and 11 provided at the lower portions of the outer barrels 8 and 9 mesh with the rack teeth of the inner barrels 6 and 7.

Reference numeral 12 denotes an outer cylinder which is provided between the inner and outer cylinders and whose lower end is fixed to the fuselage body 4. An inner cylinder 14 having a pair of guide rotors 13 on the left and right upper ends is inserted into the outer cylinder 12 so as to be movable up and down. A pinion 15 mounted on the upper part of the outer cylinder 12 meshes with rack teeth (not shown) provided on the inner cylinder 14. Then, a chain 19 surrounded by sprockets 16, 17, 18 provided on the shafts of the pinions 10, 11, 15,
Sprocket 2 provided on the output shaft of the power unit 5
0 is engaged and each of the pinions 10, 11, 15 rotates in the direction of the arrow, and the fuselage 4,
Also, the guide trochanter 13 is raised.

Reference numeral 21 denotes an ultrasonic sensor installed on the body 4 slightly below the inner cylinder 14 provided with the guide rotor 13, and the sensor 21 is configured to detect the open end of the pipe 3.

Reference numeral 22 denotes a hydraulic swing motor built in the front part of the fuselage 4, and the hydraulic swing motor 22 drives a first motor installed in the front part of the fuselage 4 and perpendicular to the forward direction of the fuselage 4. The arm 23 is configured to be rotated back and forth through 180 degrees. That is, the central portion of the first arm 23 is attached orthogonally to the output shaft of the hydraulic swing motor 22. Further, a center wire brush 24 that contacts the center of the end plate 3a of the pipe 3 is rotatably attached to the center of the first arm 23 by a hydraulic motor (not shown).

As shown in FIGS. 4 and 5, one end of a second arm 25, which faces diagonally upward and diagonally downward, is pivotally supported at both ends of the first arm 23. A wire brush 27 is attached to the end, which is rotatably driven by a hydraulic motor 26 and has an axis parallel to the direction in which the crawler 1 moves. Further, one end of a short third arm 28 is pivotally supported at the other end of the second arm 25, specifically, the end to which the wire brush 27 is attached. ,
End plate sensors 29 are attached to the end plates 3a, which are parallel to the traveling direction of the crawler 1 and whose tips are in contact with the end plate 3a surface located inward from the tips of the wire brushes 27. 30 in the figure is a protective cover for a micro switch (not shown) of the end plate sensor 29. Further, at both ends of the first arm 23,
One end of the connecting plates 31, which are oriented in different directions in the vertical direction, is fixed, and the other end of the connecting plate 31 and the other end of the third arm 28, specifically, the end to which the end plate sensor 29 is attached. The parts are connected by a connecting rod 32. Furthermore, one end of the cylinder 33 is pivotally supported on one side end of the first arm 23, and
The other end of this cylinder 33 is connected to one second arm 2
The other end of the first arm 23 and the base of the other second arm 25 are connected by a connecting rod 34, and by the action of the cylinder 33, the second arm 25
The tip of wire brush 2 moves outward, i.e.
7's orbit is changed.

The present invention also provides the connection of the second arm 25 to the first arm 23, the connection of the third arm 28 to the second arm 25, and the connection of the link 3.
By determining the length of 2, the end plate sensor 29 follows the revolution trajectory of the rotation axis 35 of the wire brush 27. Specifically, the revolution trajectory of the end plate sensor 29 is set around the central rotation axis of the first arm 23. The rotating shaft 35 of the wire brush 27 follows the top.

Also, the tip of the end plate sensor 29 is connected to the pipe 3.
Touch the surface of the end plate 3a, the end plate sensor 29 is pressed, and a micro switch (not shown) is turned on, which causes the hydraulic motor 26 to rotate. The electric circuit is configured to maintain this state. Further, the wire brush 27 starts rotating by the hydraulic motor 26 when the end plate sensor 29 touches the end plate 3a surface, and after a certain period of time has passed,
It is set to stop automatically.

Further, the cylinder 33 gradually expands, and the wire brush 27 cleans the surface of the end plate 3a.
When the surface pressure with which the wire brush 27 is pressed against the side surface of the pipe 3, extending from the center to the outer circumference of the pipe 3, exceeds a certain set value, for example, 60 to 100 Kg/cm ² , this signal is input to the computer and the power is The electric and hydraulic circuits are configured so that the device 5 causes the crawler 1 to retreat within a stroke range that does not exceed the length of the wire brush 27, and this operation is repeated intermittently. In the figure, 36 is a swivel joint.

