KR102645851B1 - W-F S/G barrel robot for high pressure cleaning - Google Patents

Abstract

The present invention relates to the WF S/G high-pressure cleaning barrel robot. More specifically, in order to quickly clean the heat pipe densely arranged inside the steam generator, the length of the spray nozzle is extended within the size limit to improve spray efficiency. This is about the WF S/G high-pressure cleaning barrel robot that can be upgraded.
The WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention 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, and removes foreign substances accumulated in the heat transfer tube in the steam generator. Rails are installed on both the upper and lower sides in the longitudinal direction of the inside of the rail cover that is mounted up to, a rail unit with a rack gear formed in the longitudinal direction on at least one of the rails, and a mount plate fastened to the hand hole. A mount unit coupled with a mount cover that penetrates and surrounds and secures one side of the rail unit, and a pinion gear in which a roller rolls along the rail and rotates in combination with the rack gear receives rotational force from the first motor and rotates the rail unit. It includes a mobile unit that selectively moves back and forth along a rail, and a spray unit that is mounted and moved on the mobile unit and sprays high-pressure washing water by rotating a spray chamber in which spray nozzles are arranged to correspond to the gap between the heat pipes.

Description

W-F S/G barrel robot for high pressure cleaning {W-F S/G barrel robot for high pressure cleaning}

The present invention relates to the W-F S/G high-pressure cleaning barrel robot, and more specifically, to quickly clean the heat transfer tubes densely arranged inside the steam generator with a long nozzle that is longer than before, within size limitations. This is about the W-F S/G high-pressure cleaning barrel robot that can increase spraying efficiency by extending the length of the spraying nozzle.

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). ) Clean the inside of the steam generator by spraying high-pressure washing water directly in a 90° direction of 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 7mm, and in order to more quickly remove sludge deposited in these gaps, it is urgently necessary to expand the length of the spray nozzle within a limited range.

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 above-described problems and needs. W-F S/W/F S/ is designed to increase spraying efficiency by expanding the length of the spraying nozzle within a limited range in order to quickly clean the heat pipe densely arranged inside the steam generator. The purpose is to provide a barrel robot for G high pressure cleaning.

In order to achieve the above object, the W-F S/G high-pressure cleaning barrel robot 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. So,

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 handhole to the support rod, and a rack gear is formed in the longitudinal direction on at least one of the rails, and the handhole A mount unit coupled with a mount cover that penetrates a mount plate fastened to the mount plate and surrounds and secures one side of the rail unit, and a pinion gear that rotates while a roller rolls along the rail and is combined with the rack gear is connected to the first motor. A mobile unit that selectively moves back and forth along the rail by receiving rotational force from the mobile unit, and a spray unit that sprays high-pressure washing water by rotating a spray chamber that is mounted and moved on the mobile unit and has spray nozzles arranged to correspond to the spacing between the heat pipes. Contains units.

According to the present invention, the spray chamber is placed on one side of the radial direction and the spray nozzle is disposed toward the other side to form a spray nozzle that is at least longer than the radius of the spray unit, so the advantage is that washing water can be sprayed farther and more accurately under the same conditions than before. There is.

That is, since the injection chamber of the conventional injection nozzle is located in the center of the injection unit, it is much shorter than the radius of the injection unit, making it difficult to provide sufficient injection distance and discharge force under the same conditions.

In addition, along the longitudinal direction of the inside of the drive cover, the washing water supply section is connected to the chamber cap through a deformed pipe that runs straight from the inlet pipe at an angle to the edge, allowing the spray chamber to be placed at the radial edge of the spray cover, allowing the spray nozzle to be mounted as long as possible. There is an advantage.

In addition, since the ring gear with teeth formed on the inner periphery is gear-engaged with the outer periphery of the second drive gear to rotate the injection chamber, there is an advantage in that the length of the injection nozzle can be extended by maximizing the space inside the injection cover.

