KR102645849B1 - High-pressure spray cleaning robot for all W-F S/G sections - Google Patents

Abstract

The present invention relates to a cleaning robot for high-pressure spraying across all WF S/G sections. More specifically, the conventional spray nozzle has a problem in that the nozzle length cannot be formed due to interference with the heat pipe and cannot provide a sufficient spray distance with the same pressure. This is about a cleaning robot for high-pressure spraying across the entire WF S/G range that can spray cleaning water farther under the same conditions while eliminating the problem.
The cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention relates to a lancing robot that enters the central support rod through the hand hole of the steam generator and removes foreign substances accumulated in the heat pipe within the steam generator. Rails are installed on both upper and lower sides in the longitudinal direction inside the rail cover that is mounted from the handhole to the support bar, a rail unit in which a rack gear is formed in the longitudinal direction on at least one of the rails, and a rail unit in the handhole. A mount unit is coupled with a mount cover that penetrates the fastened mount plate and surrounds and secures one side of the rail unit, and a pinion gear that rotates while the roller moves along the rail is connected to the rack gear and rotates from the first motor. A mobile unit that receives rotational force and selectively moves back and forth along the rail, and a spray chamber that is mounted and moved on the mobile unit and in which spray nozzles of a predetermined length are arranged to correspond to the gap between the heat pipes are rotated to spray high-pressure washing water. Includes an injection unit that

Description

{High-pressure spray cleaning robot for all W-F S/G sections}

The present invention relates to a cleaning robot for high-pressure spraying in the entire W-F S/G range. More specifically, the problem is that the conventional spray nozzle cannot be lengthened due to interference with the heat pipe and cannot provide a sufficient spray distance with the same pressure. This is about a cleaning robot for high-pressure spraying across the entire W-F S/G range that can spray cleaning water farther under the same conditions while eliminating the problem.

Generally, in a nuclear power plant, water is heated with the heat generated during nuclear fission of uranium, and the power of the generated steam rotates a turbine and uses this rotational power to turn a generator to produce electricity.

In this way, the inside of the steam generator is densely arranged in a heat pipe, and as high-temperature radioactively contaminated water flows inside the heat pipe and uncontaminated low-temperature water flows outside, heat exchange occurs and the uncontaminated water becomes hot. It is converted into high-pressure steam, and the power of this steam rotates a turbine and generator to generate electricity.

However, sludge accumulates inside the steam generator depending on the number of years of operation, which reduces the thermal efficiency of the heat transfer tubes inside the steam generator and causes damage to the heat transfer tubes, thereby shortening the entire lifespan of the steam generator.

The components of this sludge are mainly iron oxide and copper oxide, which, if not removed, coagulate and stick between heat transfer pipes, generate thermal stress, and may wear out heat transfer pipes as the sludge flows with water.

Therefore, in order to reduce the influence of sludge, which has a negative impact on the lifespan of the steam generator, facilities and operating procedures are in place to release a certain amount of internal cooling water during operation of the steam generator. However, in practice, sludge is not effectively removed with this method alone. Since the phenomenon of continuous deposition has been discovered, steam generator manufacturers recommend that the inside of the steam generator be cleaned periodically during the annual preventive maintenance period.

Therefore, various cleaning devices have been developed and provided for cleaning the inside of the steam generator. Such cleaning devices are used in areas where heat pipes are not arranged on the center line of the steam generator (referred to as No Tube Lance or Blow Down Lance; BdL). ) The inside of the steam generator is cleaned by spraying high-pressure washing water directly in a 90-degree direction in the direction of travel while moving linearly back and forth along the line.

For example, the Westinghouse F-type steam generator of Hanbit Units 1 and 2 and Gori Units 2, 3 and 4 has heat pipes arranged in a grid shape and has a total of 6 hand holes, the diameter of which is 6 inches, and the upper surface of the tube sheet. The height from the center of the handhole is approximately 16 inches.

In addition, a support rod with a diameter of about 42 mm is installed in the center of the steam generator tube sheet, and the outer diameter of the heat pipe is about 17 mm. Each heat pipe is arranged at a distance of about 24 mm in the horizontal and vertical directions, and each heat pipe is installed in the horizontal and vertical directions. There are gaps of approximately 7 mm each, and technology to more efficiently remove sludge deposited in these gaps is desperately needed.

In particular, there was a need to further improve the problem of cleaning blind spots occurring due to the support rod with a diameter of approximately 42 mm installed in the center of the steam generator tube sheet.

Korean Patent Registration No. 10-1107840, invention title “Lancing device for steam generator compatible with each model” (registration date 2012.01.12.)

The present invention was created to solve the problems and needs described above, and solves the problems that the conventional spray nozzle cannot form a nozzle length due to interference with the heat pipe and cannot provide a sufficient spray distance at the same pressure while providing the same condition. The purpose is to provide a cleaning robot for high-pressure spraying across the entire W-F S/G range to spray cleaning water farther away.