[Explanation of action]

The operation of the apparatus of the above embodiment will be explained.

As shown in FIG. 1, when the device of the present invention is mounted on a forklift truck 37 and the level of the fork is adjusted to the bottom height of the pipe 3, the crawler 1 is moved by the power unit 5 to move the device into the pipe 3. to enter. As shown in FIGS. 1 and 3, when the ultrasonic sensor 21 provided at the top of the fuselage 4 is located at the open end of the pipe 3, the ultrasonic waves hit the ceiling wall of the pipe and are reflected. is activated. In response to this operation signal, the crawler 1 is stopped, and the sprocket 17 is rotationally driven in the direction of the arrow by the power unit 5, causing the chain 19 to move in the direction of the arrow. As the chain 19 runs, the sprockets 16, 17, and 18 rotate in the directions of the arrows, and the sprockets 1
6, 17, 18 and coaxial pinions 10, 11,
15 is similarly driven to rotate in the direction of the arrow. The guide rotor 13 is installed at the upper end by the rotational drive of the intermediate pinion 15.
The inner cylinder 14 provided with the inner cylinder 14 rises, and finally the guide rotor 13 is brought into pressure contact with the inner surface of the top wall of the pipe 3. At the same time, the front and rear pinions 10 and 11 are driven to rotate in the direction of the arrow, thereby applying downward stress to the inner cylinders 6 and 7, respectively. However, this inner cylinder 6,
Since the lower end of the fuselage 7 is fixed on the pedestal 2, the reaction force of the stress causes the fuselage 4 to float. That is, the fuselage 4 rises until the guide rotor 13 comes into pressure contact with the inner surface of the top wall of the pipe 3. Then, the body 4 is lifted and floated to a position where the center of the body 4, specifically, the center wire brush 24, substantially coincides with the central axis of the pipe 3. At this point, the rotation of the sprocket 20 is stopped and this state is maintained until the work is completed.

Due to the signal that the aircraft 4 was levitated to a predetermined position,
The crawler 1 is activated again and the entire device is moved deeper into the pipe 3. After the device advances and the wire brush 27 and center wire brush 24 are pressed against the surface of the end plate 3a, the two end plate sensors 21 touch the inner surface of the end plate 3a of the pipe 3, and when the stroke is reduced by a predetermined stroke, the micro switch is activated. (not shown) is turned on and off, and in response to this signal, the hydraulic swing motor 22 and the hydraulic motor 26 start driving. Driven by the hydraulic swing motor 22, the first arm 23 reciprocates within a range of 180°,
Further, the wire brush 27 and the center wire brush 24 are rotated by the drive of the hydraulic motor 26, and the surface of the mirror plate 3a corresponding to the reciprocating range of the first arm 23 is cleaned. When the first arm 23 reciprocates a set number of times, the cylinder 33 is extended by a certain stroke, and the second arm 25,
Due to the link movement by the third arm 28 and the connecting rod 32, the wire brush 27 moves outward by a predetermined amount, more specifically, within a range not exceeding the length of the pressure contact surface of the wire brush 27, and by the same action as described above, the end plate 3a is moved outward. Clean unwashed areas. At this time, the center wire brush 24 itself has completed its role and its rotational drive is stopped. In this way, the wire brush 27 is directed outward from the center of the mirror 3a and the radius is gradually increased to clean the pipe 3 up to its side surface. At this time, the center of the wire brush 27 always follows the trajectory of the end plate sensor 29, more specifically, the trajectory of the end plate sensor 29 moving on a circle centered on the central axis point of the first arm 23, so that There is no uneven cleaning, and the end plate can be cleaned along the spread of the concentric rings.

The surface of the mirror plate 3a is cleaned as described above, and the side surfaces of the two wire brushes 27 are attached to the cylinder 33.
When the pressure contact force exceeds the set pressure value, the crawler 1 moves to the wire brush 27 in response to a signal from the computer.
Step back by a length not exceeding the length of , and clean the side wall surface of the pipe 3. This operation is repeated in sequence, and when cleaning up to the open end of the pipe 3 is completed, the cylinder 33 is contracted again, and the wire brush 27 is returned to the center by the link action, and the hydraulic swing motor 22 and each hydraulic motor 26 The drive of the crawler 1 is stopped, the crawler 1 is again transferred onto the forklift 37, and all the work is completed. There is a time difference depending on the size of the pipe, but it is approximately 30 to 40 minutes.