Figure 1 is a partial cutaway view of a steam generator on which the barrel robot of the present invention is mounted.
Figure 2 is a conceptual perspective view showing an enlarged central portion of a steam generator equipped with a WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.
Figure 3 is a conceptual perspective view showing a WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.
Figure 4 is a conceptual perspective view showing the rail unit of the WF S/G high-pressure cleaning barrel robot 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 cleaning barrel robot according to an embodiment of the present invention cut in the horizontal direction.
Figure 6 is an exemplary diagram showing the WF S/G high-pressure cleaning barrel robot proposed by the present invention as seen from the "P" direction of Figure 1.
Figure 7 is a perspective view showing a mount unit of the WF S/G high-pressure cleaning barrel robot 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 WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.
Figure 10 is a perspective view showing the moving unit of the WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.
Figure 11 is a conceptual cross-sectional view showing the moving unit and spraying unit of the WF S/G high-pressure cleaning barrel robot 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 WF S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.
Figure 15 is a perspective view showing a cross section taken along line BB' in Figure 14.
Figures 16 to 18 are exploded perspective views showing the inside of the injection unit of the WF S/G high-pressure cleaning barrel robot 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 a steam generator equipped with a barrel robot of the present invention, and Figure 2 is an enlarged view of the central portion of the steam generator equipped with a W-F S/G high-pressure cleaning barrel robot according to an embodiment of the present invention. It is a perspective view, and Figure 3 is a conceptual perspective view showing a barrel robot for W-F S/G high pressure cleaning according to an embodiment of the present invention, and Figure 4 is a barrel robot for W-F S/G high pressure cleaning according to an embodiment of the present invention. It is a conceptual perspective view showing the rail unit, and Figure 5 is a perspective view showing a portion of the rail unit of the W-F S/G high-pressure cleaning barrel robot according to an embodiment of the present invention cut laterally.

In addition, Figure 6 is an exemplary diagram showing the W-F S/G high-pressure cleaning barrel robot proposed by the present invention as seen from the "P" direction of Figure 1, and Figure 7 is a W-F S according to an embodiment of the present invention. /G is a perspective view showing the mount unit of the high-pressure cleaning barrel robot, FIG. 8 is a diagram showing the cross-section A-A' of FIG. 4, and FIG. 9 is a W-F S/G high-pressure cleaning barrel according to an embodiment of the present invention. It is a conceptual perspective view showing the moving unit and spray unit of the robot, and Figure 10 is a perspective view showing the moving unit of the W-F S/G high-pressure cleaning barrel robot according to an embodiment of the present invention.

In addition, Figure 11 is a conceptual cross-sectional view showing the moving unit and injection unit of the W-F S/G high-pressure cleaning barrel robot according to an embodiment of the present invention, Figures 12 and 13 are exploded perspective views of Figure 10, and Figure 14 is a perspective view showing the spraying unit of the W-F S/G high pressure cleaning barrel robot according to an embodiment of the present invention, Figure 15 is a perspective view showing the B-B' cross section of Figure 14, and Figures 16 to 18 are the present invention. These are exploded perspective views showing the inside of the injection unit of the W-F S/G high-pressure cleaning barrel robot according to an embodiment of.

The W-F S/G high-pressure cleaning barrel robot 100 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 barrel 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 to rotate in the circumferential direction by disposing the injection chamber 310 on one side in the radial direction and disposing the injection nozzle 320 toward the other side, and through this, the injection chamber 310 The spray nozzles 320 arranged in two rows have a predetermined length (L) that is at least longer than the radius of the spray unit 300 and can spray high-pressure washing water (W) in a certain angle range.

In particular, the injection nozzle 320 proposed by the present invention maximizes the internal space of the cylindrical injection unit 300 and increases the length of the injection nozzle 320, so that it has a predetermined length (L) that is longer than before. It is possible to spray the washing water (W) more accurately under the same conditions.

That is, the injection nozzle 320 is disposed toward the other side from the injection chamber 310 formed at one edge of the horizontal diameter (d), so that the nozzle length can be increased beyond the radius (R) of the injection unit 300.

In addition, the length of the injection nozzle 320 is more than twice that of the prior art, so acceleration can be achieved at least twice that of the prior art under the same conditions, allowing the spray to be sprayed further and more strongly.

Meanwhile, in the conventional injection nozzle, because the injection chamber is located in the center of the injection unit, it is much shorter than the lateral radius of the injection unit, so there is a limit to providing sufficient injection distance and discharge force with the same pressure.

