KR20240006166A - Cleaning robot for steam generator - Google Patents

Abstract

The present invention relates to a cleaning robot for cleaning a steam generator in which a large number of heat transfer tubes are arranged at regular intervals. More specifically, it is configured to be able to move forward and backward along the side wall of the steam generator, and the spray unit provided therein moves forward and backward and up and down. This relates to a cleaning robot for a steam generator that is rotatable and capable of cleaning heat pipes in all areas.

Description

Cleaning robot for steam generator}

The present invention relates to a cleaning robot for cleaning a steam generator in which a large number of heat transfer tubes are arranged at regular intervals. More specifically, it is configured to be able to move forward and backward along the side wall of the steam generator, and the spray unit provided therein moves forward and backward and up and down. This relates to a cleaning robot for a steam generator that is rotatable and capable of cleaning heat pipes in all areas.

In general, the steam generator in a nuclear power plant is one of the most important core devices that generates the steam needed to produce electricity from the steam turbine and generator.

Specifically, inside the steam generator, a plurality of heat pipes are provided in bundles, and these heat pipes provide a heat exchange function between the primary pipe containing radioactivity and the secondary pipe that turns the turbine. It plays a role in separating phylogenetic trees.

Looking at the steam generation process, the primary system water heated as it passes through the nuclear reactor flows inside the steam generator heat pipe along the pipe, and the secondary system water supplied to the outside of this heat transfer pipe crosses the outside of the heat transfer pipe, forming a 1. Through heat exchange between the primary and secondary systems, the primary systems are circulated back to the reactor along the pipes of the closed circuit, and the secondary systems are converted into steam.

In other words, high-temperature, high-pressure radioactive water (primary water) flows inside the heat pipe between them, and non-radioactive water (secondary water) flows outside, so if the heat pipe is damaged, radioactive water (1) penetrates the heat pipe and the inside. As primary phylogenetic water leaks to the outside, it mixes with non-radioactive water (secondary phylogenetic water) and becomes contaminated. As a result, non-radioactive water (secondary phylogenetic water) is converted into steam and the entire supplied area may become radioactively contaminated. Securing the soundness of heat pipes is a task of utmost importance for nuclear power plants.

Figure 1 is a cross-sectional perspective view showing a steam generator, and when explained with reference to this, the steam generator 10 includes an inlet nozzle 1 through which the reactor coolant of the primary system enters, a heat transfer pipe 2 for heat exchange, and the It consists of an outlet nozzle (3) that transfers heat from the reactor coolant coming through the inlet nozzle (1) to the secondary system coolant on the outside.

The heat transfer tube (2) is placed on the upper part of the pipe plate (16), and the placed heat transfer pipe (2) is supported by the pipe support plate (4) at regular vertical height intervals, and the pipe support plate (4) and the pipe plate (16) at the bottom are ) A donut plate-shaped flow distribution plate is placed between them to support the heat transfer pipe (2), while a plurality of pipe support plates (4) and heat transfer pipes (2) at regular vertical intervals are open at the bottom and have a steam outlet at the top. The wrapper is combined, and the wrapper receives water from below along the inner wall of the external housing (5), converts the supplied water into steam through the heat pipe (2), and discharges it to the top.

In the steam generator (10) configured as above, the reactor coolant of the primary system enters the inlet nozzle (1), flows inside the plurality of heat transfer pipes (2), passes through the outlet nozzle (3), and enters the secondary system coolant on the outside. Heat is transferred and steam is generated at this time.

At this time, the part where the reactor coolant flows in the steam generator 10 is called the primary side, and the part where the water supply and steam flows is called the secondary side. The secondary system consists of the main steam system, turbine system, condensate and water supply system, etc., and the steam The water vapor generated on the secondary side of the generator 10 moves along the main steam engine and rotates the turbine.

However, in the conventional steam generator 10, the secondary water supplied to the secondary side to create steam is supplied through filtration and chemical treatment, but as it circulates inside the pipe, it is accompanied by foreign substances and sludge generated through various paths and is inside the steam generator. flows into the tube sheet (16), tube support plate (4), flow distribution baffle, etc., or adheres to the outer wall of the heat transfer tube (2), reducing the heat transfer effect. causes damage.

That is, the steam generator 10 consists of thousands of U-shaped heat pipes 2 forming a bundle, with both ends of the heat pipes 2 fixed to the tube sheet 16 at the bottom of the heat pipe bundle, and extending to the top of the heat pipe at intervals of about 1 m. It consists of a structure supported by a multi-stage tube support plate (4), and as the years of operation pass, impurities flowing in or generated through various paths form scale on the outer surface of the heat transfer tube (2), reducing the heat exchange ability. If it is degraded and deposited as sludge between the heat pipe (2) and the pipe support plate (4) and gradually solidifies, it may cause denting between the pipe support plate (4) and the heat pipe (2), causing damage to the heat pipe (2).