In order to achieve the above object, the cleaning robot for high-pressure spraying in the entire W-F S/G section according to an embodiment of the present invention enters the central support rod through the hand hole of the steam generator and removes foreign substances accumulated in the heat pipe within the steam generator. It's about a lancing robot that does,

A rail unit in which rails are installed on both upper and lower sides in the longitudinal direction of the inside of the rail cover mounted from the hand hole to the support bar, and a rack gear is formed in the longitudinal direction on at least one of the rails,

A mount unit coupled with a mount cover that penetrates the mount plate fastened to the hand hole and surrounds and secures one side of the rail unit,

A moving unit in which a roller rolls along the rail and a pinion gear rotating in gear combination with the rack gear receives rotational force from a first motor to selectively reciprocate along the rail, and

It is mounted on the moving unit and moves, and includes a spraying unit that sprays high-pressure washing water by rotating a spraying chamber in which spraying nozzles of a predetermined length are arranged to correspond to the gap between the heat pipes.

According to the present invention, the spray nozzle is expanded in the circumferential direction and has a predetermined length so that it can be inserted between adjacent heat transfer pipes, so there is an advantage in that washing water can be sprayed farther and more accurately at the same pressure than before.

That is, the conventional injection nozzle has a problem in that it cannot provide a sufficient injection distance at the same pressure because the nozzle length cannot be formed due to interference with the heat pipe.

Additionally, in order to overcome the spatial constraints of the narrow handhole, there is an advantage in that the control clutch button can be exposed by avoiding the spatial constraints by creating a horizontal height difference between the first and second load bars.

In addition, since the pinion gear is placed below the rack gear and rotates, there is an advantage in that precise reciprocating movement is possible with less influence from the load of the moving unit and injection unit.

Figure 1 is a partial cutaway view of a steam generator on which the lancing robot of the present invention is mounted.
Figure 2 is a conceptual perspective view showing an enlarged view of the central portion of a steam generator equipped with a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figure 3 is a perspective view showing a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figure 4 is a conceptual perspective view showing the rail unit of a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figure 5 is a perspective view showing a portion of the rail unit of the WF S/G high-pressure spray cleaning robot according to an embodiment of the present invention cut in the horizontal direction.
FIG. 6 is an exemplary diagram showing a cleaning robot for high-pressure spraying throughout the WF S/G section proposed by the present invention as viewed from the “P” direction of FIG. 1.
Figure 7 is a perspective view showing a mount unit of a cleaning robot for high pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
FIG. 8 is a diagram showing a cross section taken along line AA′ of FIG. 4.
Figure 9 is a conceptual perspective view showing the moving unit and spraying unit of the cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figure 10 is a perspective view showing a moving unit of a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figure 11 is a conceptual perspective view showing the spraying unit of a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figures 12 and 13 are exploded perspective views of Figure 10.
Figure 14 is a perspective view showing the spraying unit of the cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.
Figures 15 and 16 are perspective views of Figure 14 exploded from different angles.
Figure 17 is a perspective view showing a cross section taken along line BB' in Figure 14.
Figures 18 to 20 are exemplary diagrams showing the operating state of a cleaning robot for high-pressure spraying throughout the WF S/G section according to an embodiment of the present invention.

Since the present invention can be subject to various changes and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description.

Figure 1 is a partial cutaway view of the steam generator on which the lancing robot of the present invention is mounted, and Figure 2 is an enlarged view of the central part of the steam generator on which the cleaning robot for high pressure spraying in the entire W-F S/G section according to an embodiment of the present invention is mounted. It is a conceptual perspective view, and Figure 3 is a perspective view showing a cleaning robot for high-pressure spraying across all W-F S/G sections according to an embodiment of the present invention, and Figure 4 is a perspective view showing a cleaning robot for high-pressure spraying across all sections of W-F S/G according to an embodiment of the present invention. It is a conceptual perspective view showing the rail unit of a cleaning robot, and Figure 5 is a perspective view showing a portion of the rail unit of the cleaning robot for high pressure spraying in the entire W-F S/G section according to an embodiment of the present invention, cut horizontally.

In addition, Figure 6 is an exemplary diagram showing a cleaning robot for high-pressure spraying in the entire W-F S/G range proposed by the present invention as seen from the "P" direction of Figure 1, and Figure 7 is a W-F according to an embodiment of the present invention. It is a perspective view showing the mount unit of a cleaning robot for high-pressure spraying in the entire S/G section, and FIG. 8 is a view showing the cross section A-A' of FIG. 4.

In addition, Figure 9 is a conceptual perspective view showing the moving unit and spray unit of the cleaning robot for high pressure spraying throughout the W-F S/G section according to an embodiment of the present invention, and Figure 10 is a conceptual perspective view showing the W-F S/G according to an embodiment of the present invention. It is a perspective view showing the moving unit of the cleaning robot for high-pressure spraying in the entire G section, and Figure 11 is a conceptual perspective view showing the spraying unit of the cleaning robot for high-pressure spraying in the entire W-F S/G section according to an embodiment of the present invention. Figures 12 and Figure 13 is an exploded perspective view of Figure 10.