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

The W-F S/G high-pressure cleaning barrel robot 100 proposed by the present invention includes a rail unit 110, a mount unit 120, a movement unit 200, and a spray unit 300.

First, as shown in FIGS. 1 to 5, 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 peak portion 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 on at least one of the plurality of rails 112 on the lower side in the longitudinal direction.

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 the injection unit 300 can pass through the 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 as shown in FIG. 12, etc., and as the pinion gear 230 rotates, the moving unit 200 moves the rail 112. You can move round and round accordingly.

As shown in Figures 9 and 11, a spray unit 300 is coupled to the lower side of the moving unit 200, and the spray unit 300 has a spray chamber 310 on one side of the circumference forming a circumferential angle. It is formed to rotate in one direction, and through this, the spray nozzles 320 arranged in two rows in the spray chamber 310 have a predetermined length (L) that is at least twice longer than the conventional one and spray high-pressure washing water in a certain angle range. (W) can now be sprayed.

As shown in FIGS. 12 and 13, the moving unit 200 may include a housing 210 and a 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 driving unit 240 includes a first motor 241, a clutch 242, a first driving gear 243, and a 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 driven gear 244 are connected to one side of the first motor 241 by a clutch 242, and a pinion is connected through a pair of bevel gears 260 connected to the driven gear 244. Rotational power may be transmitted to the gear 230.

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 it is less restricted in movement due to the load of the moving unit 200 and the injection unit 300 and provides precise operation. Allows round trip movement.

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

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

Additionally, the 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 limitation of having to pass through the narrow hand hole 11, thereby avoiding the spatial limitation on one side of the housing 210. Allow the clutch button 255 to be exposed.

Through this, the clutch 242 keeps the first driving gear 243 and the driven gear 244 connected, and when the clutch button 255 is pushed or pulled, the clutch 242 moves forward or backward and moves the first driving gear. Power transmission can be stopped by releasing the coupling between (243) and the 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 as a pair to transmit rotational power, and the first bevel gear is coupled to the rotation axis of the driven gear 244 that receives power from the first motor 241. It may be composed of a gear 261 and a second bevel gear 262 that is cross-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 18, 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 driving body 340. ), etc. may be included.

Here, the spray chamber 310 has an accommodating space formed inside to accommodate the washing water, and as shown in FIG. 15, a spray nozzle 320 is installed laterally in the longitudinal direction.

At this time, the injection chamber 310 is disposed at one end of the diameter of the injection unit 300 and the injection nozzle 320 is directed to the other end, so that the length L of the injection nozzle 320 can be maximized.

As shown in FIG. 15, the injection nozzles 320 are arranged in two rows along the longitudinal direction of the injection chamber 310 to enable concentrated injection, and are arranged in the radial direction of the horizontal direction of the injection unit 300 to spray at least It may be formed to be longer than the radius (R) of the injection unit 300.

For reference, in the past, the injection chamber was installed in the center of the injection unit, so no matter how long the injection nozzle was, the length of the injection nozzle had to be smaller than the radius of the injection unit due to the space between the injection chambers in the center.

As shown in FIG. 16, the injection body 330 provides a rotation space so that the injection chamber 310 and the injection nozzle 320 can rotate, and is a cylindrical injection cover with open front and rear ends. (331), a front cover 332 that closes the front of the injection cover 331, and a fixing jaw portion 333 formed on the inner periphery of the injection cover 331 toward the rear inner side.

In addition, slots 334 are formed in the injection cover 331 at predetermined intervals in the circumferential direction and open outward to enable injection in a straight direction from the injection nozzle 320.

As shown in FIG. 16, etc., the driving body 340 is a device that provides power so that the injection chamber 310 and the injection nozzle 320 can tilt and rotate at both ends in the radial direction (transverse direction) in the circumferential direction, A cylindrical driving cover 341 with an open rear, a rear cover 342 covering the rear of the driving cover 341, and a stepped insert so that the front of the driving cover 341 is inserted up to the fixing jaw 333. It includes a chin portion 343.