〔Effect of the invention〕

As described above, according to the present invention, the following effects can be obtained.

(a) Since the entire device has a robotic structure, cleaning of the inner surface of the pipe with the head plate can be done unmanned, which saves labor and greatly improves cleaning efficiency without posing a danger to workers as with conventional technology. sell.

(b) Since the entire machine body is supported between the crawler and the guide rotor, running stability within the pipe of the device is good and there is no uneven cleaning.

(c) The center of the head plate sensor and wire brush revolves on a circular trajectory centered on the rotation center axis of the first arm, and the wire brush rotates, so there is no uneven cleaning and the head plate moves outward from the center. Since cleaning is performed in a concentric manner that spreads across the area, efficient cleaning can be achieved.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram, Fig. 2 is an explanatory diagram showing the position of the device inside the pipe, Fig. 3 is a partially cutaway side view of the device,
FIG. 4 is a front view of the same as above, FIG. 5 is an explanatory diagram showing the trajectory of the wire brush and end plate sensor, and FIGS. 6 and 7 are explanatory diagrams showing the correspondence between the wire brush and the end plate sensor. 1...Crawler, 2...Pedestal, 3...Pipe, 3a...
End plate, 4... fuselage, 5... power unit, 6, 7... inner cylinder,
8, 9... Outer cylinder, 10, 11... Pinion, 12... Outer cylinder, 13... Guide trochanter, 14... Inner cylinder, 15... Pinion, 16, 17, 18... Sprocket, 19... Chain, 20... Sprocket, 21 ...Ultrasonic sensor, 22...Hydraulic swing motor, 23...First arm,
24... Center wire brush, 25... Second arm, 26... Hydraulic motor, 27... Wire brush,
28...Third arm, 29...End plate sensor, 30...
Protective cover, 31... Connecting plate, 32... Connecting rod, 33...
Cylinder, 34... Link, 35... Rotating shaft, 36... Swivel joint, 37... Forklift truck.

Claims (1)

[Scope of Claims] 1. On a pedestal equipped with a crawler that advances and retreats in a long pipe to be cleaned whose deepest part is closed with an end plate, the tip of the pedestal is equipped with a crawler that rotates on a mutually symmetrical trajectory and that rotates on a mutually symmetrical trajectory. A wire brush 27 having an axis parallel to the advance/retreat axis direction, and a center wire brush 2
In an automatic pipe cleaning device, the machine is equipped with a machine equipped with 4 and can be raised and lowered, and a sensor such as an ultrasonic sensor is installed on the top of the machine to detect the inner end of the opening of the pipe to be cleaned and temporarily stop the crawler. In response to the detection signal, a guide trochanter provided on the body is brought into pressure contact with the inner surface of the top wall of the pipe, the body is raised to a position between the guide trochanter and the pedestal, and the center wire brush 24 is moved along the center axis of the pipe. The pair of wire brushes 27 are moved by a first arm whose center is pivotally supported relative to the machine body so as to be orthogonal to the moving direction of the device and which reciprocates within a range of 180°. 23
One end of a second arm 25 is pivotably supported at both ends of the second arm 25, and one end of a short third arm 28 is pivotably supported at the end of the second arm 25, which has the wire brush 27 pivoted thereon. However, at the other end of this third arm 28, a wire brush is provided which is parallel to the axis of the wire brush 27 and whose tip is located slightly inward from the tip of the wire brush 27, and in contact with the pipe end plate. An extendable end plate sensor 29 for starting the rotation of the wire brushes 24 and 27 is provided, and the other end of the third arm 28 and the end of the first arm 23 are connected by a connecting rod 32, and both wire brushes 27
The end plate sensor 29 is always located on a trajectory drawn by the rotation axis centered on the central rotation axis of the first arm 23, and the pressing force of the pair of wire brushes 27 against the side wall of the pipe to be cleaned is However, in response to a signal that exceeds the set value, the crawler is configured to move backward intermittently within a stroke range that does not exceed the length of the wire brush 27, and the wire brush 27 sequentially moves the inner side of the pipe in the opening direction. An automatic pipe cleaning device characterized by being designed to clean the pipes.