In addition, Figure 14 is a perspective view showing the spraying unit of the cleaning robot for high-pressure spraying throughout the W-F S/G section according to an embodiment of the present invention, and Figures 15 and 16 are perspective views of Figure 14 exploded from different angles, and Figures 17 is a perspective view showing the cross-section B-B' of Figure 14, and Figures 18 to 20 are exemplary diagrams showing the operating state of the high-pressure spray cleaning robot for the entire W-F S/G section according to an embodiment of the present invention.

The cleaning robot 100 for high pressure spraying in the entire W-F S/G section according to an embodiment of the present invention includes a mount unit 120 that fixes the rail unit 110, and a mobile unit 200 connected to the rail unit 110. ), and an injection unit 300 mounted on the moving unit 200.

Here, as shown in FIGS. 1 and 2, the lancing robot 100 proposed by the present invention enters the central support bar 12 through the “P” direction of the hand hole 11 of the steam generator 10. To remove foreign substances accumulating in the heat pipe 13 within the steam generator 10, the rail cover 111 of the rail unit 110 may be installed radially inside the steam generator 10.

Then, the mobile unit 200 moves back and forth along the rail 112 formed in the rail cover 111, and the injection unit 300 is coupled to the lower part of the mobile unit 200 and moves together with the mobile unit 200. I do it.

At this time, the injection unit 300 is formed so that the injection chamber 310 can rotate in both circumferential directions about the longitudinal direction, and through this, the injection nozzle 320 arranged in the injection chamber 310 has a predetermined length. It is possible to spray high-pressure washing water (W) in a certain angle range.

In particular, as shown in FIG. 2, the injection nozzle 320 proposed by the present invention has a predetermined length (L) long enough to be expanded in the circumferential direction and inserted between adjacent heat transfer pipes 13, and thus can be used at the same pressure as before. It is possible to spray the washing water (W) farther and more accurately.

That is, the conventional injection nozzle could not provide a sufficient injection distance at the same pressure because the nozzle length could not be formed due to interference with the heat transfer pipe 13.

Now, the configuration and operation of the cleaning robot 100 for high-pressure spraying across the W-F S/G range according to embodiments of the present invention will be described in detail as follows.

The cleaning robot 100 for high-pressure spraying across W-F S/G sections proposed by the present invention includes a rail unit 110, a mount unit 120, a moving unit 200, and a spraying unit 300.

First, as shown in FIGS. 1 to 4, the rail unit 110 has a rail cover 111 formed in the longitudinal direction, and the rail cover 111 is installed on the inside of the steam generator 10 in the radial direction. do.

Here, the rail unit 110 can be inserted into the steam generator 10 through hand holes 11 formed on both sides of the steam generator 10.

In addition, one end of the rail unit 110 inserted from both sides of the steam generator 10 is supported on the support rod 12 installed in the center of the steam generator 10, and for this purpose, one end of the rail unit 110 is formed in a semicircular shape. The first tip 115 may be formed to be in close contact with and fixed to the support rod 12.

In addition, as shown in FIG. 4, the rail cover 111 may be connected in plural pieces, and the number of rail covers 111 may be appropriately adjusted depending on the total length of the rail unit 110 required. there is.

Through this, the length of the rail cover 111 can be adjusted accordingly even if the inner diameter (D) of each steam generator 10 is different.

Additionally, the rail cover 111 may be shaped like a circular pipe, and the lower side may be open.

In addition, as shown in FIG. 5, the rail unit 110 has rails 112 formed along the longitudinal direction on both sides of the top and bottom inside the rail cover 111.

And, a rack gear 113 is formed in the longitudinal direction on at least one of the plurality of rails 112.

In addition, the hand hole 11 may further include a mount unit 120 to ensure that the rail cover 111 is stably supported in the hand hole 11, as shown in FIGS. 6 and 7. .

Here, the mount unit 120 is installed in the hand hole 11, and the mount plate 121 fastened to the hand hole 11 and the mount holding one side of the rail unit 110 Cover 125 may be coupled.

That is, the mount unit 120 can be coupled by surrounding and fixing the other end of the rail unit 110 with a hollow mount cover 125 penetrating the mount plate 121 fastened to the hand hole 11. .

As shown in FIG. 7, the mount unit 120 is formed so that a spray nozzle 320 having a predetermined length (L) can pass through a through hole 121h formed in the mount plate 121. However, there is a limitation that the through hole 121h must be formed smaller than the hand hole 11.

In addition, as shown in FIG. 8, the rail unit 110 is installed so that the mobile unit 200 can move therein. At this time, the mobile unit 200 is installed in the hand holes 11 at both ends of the steam generator 10. It can be entered from both directions along the rail unit 110 through .