The second motor 345 may be seated and installed inside the lower longitudinal direction of the drive cover 341. At this time, as shown in FIG. 18, etc., a drive hole 344 is formed on the lower side of the drive cover 341 to fix the second motor 345 to the front of the drive cover 341 and to rotate the rotation axis of the second motor 345. can be exposed.

A second drive gear 346 is rotatably connected to the rotation shaft exposed on one side of the second motor 345, and is finally connected to the injection chamber 310 through a tilt rotation unit 360 connected to the second drive gear 346. ) can be rotated.

Meanwhile, as shown in FIG. 18, a fan-shaped rotating hole 347 is formed on the upper side of the driving hole 344 to provide a space where the deformed pipe 352 and the chamber cab 353, which will be described later, can rotate. to provide.

In addition, a washing water supply unit 350 is formed along the inner longitudinal direction of the drive cover 341, and the washing water supply unit 350 includes an inflow pipe 351, a deformation pipe 352, and a chamber cap 353. , the washing water connector 355 is connected to the inlet pipe 351 so that washing water (W) can be supplied.

The washing water supply unit 350 supplies washing water to the inflow pipe 351 through the washing water connector 355, and is connected to the chamber cap 353 through a deformed pipe 352 that is inclined to the edge of the inflow pipe 351 and runs straight. Thus, the washing water (W) moves to the spray chamber 310.

In the washing water supply unit 350, one end of the chamber cap 353 is coupled with the spray chamber 310 and can rotate together, and through this, the washing water (W) flowing within the washing water supply unit 360 flows through the inlet pipe 351. It moves through the release pipe 352 to the chamber cap 353 and can reach the injection chamber 310.

In particular, the chamber cap 353 can be fixed in the longitudinal direction to an edge of one side off-center of the ring gear 362, which will be described later, and can be rotated together with the rotation of the ring gear 362.

In addition, a rotating bearing 354 is mounted on the inner periphery of the rear cover 342 through which the inlet pipe 351 passes, so that the inlet pipe 351 can rotate around the center in conjunction with the ring gear 362.

Accordingly, when the injection chamber 310 coupled to the chamber cap 353 rotates, the ring gear 362 on the inner surface of the injection body 330 allows the chamber cap 353 and the injection chamber 310 to stably stabilize without shaking. It is supported so that it can rotate.

Meanwhile, the inlet pipe 351 and the like are sealed to prevent leakage of washing water even during rotation, and for this purpose, a packing member or a sealing member can be inserted and sealed at the connection portion.

The tilt rotation part 360 is supported by the front cover 332 and has a first bearing part 361 that secures one end of the injection chamber 310, and one side that secures the other end of the injection chamber 310 with a chamber cap 353. It includes an open ring gear 362 and a cylindrical second bearing portion 363 that supports the outer periphery of the ring gear 362.

As shown in Figures 16 and 17, the ring gear 362 has teeth formed on the inner periphery and is gear-coupled with the outer periphery of the second driving gear 346, and has a small satellite gear inside the second driving gear ( As 346) rotates, it surrounds the second drive gear 346 and rotates along the circumferential direction.

That is, as the second driving gear 346 rotates on one side of the inner periphery of the ring gear 362, the ring gear 362 surrounding the second driving gear 346 engages and rotates along the circumferential direction, and the ring gear 362 rotates along the circumferential direction. The chamber cap 353 and the injection chamber 310, which are fixed to (362), rotate and tilt in conjunction with each other.

At this time, the first bearing part 361 is supported by the front cover 332 and the second bearing part 363 is fixed and supported on the rear side of the injection cover 331, so the ring linked with the second drive gear 346 When the gear 362 rotates, the first bearing portion 361 fixed to one end of the injection chamber 310 also rotates.

In addition, the deformed pipe 352 and the chamber cap 353 connected to the injection chamber 310 are tilted and rotated together within the range of the rotation hole 347, and the rotation angle is up to 180°.

Therefore, when the second driving gear 346, which receives rotational power from the second motor 345, rotates, the ring gear 362 engaged with one side of the outer periphery of the second driving gear 346 rotates and the ring gear 346 rotates. (362) The chamber cap 353 fixed to the edge of one side and the injection chamber 310 connected to the chamber cap 353 rotate, and through this, the injection chamber 310 can rotate along the circumferential direction. do.