For this reason, removal of scale from the surface of the heat transfer tube (2) and removal of sludge from the pipe support plate (4) has become an essential means of ensuring the efficiency of the steam generator (10) and the soundness of the heat transfer tube (2), and for this purpose, the cleaning device for the steam generator has become an essential means. As one of the technologies, Registered Patent Publication No. 10-2159558 (hereinafter referred to as 'prior art') is disclosed.

In the prior art, the heat transfer tube is cleaned as the cleaning device moves along the tube support plate of the steam generator and sprays high-pressure water into the heat transfer tube.

However, in the case of the prior art, since the cleaning device can only move along the pipe support plate of the steam generator, the area that can be cleaned upwards is limited, so there is a problem that the upper side of the heat pipe cannot be cleaned.

In addition, the prior art has the problem of making it difficult to manufacture as the device must be further miniaturized because it must be moved in a narrow space between the inner wall of the steam generator and the heat pipe without contacting the side wall and the heat pipe.

Registered Patent Publication No. 10-2159558 (registered on September 18, 2020)

The present invention was created to solve the problems of the prior art, and the problem to be solved by the present invention is that the steam generator is configured to be able to move forward and backward along the side wall, and the injection unit provided therein can rotate in the forward and backward and up and down directions. The aim is to provide a cleaning robot for a steam generator that is capable of cleaning heat pipes across all areas.

The present invention provides a cleaning robot for cleaning a steam generator in which a large number of heat pipes are arranged at regular intervals, comprising: a moving part 100 that moves along a side wall of the steam generator; At least one traveling unit 200 is hinged to each of the front and rear ends of the moving unit 100 and moves along the side wall of the steam generator; A spray unit 300 configured to be rotatable in the forward and backward and up and down directions and provided on the moving unit 100, sprays high-pressure cleaning water toward the heat transfer tube; and a control unit that controls the operation of the cleaning robot.

Meanwhile, the moving unit 100 includes a moving body 110 that is configured to have a predetermined volume and can be equipped with various devices therein; A moving magnetic force unit 120 made of a magnetic material and provided inside the moving body 110; and two or more moving wheels 130 provided on both left and right sides of the moving unit 100, respectively.

Meanwhile, the traveling unit 200 includes a traveling body 210 that is configured to have a predetermined volume and can have various devices installed therein; A traveling magnetic force unit 220 made of a magnetic material and provided inside the traveling body 210; and a driving driving unit 230 that causes the driving body 210 to move forward or backward by power.

Meanwhile, the driving drive unit 230 includes a wheel, a driving shaft provided at the center of the wheel, and a driving gear provided on the driving shaft, and is provided on the left and right sides of the driving body 210. More than one driving wheel (231) each hinged; A pair is provided inside the driving body 210, with drive shafts facing different left and right directions, and each drive shaft is one of two driving wheels 231 arranged on both ends in the left and right directions. A driving motor 232 connected to the driving drive shaft of the driving wheel 231 to transmit power; and a traveling caterpillar 233 that allows driving driving gears arranged in the same direction to interlock with each other.

Meanwhile, the traveling unit 200 includes a support bracket 241, one end of which is fastened to one side of the traveling body 210, and the other end of which protrudes outward; and at least one support wheel 242 provided at the other end of the support bracket 241 and in surface contact with the pipe support plate of the steam generator. A running support portion 240 including a.

Meanwhile, the moving part 100 is further provided with a forward and backward rotating part 400, the forward and downward rotating part 400 is provided with an up and down rotating part 500, and the up and down rotating part 500 is provided with a spraying part 300. ) is provided, the injection unit 300 is rotated in the vertical direction by the vertical rotation unit 500, and the vertical rotation unit 500 and the injection unit 300 are simultaneously rotated by the forward and downward rotation unit 400. It can be rotated forward and backward.