Here, as shown in FIGS. 9 and 10, the moving unit 200 has a pair of rollers 220 installed front and rear on both sides of the housing 210, and the rollers 220 are installed on the rail 112. Accordingly, the mobile unit 200 moves in a rolling motion to move stably.

In addition, the moving unit 200 includes a pinion gear 230, as shown in FIG. 10, and the pinion gear 230 is combined with the rack gear 113 and a rack and pinion gear. There will be a meeting.

At this time, the pinion gear 230 rotates by receiving rotational power from the first motor 241, and as the pinion gear 230 rotates, the moving unit 200 can move back and forth along the rail 112. There will be.

As shown in FIGS. 9 and 11, the injection unit 300 is coupled to the lower side of the moving unit 200, and the injection chamber 310 rotates in the circumferential direction about the longitudinal direction of the injection unit 300. Through this, the spray nozzle 320 arranged in the spray chamber 310 can spray high-pressure washing water (W) in a certain angle range while having a predetermined length (L).

As shown in FIGS. 12 and 13, the moving unit 200 may include a housing 210 and a first driving unit 240 such as a first motor 241.

Here, the housing 210 is in the shape of a hollow square box, has the outer shape of the mobile unit 200 and protects the interior, and the housing cover 211 is provided on the upper part of the housing 210 by a fastening member such as a bolt. can be combined

A pair of rollers 220 are disposed front and back on both sides of the housing 210, and the rollers 220 roll along the rail 112 so that the moving unit 200 moves stably.

The first driving unit 240 includes a first motor 241, a first clutch 242, a first driving gear 243, and a first driven gear 244.

The first motor 241 may be seated and installed on the base 212 on which the standing plates 212a and 212b are formed in the inner space of the housing 210. At this time, the base 212 may be fixed to the inner bottom surface of the housing 210 by a fastening member such as a bolt.

A first driving gear 243 and a first driven gear 244 are connected to one side of the first motor 241 by a first clutch 242, and a pair of bevel gears are connected to the first driven gear 244. Rotational power may be transmitted to the pinion gear 230 through (260).

In particular, the pinion gear 230 is placed on the lower side of the rack gear 113 and rotates in engagement with the rack gear 113, so that precise reciprocating movement is achieved while receiving less resistance due to the load of the moving unit 200 and the injection unit 300. This makes it possible.

As shown in FIG. 13, the first driving gear 243 and the first driven gear 244 are located on the same axis, but power can be transmitted or released by the first clutch 242 inserted into the outer periphery. .

That is, the first clutch 242 has teeth formed on its inner periphery to connect the first drive gear 243 and the first driven gear 244 to engage and rotate.

Additionally, the first clutch 242 is connected to the first and second load bars 251 and 252 and can be released by a clutch button 255 protruding from one side of the housing 210.

Meanwhile, the first load bar 251 is a pair of left and right, one end of which is guided by the standing plates 212a and 212b along the longitudinal direction of the base 212, and one end fixes the outer periphery of the clutch 242, The other end is coupled to one end of the second load bar (252).

The second load bar 252 is also a left and right pair, with one end coupled to the other end of the first load bar 251 and the other end coupled to the clutch button 255.

Additionally, a spring 254 may be exposed and disposed on the outside of the second load bar 252, and a clutch button 255 may be coupled to the other end of the second load bar 252.

Here, the first and second load bars 251 and 252 have a horizontal height difference to overcome the spatial constraints of the narrow hand hole 11, so that the clutch button ( 255) can be exposed.

Through this, the clutch 242 maintains the first driving gear 243 and the first driven gear 244 in a connected state, and when the clutch button 255 is pushed or pulled, the clutch 242 moves forward or backward and Power transmission can be stopped by releasing the coupling between the driving gear 243 and the first driven gear 244.

Additionally, the clutch 242 is returned to its original state by the spring 254 when the force pushing or pulling the clutch button 255 is removed.

As shown in FIG. 13, etc., the bevel gears 260 cross each other in pairs to transmit rotational power, and the first driven gear 244, which receives power from the first motor 241, is coupled to the rotation axis. 1 It may be composed of a bevel gear 261 and a second bevel gear 262 gear-coupled with the first bevel gear 261.

Therefore, when the first bevel gear 261 rotates by the power provided by the first motor 241, the engaged second bevel gear 262 rotates and the pinion gear 230 on the same axis rotates. Through this, the housing 210 moves along the rail 112 through the rolling movement of the roller 220.

In addition, a connector extension 290 is coupled to the rear end of the housing 210, and a connector (not shown) is coupled to the connector extension 290 to form a cable (not shown) for transmitting power and signals. can be combined

As shown in FIGS. 14 to 17, the injection unit 300 coupled to the lower side of the moving unit 200 includes an injection chamber 310, an injection nozzle 320, an injection body 330, and a second motor 341. ) may include a second driving unit 340, etc.