In addition, the injection nozzles 320 arranged in two rows in the injection chamber 310 rotate toward the lateral radial direction along the longitudinal direction of the injection chamber 310 in the opposite circumferential direction, and their trajectory forms an arc of the circumference, forming an outer radial direction. Head towards.

Through this, the spray nozzles 320 arranged in two rows in the spray chamber 310 can spray high-pressure washing water more powerfully and over a longer distance while forming a certain angle range due to the longer nozzle length than before.

In addition, a guide plate 364 is formed to protect the injection nozzle 320 while connecting the first bearing portion 361 and the ring gear 362 to protect the nozzle tip where the injection nozzle 320 is arranged.

Furthermore, a limit sensor 365 is installed in the circumferential direction of the first bearing unit 361 to limit the rotation of the first bearing unit 361 and the ring gear 362.

That is, a stopper 366 is installed on the front cover 332 opposite the limit sensor 365 so that the limit sensor 365 senses the stopper 366 as the first bearing part 361 rotates. When this happens, the meeting can automatically stop and stop.

Therefore, the rotation angle of the injection chamber 310 can be controlled within a predetermined angle range using the limit sensor 365 and the spotter 366.

In addition, when the spray chamber 310 rotates as the ring gear 362 rotates by the second motor 341 and the chamber cap 353 rotates, the washing water (W) can be sprayed within a predetermined angle range. You lose.

Here, the spray nozzles 320 are arranged in two rows at regular intervals along the longitudinal direction of the spray chamber 310, form a predetermined length (L) in the lateral radial direction of the spray chamber 310, and rotate at a predetermined angle to spray the washing water. (W) is formed to be sprayed.

In particular, the length of the spray nozzle 320 is formed to be longer than the radius of the spray unit 300 in the radial direction.

Through this, the spraying speed of the washing water by the longer spray nozzle 320 can be faster than before, making it possible to clean even the distant heat pipe 13 without exception.

At this time, the water pressure sprayed from the spray nozzle 320 is discharged in the range of 100 to 200 bar to reach every corner of 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 the rotation angle range can be allowed up to 180° through the limit sensor 365 and the spotter 366. , the circumferential angle of the injection chamber 310 and the injection nozzle 320 located at both ends of the diameter does not exceed 90°.

In particular, the spray nozzle 320 has a nozzle length (L) longer than the radius (R) of the spray unit 300 to accelerate the spray speed, so it can be sprayed a greater distance. Through this, the steam generator 10 It becomes possible to clean even the bad sector of the heat pipe 13 that is far away.

Additionally, a camera device 370 may be installed laterally in the spray chamber 310 where the spray chamber 310 and the spray nozzle 320 are arranged.

Additionally, the camera device 370 may include a camera bracket 371, a camera holder 372, a camera 373, and an LED lighting fixture 374.

Additionally, a camera holder 372 can be inserted and coupled to the camera bracket 371, and a camera 373 is inserted inside the camera holder 372.

At this time, the camera holder 372 prevents the camera 373 from leaving.

In addition, an LED lighting bulb 375 is further included on the outer periphery of the injection cover 331 in the direction toward which the camera 373 faces.

Through this, the camera 373 can capture images of the inside of the steam generator 10, which is brightly illuminated by the light emitted from the lighting port 375, and through these images, the operator can use the spray device from the outside of the steam generator 10. It is possible to check the operating status of (300) and perform operational work.

In summary, the W-F S/G high-pressure cleaning barrel robot 100 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 robot 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

It is mounted on the moving unit 200 and moves, and includes a spraying unit 300 that sprays high-pressure washing water by rotating the spraying chamber 310 in which the spraying nozzles 320 are arranged to correspond to the gap between the heat pipes 13. do.

In addition, the spraying unit 300 arranges the spraying chamber 310 at one edge in the lateral radial direction (d) and arranges the spraying chamber 310 at the other edge toward the spraying nozzle 320, so that the spraying nozzle 320 The length (L) is greater than the radius (R) of the injection unit 300 and smaller than the diameter (d) of the injection unit 300.