Meanwhile, the forward and backward rotation portion 400 includes a first forward and backward rotation support portion 410 provided on one side of the movable body 110 in the left and right directions; A second front and rear support unit is provided on the other left and right sides of the moving body 110 at a predetermined distance from the first support unit 410 in the left and right directions, and the other side of the upper and lower rotation unit 500 in the left and right directions is hinged. Support for rotation (420); and a drive unit for forward and backward rotation that is configured to transmit power to the up and down rotation part 500 and is fastened to the first support part for forward and backward rotation 410, and on which one side of the up and down rotation part 500 in the left and right directions is rotatable. Includes (430);

Meanwhile, the first support portion 410 for forward and backward rotation includes a first forward and backward rotation base 411 fastened to one side of the movable body 110 in the left and right directions; a first forward/backward rotation support bracket (412) protruding upward from one surface of the first forward/backward rotation base (411); and a first hinge fastening hole 413 formed through the surface of the support bracket 241 for forward and backward rotation into which the drive unit 430 for forward and backward rotation is inserted and fastened.

Meanwhile, the second forward and backward rotation support portion 420 includes a second forward and backward rotation base 421 fastened to the other side of the movable body 110 in the left and right directions; A second forward and backward rotation support bracket 422 is formed to protrude upward from one surface of the second forward and backward rotation base 421 and is provided to face the first forward and backward rotation support bracket 412; and a second hinge fastening hole 423 formed through the surface of the second forward and backward rotation support bracket 422 to which the other side of the upper and lower rotation portion 500 in the left and right directions is hinged.

Meanwhile, the forward and backward rotation driving unit 430 includes a forward and backward rotation motor 431 that is fastened to the first forward and backward rotation support unit 410 to generate power; And it is provided to protrude through the first hinge fastening hole 413 toward the second forward and backward rotation support portion 420, and one side of the up and down rotation portion 500 in the left and right directions is hinged so that the forward and backward rotation motor 431 It includes a gearbox 432 for forward and backward rotation that causes the vertical rotation unit 500 to rotate in the left and right directions by power transmitted from ).

Meanwhile, the vertical rotation unit 500 is composed of a frame rotatable in the vertical direction with the injection nozzle 330 of the injection unit 300 facing upward, and is moved forward and backward by the forward and downward rotation unit 400. A body 510 for up and down rotation that is fastened to be able to rotate in any direction; and a vertical rotation driving unit 520 provided on one side of the vertical rotation body 510 to rotate the spray unit 300 in the vertical direction.

Meanwhile, the body 510 for up and down rotation extends in the front and rear direction, and is bent at both ends in the left and right directions, so that the injection nozzle 330 of the injection unit 300 is exposed to one open side. body frame 511; End frames 512 provided at the front and rear ends of the body frame 511, respectively, where the front and rear ends of the spray unit 300 are hinged so that they can rotate about an axis; a first forward/backward rotation shaft 513 that protrudes outward on one of a pair of opposing sides of the body frame 511 and is rotated in the forward/backward direction by the forward/backward rotation driving unit 430; And on the other side of the facing surface that is not provided with the first forward/backward rotation axis 513, it is formed to protrude in the opposite direction to the first forward/backward rotation axis 513 and is attached to the second forward/backward rotation support portion 420. It includes a second forward and backward rotation axis 514 that is hinged.

Meanwhile, the drive unit 520 for up and down rotation is composed of a bracket bent in an 'ㄴ' shape, the bent end is fastened to one side of the body frame 511, and the central part of the bent other end is fixed through a hole. bracket (521); A vertical rotation motor 522 whose drive shaft extends parallel to the injection unit 300 and is exposed to the outside through a hole in the fixing bracket 521; and a caterpillar unit 523 for vertical rotation that transmits the power of the motor 522 for vertical rotation to the injection unit 300 to rotate the injection unit 300 in the vertical direction.

Meanwhile, the caterpillar part 523 for vertical rotation includes a first rotation gear provided at the front end of the injection part 300; a second rotation gear provided at the end of the drive shaft of the vertical rotation motor 522; and a caterpillar that causes the first rotation gear and the second rotation gear to be interlocked.

According to the present invention, in the process of moving along the side wall of the steam generator, the spraying part rotates back and forth and up and down to clean the heat transfer tube, which has the advantage of making it easier to clean the heat transfer tube.

According to the present invention, the traveling parts are connected to the front and rear ends of the moving part, respectively, so that the cleaning robot can move forward and backward according to the driving of the moving part, so even if a problem occurs in one driving part, the cleaning robot can be recovered by the operation of the remaining moving parts. There is an advantage.