Here, the injection chamber 310 and the injection nozzle 320 will be mentioned in detail later.

First, the injection body 330 is in the shape of a block that is hollow in the longitudinal direction at the top and bottom, and a second driving unit 340, etc. can be installed while filling the interior of the injection unit 300.

At this time, as shown in FIG. 15, the injection body 330 may have a hollow first insertion hole 331 formed in the lower longitudinal direction where the second driving unit 340, etc. can be mounted. , a hollow second insertion hole 332 may be formed in the longitudinal direction of the upper side into which electric wires, communication lines, etc. can be installed.

That is, the second insertion hole 332 may be formed on the upper side of the spray body 330 to provide a space for inserting cables such as power cables and signal cables.

A hollow body cover 333 that can protect the spray body 330 may be coupled to the outer shell of the spray body 330 by a fastening member such as a bolt.

In particular, the injection body 330 is formed with a concave second peak 335 that can be separated or combined at the front, and the support rod 12 located in the center of the steam generator 10 together with the first peak 115 It can be closely adhered and fixed to.

As shown in FIGS. 15 and 16, the second driving unit 340 includes a second motor 341, a second clutch 342, a second driving gear 343, and a second driven gear 344. , and a clutch holder 345.

The second motor 341 may be seated and installed inside the lower longitudinal direction of the injection body 330. At this time, the second motor 341 can be inserted into the first insertion hole 331 formed inside the injection body 330 and fixed without shaking.

A second driving gear 343 and a second driven gear 344 are connected to one side of the second motor 341 by a second clutch 342, and a tilting rotation unit 350 is connected to the second driven gear 344. ), the injection chamber 310 can finally be rotated.

As shown in FIG. 16, the second driving gear 343 and the second driven gear 344 are located on the same axis, but power can be transmitted or released by the second clutch 342 inserted into the outer periphery. .

That is, as shown in FIG. 16, the second clutch 342 has teeth formed on the inner periphery to connect and rotate the second drive gear 343 and the second driven gear 344, and the clutch holder 345 It is fixed by .

However, for maintenance purposes, the second clutch 342 enables partial replacement by disassembling the second driving unit 340, etc.

As shown in FIGS. 16 and 17, the tilting rotation unit 350 includes a pair of reduction gears 351 that receive rotational power from the second driven gear 344 and reduce the rotational speed, and the reduction gear 351 ) A pair of transmission gears 352 that transmit the reduced rotational force from ), and rotational power is provided to the tilting gear 355 through the transmission gears 352.

As shown in FIG. 16, the reduction gear 351 is a pair of spur gears, which are meshed adjacent to each other to transmit rotational power. The first gear 351 is formed on the same rotation axis of the second driven gear 344. It consists of a reduction gear (351a) and a second reduction gear (351b) that is smaller than the first reduction gear (351a), so that torque can be increased while lowering the rotational speed in proportion to the difference in size.

In addition, the transmission gear 352 is a pair of spur gears that engage and rotate adjacent to each other so that they rotate in opposite directions.

That is, the transmission gear 352 is a first transmission gear 352a formed on the same rotation axis of the second reduction gear 351b, and two transmission gears 352b of the same size as the first transmission gear 352a are adjacent to each other. Since they are interlocked and rotated, they can rotate in opposite directions.

As shown in FIG. 17, the tilting gear 355 is adjacent to the first transmission gear 352a and receives rotational power, and is adjacent to the second transmission gear 352b to receive rotational power. It consists of a second tilting gear (355b) that receives the, and the first tilting gear (355a) engages and rotates with the first transmission gear (352a), and at the same time, the second tilting gear (355b) engages with the second transmission gear (352b) As they rotate, they rotate in opposite directions.

In addition, a washing water supply part 360 is formed along the outer longitudinal direction of the spray body 330, and the washing water supply part 360 includes an inflow pipe 361, a branch pipe 362, and a chamber connection pipe 363. This is done by connecting the washing water connector 365 to the inlet pipe 361 so that washing water (W) can be supplied.

The washing water supply unit 360 supplies washing water to the inlet pipe 361 through the washing water connector 365, and is connected to the chamber connection pipe 363 through a branch pipe 362 branching in two directions, left and right, and sprayed. Washing water (W) moves along the longitudinal direction of both sides of the body 330.

In the washing water supply unit 360, one end of the chamber connection pipe 363 is rotatably coupled to the spray chamber 310, and through this, the washing water (W) flowing within the washing water supply unit 360 flows through the inflow pipe 361. It moves through the branch pipe 362 to the chamber connection pipe 363 and can reach the injection chamber 310.

In particular, the chamber connection pipe 363 may be supported by a pipe holder 364, and the pipe holder 364 may be fixed to both sides of the spray body 330.

In addition, the chamber connector 363 connected to the branch pipe 362 branching in two directions, left and right, can be divided into a first chamber connector 363a and a second chamber connector 363b, and the first chamber The connection pipe (363a) is supported by the first pipe holder (364a), and the second chamber connection pipe (363b) is supported by the second pipe holder (364b).