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

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

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

In addition, the moving unit 200 rotates by intersecting a first bevel gear 261 installed on the rotation axis of the driven gear 244 and a second bevel gear 262 installed on the rotation axis of the pinion gear 230. Power is transmitted.

Additionally, the spray nozzles 320 are arranged in two rows along the longitudinal direction of the spray chamber 310.

In addition, the injection unit 300 includes an injection body 330 that provides a rotation space so that the injection chamber 310 and the injection nozzle 320 can rotate therein, and the injection body 330 has front and rear ( A cylindrical injection cover 331 with the front and back open, a front cover 332 that closes the front of the injection cover 331, a fixed jaw portion 333 formed on the inner periphery of the injection cover 331 toward the rear inner side, And slots 334 are formed at predetermined intervals in the circumferential direction of the spray cover 331 and open outward to enable spraying in a straight direction from the spray nozzle 320.

In addition, the injection unit 300 further includes a driving body 340 that provides rotational power to tilt and rotate the injection chamber 310 and the injection nozzle 320 in the circumferential direction at both ends in the radial direction.

In addition, the driving body 340 includes a cylindrical driving cover 341 with an open rear, a rear cover 342 covering the rear of the driving cover 341, and the front of the driving cover 341 is the fixing jaw ( An insertion jaw 343 that is stepped to be inserted up to 333, a driving hole 344 formed on the lower side of the driving cover 341, a second motor 345 installed in the longitudinal direction of the lower side of the driving cover 341, and On one side of the second motor 345, it includes a second drive gear 346 rotatably connected to a rotating shaft exposed through the drive hole 344, and the second drive gear 346 is connected from the second motor 345 to the second drive gear ( 346) is transmitted and provides rotational power to rotate the injection chamber 310 in the circumferential direction within the injection cover 331.

In addition, the spray unit 300 further includes a washing water supply unit 350 along the inner longitudinal direction of the driving cover 341, and the washing water supply unit 350 connects the washing water inlet pipe (350) through the washing water connector 355. 351), the washing water (W) is connected to the chamber cap 353 through a deformed pipe 352 that is inclined to the edge of the inlet pipe 351 and goes straight, and moves to the spray chamber 310.

In addition, in the washing water supply unit 350, one end of the chamber cap 353 is coupled to the spray chamber 310, and the washing water (W) flowing in the washing water supply unit 360 flows through the inlet pipe 351. It moves through the release pipe 352 to the chamber cap 353 and reaches the injection chamber 310.

In addition, the tilt rotation part 360 is supported by the front cover 332 and includes a first bearing part 361 that fixes one end of the injection chamber 310, and the other end of the injection chamber 310 with the chamber cap 353. It includes a ring gear 362 fixed to and a second bearing portion 363 supporting the outer periphery of the ring gear 362.

In addition, the ring gear 362 has teeth formed on its inner periphery and is gear-coupled with the outer periphery of the second driving gear 346, and as the second driving gear 346 rotates, the second driving gear 346 ) and rotates along the circumferential direction.

In addition, since the first bearing part 361 is supported by the front cover 332 and the second bearing part 363 is fixed and supported inside the injection cover 331, the second driving gear 346 ) When the ring gear 362 linked with rotates, the first bearing portion 361 fixed to one end of the injection chamber 310 also rotates.

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: Barrel robot proposed by the present invention
110: rail unit 111: rail cover
112: rail 113: rack gear
115: peak
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: driving unit
241: first motor 242: clutch
243: first driving gear 244: 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: Injection chamber
320: spray nozzle 330: spray body
331: Spray cover 332: Front cover
333: fixed jaw 334: slot
340: Driving body 341: Driving cover
342: Rear cover 343: Insertion jaw
344: driving hole 345: second motor
346: second driving gear 347: rotation hole
350: Washing water supply unit 351: Inlet pipe
352: Lee Hyeong-gwan 353: Chamber cap
354: Rotating bearing 355: Washing water connector
360: Tilt rotation part 361: First bearing part
362: Ring gear 363: Second bearing part
364: Guide plate 365: Limit sensor
366: stopper
370: Camera device 371: Camera bracket
372: Camera holder 373: Camera
374: LED lighting sphere