Figure 1 is a perspective cross-sectional view showing a general steam generator.
Figure 2 is a perspective view of a cleaning robot for a steam generator according to the present invention.
Figure 3 is a partially exploded perspective view of the moving part, the spraying part, the forward and backward rotating part, and the up and down rotating part applied to the present invention.
Figures 4a and 4b are exploded perspective views of the traveling part applied to the present invention, where 4a is a drawing of the driving part arranged at the front, and Figure 4b is a drawing of the driving part arranged at the rearmost.
Figure 5 is an exploded perspective view of the front and rear rotation parts applied to the present invention.
Figure 6 is an exploded perspective view of the upper and lower rotation parts applied to the present invention.
FIGS. 7A and 7B are diagrams of an example of using the cleaning robot according to the present invention, where FIG. 7A is a plan view and FIG. 7B is a perspective view.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings.

The present invention relates to a cleaning robot for cleaning a steam generator in which a large number of heat transfer tubes are arranged at regular intervals. More specifically, it is configured to be able to move forward and backward along the side wall of the steam generator, and the spray unit provided therein moves forward and backward and up and down. This relates to a cleaning robot for a steam generator that is rotatable and capable of cleaning heat pipes in all areas.

As shown in FIG. 2, the present invention includes a moving unit 100, a traveling unit 200, an injection unit 300, and a control unit (not shown).

The moving part 100 is used to move the spraying part 300, which will be described later, and is configured to move along the side wall of the steam generator.

In detail, as shown in FIG. 3, the moving unit 100 is configured to have a predetermined volume, and is made of a moving body 110 capable of installing various devices therein, and a material having magnetism. It includes a moving magnetic unit 120 provided inside the moving body 110 and two or more moving wheels 130 provided on both sides of the moving part 100 in the left and right directions.

At this time, the front and rear ends of the movable body 110 are provided with first connection hinge protrusions 111 that are hinged to the running part 200, which will be described later.

Meanwhile, the traveling part 200 is for moving the moving part 100 forward and backward, and one or more of the moving parts 100 are hinged at the front and rear ends of the moving part 100 and move along the side wall of the steam generator. , As shown in FIGS. 4A and 4B, the traveling unit 200 includes a traveling body 210, a traveling magnetic force unit 220, and a traveling driving unit 230.

The traveling body 210 is configured to have a predetermined volume and can be equipped with various devices therein.

At this time, a second connection hinge protrusion 211 hinged to the first connection hinge protrusion 111 is provided protruding from the front or rear end of the traveling body 210, and the first connection hinge protrusion ( 111) and the second connecting hinge protrusion 211 coincide with each other by means of a hinge pin, so that the moving part 100 and the traveling part 200 are hinged to each other.

Meanwhile, the driving magnetic unit 220 is made of a magnetic material and is provided inside the driving body 210.

The driving driving unit 230 allows the driving body 210 to move forward or backward by power, and for this purpose, it includes a driving wheel 231, a driving motor 232, and a driving caterpillar 233. It can be configured.

The driving wheel 231 includes a wheel, a driving shaft provided at the center of the wheel, and a driving gear provided on the driving shaft, and has two or more on the left and right sides of the driving body 210. Each is hinged.

Meanwhile, a pair of driving motors 232 are provided inside the driving body 210, with drive shafts facing different left and right directions, and each drive shaft has two motors disposed on both ends in the left and right directions. It is connected to the driving drive shaft of one of the driving wheels 231 to transmit power.

Meanwhile, the driving caterpillar 233 allows driving driving gears arranged in the same direction to interlock with each other.

That is, the driving caterpillar 233 operates in conjunction with the driving wheels 231 disposed on one end in the left and right directions of the driving body 210, and the driving wheels 231 arranged on the other ends in the left and right directions of the driving body 210 A pair is provided at both ends in the left and right directions to simultaneously surround a plurality of driving gears so that they operate interlocked.

According to the above configuration, when the pair of driving motors 232 of the traveling unit 200 operate, the plurality of driving wheels 231 rotate, causing the traveling unit 200 to move forward or backward. This allows the moving part 100 to move forward or backward to clean the heat transfer tube.

Meanwhile, the moving part 100 and the traveling part 200 move forward or backward while being in close contact with the side of the steam generator due to magnetism. At this time, the moving part 200 is formed to protrude to one side so that the steam generator It may further include a traveling support portion 240 that assists the traveling of the cleaning robot while supporting the pipe support plate of the steam generator when moving along the side wall.

The traveling support portion 240 includes a support bracket 241 whose one end is fastened to one side of the side of the traveling body 210 and the other end of which protrudes outward, and at least one support bracket 241 at the other end of the support bracket 241. It includes a support wheel 242 that is in surface contact with the bronchial support plate.

The traveling support portion 240 configured as above is provided on each of a pair of traveling portions 200, and is provided to protrude in the same direction and is connected to the moving portion 100 and the traveling portion ( 200) forward and backward movement can be performed more stably.