Accordingly, when the injection chamber 310 coupled with the chamber connection pipe 363 rotates, the tube holder 364 holds the chamber connection pipe 363 on the outer surface of the injection body 330 to form the injection chamber ( 310) is supported so that it can rotate stably without shaking.

Meanwhile, the chamber connection pipe 363, etc. is of course sealed to prevent leakage of washing water even during rotation, and for this purpose, a packing member or a sealing member 366 can be inserted and sealed at the connection portion.

As shown in Figures 16 and 17, a tilting gear 355 is formed on the outer periphery of the chamber connection pipe 363 connected to the injection chamber 310 to be gear-engaged with the transmission gear 352.

That is, a transmission gear 352 is formed inside the injection body 330, and the transmission gear 352 may be gear-coupled with a tilting gear 355 partially exposed to the side of the injection body 330.

Therefore, when the tilting gear 355 rotates, the injection chamber 310 connected to each of the left and right chamber connectors 363a and 363b rotates, and through this, the injection chamber 310 rotates in both circumferential directions. You can do it.

In other words, when the transmission gear 352 rotates due to the rotational force of the second motor 341, the tilting gear 355 also rotates, and the rotation of the transmission gear 352 coupled to the tilting gear 355 In conjunction with the direction, the pair of injection chambers 311 and 312 also rotate symmetrically in the circumferential direction on the left and right.

Here, a pair of injection chambers 311 and 312 are arranged in a "U" shape at the front end of the injection body 330, and are formed parallel to the front on both sides of the second peak 355, and each injection chamber 311 , 312), a plurality of spray nozzles 320 are arranged along the longitudinal direction.

That is, one end of the injection chamber 310 extends forward from the outside of one end of the injection body 330, and some of the injection nozzles 320 are forward from one end of the injection body 330. is formed in

In addition, the injection nozzles 320 arranged in each injection chamber 310 rotate in the circumferential direction based on the longitudinal center line of the injection chamber 310, and their trajectory forms a fan-shaped arc and is sprayed toward the outside. You can.

Through this, high-pressure washing water (W) can be sprayed from each spray nozzle (321, 322) arranged in the pair of spray chambers (311, 312) while forming a certain angle range without blind spots.

As shown in FIG. 18, a portion of the spray nozzle 320 may be located on both outer sides of the central support rod 12, so that the washing water ( W) injection becomes possible.

Furthermore, when the second motor 341 rotates the tilting gear 355 and the chamber connector 363 rotates, the injection chamber 310 rotates, making it possible to spray the washing water within a predetermined angle range. .

Here, the spray nozzles 320 are formed at regular intervals along the longitudinal direction of the spray chamber 310, extend a predetermined length L toward both sides, and are formed to spray the washing water W while rotating at a predetermined angle.

In particular, the length of the spray nozzle 320 is formed to be at least longer than the diameter of the heat pipe 13.

Through this, the spraying speed of the washing water by the spray nozzles 320 on both the left and right can be faster than before, making it possible to clean even the distant heat pipes 13 without exception.

At this time, the water pressure sprayed from the spray nozzle 320 is discharged in the range of 200 to 300 bar, as shown in Figure 19, allowing it to reach the radius R within the steam generator 10.

In addition, the rotation angle range of the injection nozzle 320 is determined according to the rotation amount of the injection chamber 310, and as shown in FIG. 20, the rotation angle range θ can be allowed up to 85°.

In particular, the injection nozzle 320 is at least as long as a predetermined length (L) longer than the diameter of the heat pipe 13, so that the injection speed can be accelerated to enable injection to a greater distance, and through this, the steam generator 10 Cleaning becomes possible without bad sectors of the heat pipe 13 located far from the center.

In summary, the cleaning robot 100 for high pressure spraying in the entire W-F S/G section according to various embodiments of the present invention enters the central support rod 12 through the hand hole 11 of the steam generator 10 and generates the steam generator ( 10) relates to a lancing robot (100) that removes foreign substances accumulated in the heat transfer tube (13),

Rails 112 are installed on both upper and lower sides in the longitudinal direction of the inside of the rail cover 111, which is mounted from the hand hole 11 to the support bar 12, and at least one of the rails 112 A rail unit 110 with a rack gear 113 formed in the longitudinal direction,

A mount unit 120 coupled with a mount cover 125 that penetrates the mount plate 121 fastened to the hand hole 11 and surrounds and secures one side of the rail unit 110,

The roller 220 rolls along the rail 112, and the pinion gear 230, which rotates by being coupled to the rack gear 113, receives rotational force from the first motor 241 to move the rail 112. A mobile unit 200 that selectively moves back and forth along, and

The injection chamber 310, which is mounted and moved on the moving unit 200 and has injection nozzles 320 of a predetermined length arranged to correspond to the gap between the heat pipes 13, is rotated to spray high-pressure washing water (W). Includes unit 300.