Claims (10)

In the WF S/G high-pressure cleaning barrel robot, which enters the central support rod through the handhole of the steam generator and removes foreign substances accumulated on the heat pipe in 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 mobile unit and sprays high-pressure washing water by rotating a spray chamber in which spray nozzles are arranged to correspond to the gap between the heat pipes,
The spray unit arranges the spray chamber at one edge of the horizontal diameter and faces the spray nozzle at the other edge, so that the length of the spray nozzle is larger than the radius of the spray unit and smaller than the diameter of the spray unit,
The moving unit has the first motor mounted in a housing, and a first driving gear and a driven gear connected to one side of the first motor by a clutch provide rotational power to the pinion gear, and the clutch protrudes toward the rear of the housing. WF S/G high-pressure cleaning barrel robot that moves forward or backward and is released by the clutch button. According to claim 1,
The pinion gear is disposed below the rack gear and rotates,
WF S/G barrel robot for high pressure cleaning. delete According to claim 1,
A WF S/G high-pressure cleaning barrel in which a first load bar is horizontally connected to the clutch, a second load bar is connected horizontally at a different height from the first load bar, and the clutch button is connected to the end of the second load bar. robot. According to claim 1,
The moving unit is a WF S/G high-pressure cleaning barrel robot in which a first bevel gear installed on the driven gear rotation axis and a second bevel gear installed on the pinion gear rotation axis intersect each other to transmit rotational power. According to claim 1,
The injection nozzles are arranged in two rows along the longitudinal direction of the injection chamber,
WF S/G barrel robot for high pressure cleaning. According to claim 1,
The spray unit includes a spray body that provides a rotation space therein so that the spray chamber and the spray nozzle can rotate,
The injection body includes a cylindrical injection cover with front and rear openings, a front cover that closes the front of the injection cover, a fixed jaw formed on the inner periphery of the injection cover toward the rear inside, and a predetermined distance in the circumferential direction of the injection cover. A slot is formed and opened outward to enable spraying in a straight direction from the spray nozzle,
WF S/G barrel robot for high pressure cleaning. According to claim 7,
The injection unit further includes a driving body that provides rotational power to tilt and rotate the injection chamber and the injection nozzle in the circumferential direction at both ends in the radial direction,
The driving body includes a cylindrical driving cover with an open rear, a rear cover covering the rear of the driving cover, a stepped insertion jaw so that the front of the driving cover is inserted up to the fixing jaw, a driving hole formed on the lower side of the driving cover, It includes a second motor installed in the longitudinal direction of the lower side of the drive cover, and a second drive gear rotatably connected to a rotating shaft exposed on one side of the second motor through the drive hole,
The second driving gear is transmitted from the second motor to provide rotational power to rotate the injection chamber in the circumferential direction within the injection cover,
WF S/G barrel robot for high pressure cleaning. According to claim 8,
The spray unit further includes a washing water supply unit along the inner longitudinal direction of the drive cover,
The washing water supply unit supplies the washing water to the inlet pipe through the washing water connector, passes through a deformed pipe that is inclined to the edge of the inlet pipe and goes straight, and is connected to the chamber cap, so that the washing water moves to the spray chamber,
One end of the chamber cap is 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 cap through the inflow pipe and the deformed pipe to reach the spray chamber.
WF S/G barrel robot for high pressure cleaning. According to clause 9,
The tilt rotation part includes a first bearing part that is supported by the front cover and fixes one end of the injection chamber, a ring gear with one side open that fixes the other end of the injection chamber to the chamber cap, and a cylinder that supports the outer periphery of the ring gear. It includes a second bearing portion of the shape,
The ring gear has teeth formed on its inner periphery, is gear-coupled with the outer periphery of the second driving gear, and rotates along the circumferential direction while surrounding the second driving gear as the second driving gear rotates,
Since the first bearing part is supported by the front cover and the second bearing part is fixed and supported inside the injection cover, when the ring gear linked with the second drive gear rotates, the injection chamber also rotates. WF S/G barrel robot for high pressure cleaning.