Additionally, the pinion gear 230 is disposed below the rack gear 113 and rotates.

In addition, the moving unit 200 includes a first motor 241 mounted in a housing 210 and a first drive gear 243 connected to one side of the first motor 241 by a first clutch 242 and The first driven gear 244 provides rotational power to the pinion gear 230, and the first clutch 242 is released by moving forward or backward by the clutch button 255 protruding toward the rear of the housing 210. do.

In addition, a first load bar 251 is horizontally connected to the first clutch 242, a second load bar 252 is connected horizontally at a different height from the first load bar 251, and the second load bar 252 is connected horizontally to the first clutch 242. The clutch button 255 is connected to the end of the load bar 252.

In addition, the moving unit 200 includes a first bevel gear 261 installed on the rotation axis of the first driven gear 244 and a second bevel gear 262 installed on the rotation axis of the pinion gear 230. Thus, rotational power can be transmitted.

In addition, the injection unit 300 has a second motor 341 mounted inside the injection body 330, and a reduction gear 351 is connected to one side of the second motor 341. The tilting gear 355 may receive power through rotation to rotate the injection chamber 310.

In addition, the injection unit 300 has a second driving gear 343 and a second driven gear 344 connected to one side of the second motor 341 by a second clutch 342 to the reduction gear 351. It can provide rotational power.

Additionally, the injection chamber 310 may be arranged in a “U” shape at the left and right front ends of the injection body 330.

Additionally, the spray nozzle 320 may pass through the through hole 121h formed in the mount plate 121, spread out in the circumferential direction, and be inserted between the adjacent heat transfer pipes 13.

Additionally, the length of the spray nozzle 320 is at least longer than the diameter of the heat transfer pipe 13.

In addition, the reduction gear 351 includes a first reduction gear 351a formed on the same rotation axis of the second driven gear 344, and a second reduction gear 351b smaller than the first reduction gear 351a. Includes, the transmission gear 352 is a first transmission gear (352a) formed on the same rotation axis of the second reduction gear (351b), and two transmission gears rotating in mesh next to the first transmission gear (352a) Includes (352b).

In addition, the tilting gear 355 is a first tilting gear 355a that is adjacent to the first transmission gear 352a and receives rotational power, and is adjacent to the second transmission gear 352b and receives rotational power. It consists of a second tilting gear (355b), and the first tilting gear (355a) engages and rotates with the first transmission gear (352a), and at the same time, the second tilting gear (355b) engages with the second transmission gear (352b). Since they engage and rotate, they can rotate in opposite directions.

In addition, the spray unit 300 further includes a washing water supply unit 360 along the outer longitudinal direction of the spray body 330.

In addition, the washing water supply unit 360 supplies the washing water (W) to the inflow pipe 361 through the washing water connector 365, and the chamber connection pipe through the branch pipe 362 branching in two directions, left and right. It is connected to (363) so that the washing water (W) can move along the longitudinal direction on both sides of the spray body (330).

In addition, in the washing water supply unit 360, one end of the chamber connection pipe 363 is rotatably coupled to the spray chamber 310, and the washing water (W) flowing in the washing water supply unit 360 is connected to the inlet pipe. It moves through the branch pipe 362 through 361 to the chamber connection pipe 363 and reaches the injection chamber 310.

In addition, the tilting gear 355 is formed on the outer periphery of the chamber connection pipe 363 connected to the injection chamber 310 to be gear-engaged with the transmission gear 352, and the tilting gear 355 rotates. In this case, the injection chamber connected to each of the left and right sides of the chamber connector can rotate in the outer circumferential direction.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be.

Accordingly, the embodiments disclosed in the present invention and the attached drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. .

The scope of protection of the present invention should be interpreted in accordance with the claims described below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of the present invention.

10: steam generator 11: hand hole
12: support rod 13: heat pipe
100: Lancing robot proposed by the present invention
110: rail unit 111: rail cover
112: rail 113: rack gear
115: first apex
120: Mount unit 121: Mount plate
121h: Through hole 125: Mount cover
200: mobile unit 210: housing
211: housing cover 212: base
212a, 212b: standing plate 220: roller
230: pinion gear 240: first driving unit
241: first motor 242: first clutch
243: first driving gear 244: first driven gear
251, 252: first and second load bars 254: spring
255: Clutch button
260: Bevel gear 261: 1st bevel gear
262: second bevel gear 290: connector extension part
300: Injection unit 310, 311, 312: Injection chamber
320, 321, 322: Spray nozzle
330: Spray body 331: First insertion hole
332: second insertion hole 333: body cover
335: 2nd peak
340: second driving unit 341: second motor
342: second clutch 343: second driving gear
344: second driven gear 345: clutch holder
350: Tilting rotating part 351: Reduction gear
351a: first reduction gear 351b: second reduction gear
352 ; Transmission gear 352a: first transmission gear
352b: second transmission gear 355: tilting gear
355a: first tilting gear 355b: second tilting gear
360: Washing water supply unit 361: Inlet pipe
362: branch pipe
363, 363a, 363b: Chamber connector 364: Tube holder
365: Washing water connector 366: Sealing member

Claims (12)

In the WF S/G high-pressure spray cleaning robot that enters the central support rod through the handhole of the steam generator and removes foreign substances accumulated in the heat pipe within the steam generator,
A rail unit in which rails are installed on both upper and lower sides in the longitudinal direction of the inside of the rail cover mounted from the hand hole to the support rod, and a rack gear is formed in the longitudinal direction on at least one of the rails;
A mount unit coupled with a mount cover that penetrates the mount plate fastened to the hand hole and surrounds and secures one side of the rail unit;
A movement unit in which a roller rolls along the rail and a pinion gear rotating by being gear-coupled with the rack gear receives rotational force from a first motor to selectively reciprocate along the rail; and
A spray unit that is mounted and moved on the moving unit and sprays high-pressure washing water by rotating a spray chamber in which spray nozzles of a predetermined length are arranged to correspond to the gap between the heat pipes,
The injection nozzle passes through the through hole formed in the mount plate, expands in the circumferential direction, and is inserted between the adjacent heat transfer pipes. The moving unit is a housing in which the first motor is mounted and connected to one side of the first motor by a first clutch. WF S/G, wherein the first driving gear and the first driven gear provide rotational power to the pinion gear, and the first clutch is released by moving forward or backward by a clutch button protruding toward the rear of the housing. Cleaning robot for high-pressure spraying throughout the entire area. According to claim 1,
A cleaning robot for high-pressure spraying throughout the WF S/G range, wherein the pinion gear is disposed below the rack gear and rotates. delete According to claim 1,
WF S, characterized in that a first load bar is horizontally connected to the first clutch, a second load bar is connected horizontally at a different height from the first load bar, and the clutch button is connected to an end of the second load bar. /G Cleaning robot for high pressure spraying throughout the entire area. According to claim 1,
The moving unit is characterized in that the first bevel gear installed on the rotation axis of the first driven gear and the second bevel gear installed on the rotation axis of the pinion gear cross each other to transmit rotational power, high pressure throughout the WF S/G section. Spray cleaning robot. According to claim 1,
A cleaning robot for high-pressure spraying throughout the WF S/G range, wherein the length of the spray nozzle is at least longer than the diameter of the heat pipe. According to claim 1,
The injection unit is characterized in that a second motor is seated inside the injection body, a reduction gear is connected to one side of the second motor, and the rotation of the reduction gear transmits power to the tilting gear to rotate the injection chamber.
WF S/G cleaning robot for high pressure spraying across all sections. According to claim 7,
The spraying unit is a cleaning robot for high-pressure spraying in the entire WF S/G range, wherein a second driving gear and a second driven gear connected to one side of the second motor by a second clutch provide rotational power to the reduction gear. . According to claim 7,
The spraying chamber is a cleaning robot for high-pressure spraying throughout the WF S/G range, wherein the spraying chamber is arranged in a “U” shape at the left and right front ends of the spraying body. According to claim 7,
The reduction gear includes a first reduction gear formed on the same rotation axis of the second driven gear, and a second reduction gear smaller than the first reduction gear,
The transmission gear includes a first transmission gear formed on the same rotation axis of the second reduction gear, and a second transmission gear rotating in engagement with the first transmission gear,
The tilting gear consists of a first tilting gear adjacent to the first transmission gear and receiving rotational power, and a second tilting gear adjacent to the second transmission gear and receiving rotational power, and the first tilting gear is the A cleaning robot for high-pressure spraying in the entire WF S/G range, characterized in that the second tilting gear engages and rotates with the first transmission gear and rotates at the same time as it engages with the first transmission gear, and thus rotates in opposite directions. According to claim 10,
The spray unit further includes a washing water supply unit along the outer longitudinal direction of the spray body,
The washing water supply unit supplies the washing water to an inflow pipe through a washing water connector, and is connected to the chamber connection pipe through a branch pipe branching in two directions, left and right, so that the washing water moves along the longitudinal direction on both sides of the spray body,
One end of the chamber connection pipe is rotatably coupled to the spray chamber in the wash water supply unit, and the wash water flowing in the wash water supply unit moves to the chamber connection pipe through the inlet pipe and the branch pipe to enter the spray chamber. A cleaning robot for high pressure spraying throughout the WF S/G range, characterized in that it reaches . According to claim 11,
The tilting gear is formed on the outer periphery of the chamber connection pipe connected to the injection chamber to be gear-engaged with the transmission gear,
When the tilting gear rotates, the injection chamber connected to each of the left and right sides of the chamber connector rotates in the outer circumferential direction.
WF S/G cleaning robot for high pressure spraying across all sections.