Meanwhile, the traveling unit 200 is equipped with a plurality of cameras to photograph the driving state of the cleaning robot.

In detail, as shown in FIG. 4A, a front camera C1 for photographing the front is provided at the front of the traveling unit 200a disposed at the forefront, and as shown in FIG. 4B, a camera disposed at the rearmost At the rear end of the traveling unit 200b, a rear camera C2 is provided to photograph the rear, and as shown in FIGS. 4A and 4B, the traveling state of the support wheel 242 is located on one side of the traveling unit 200. Each support camera (C3) that takes pictures is provided.

The front camera (C1) takes pictures of the front condition when the cleaning robot runs, the rear camera (C2) takes pictures of the connection states of various cables and wires for the cleaning robot to run, and the support camera (C3) can photograph the driving environment of the support wheel 242.

The captured video is transmitted to the control unit, which will be described later, and the transmitted video is transmitted as video information to a screen output device, etc., so that the manager can check it. The manager can control the operation of the cleaning robot or determine the operating status based on the transmitted video. You can check.

Meanwhile, the running part 200b disposed at the last end is further provided with connectors such as various wires or cables connected to externally control the cleaning robot that has entered the inside of the steam generator, so the electric wires or cables connected through the connectors are further provided. It can be used in an untwisted state, allowing stable control of the cleaning robot.

Meanwhile, according to FIGS. 2 and 3, the spray unit 300 is configured to be rotatable in the front-back and up-down directions and is provided on the moving unit 100, and sprays high-pressure cleaning water toward the heat transfer tube.

As described above, the injection unit 300 is formed to extend in the front and rear direction, and a supply passage extending in the front and rear direction is formed inside, and the injection body 310 receives high-pressure water to one side, and one side of the injection body 310 It includes a plurality of spray grooves 320 formed through and connected to the supply passage, and a spray nozzle 330 provided in each of the spray grooves 320.

The injection unit 300 configured as above enables forward and backward rotation and up and down rotation by the forward and backward rotation part 400 and the up and down rotation part 500. To elaborate, the moving part 100 includes the forward and downward rotation part 400. ) is provided, and the up-and-down rotation part 500 is provided in the forward-and-down rotation part 400, and the spraying part 300 is provided in the up-and-down rotation part 500, so that the spray unit 500 As the yarn part 300 rotates in the up and down direction, and the up and down rotating part 500 and the spraying unit 300 are simultaneously rotated in the forward and backward directions by the forward and backward rotating part 400, the spraying part 300 generates high pressure. Washing water can be sprayed up and down and forward and backward.

Meanwhile, as shown in FIG. 5, the forward and backward rotation part 400 includes a first forward and backward rotation support part 410, a second forward and backward rotation support part 420, and a forward and backward rotation driving part 430.

The first support portion 410 for forward and backward rotation is provided on one side of the movable body 110 in the left and right directions.

In detail, the first forward and backward rotation support portion 410 is a first forward and backward rotation base 411 fastened to one side of the movable body 110 in the left and right directions, and is formed to protrude upward from one side of the forward and backward rotation base. It includes a first forward and backward rotation support bracket 412 and a first hinge fastening hole 413 formed through the surface of the forward and backward rotation support bracket 241 into which the forward and backward rotation driving unit 430 is inserted and fastened.

Meanwhile, the second forward and backward rotation support portion 420 is provided on the other side of the movable body 110 in the left and right direction and is spaced a predetermined distance from the first forward and backward rotation support portion 410 in the other left and right direction. The other left and right sides of (500) are hinged.

In detail, the second forward and backward rotation support portion 420 is connected to the second forward and backward rotation base 421, which is fastened to the other side in the left and right directions of the movable body 110, on one side of the second forward and backward rotation base 421. A second forward and backward rotation support bracket 422 is formed to protrude upward and is provided to face the first forward and backward rotation support bracket 412, and is formed through a surface of the second forward and backward rotation support bracket 422 to move up and down. The other side of the rotating part 500 in the left and right directions includes a second hinge fastening hole 423 to which the hinge is fastened.

At this time, a bearing is provided on the inner peripheral surface of the second hinge fastening hole 423, and the second forward and backward rotation support part 420 supports the other end in the left and right directions of the vertical rotation part 500. 500) is rotated forward and backward.

Meanwhile, the forward and backward rotation driving unit 430 is configured to transmit power to the up and down rotation part 500 and is fastened to the first forward and backward rotation support part 410, and one side of the up and down rotation part 500 in the left and right directions is The hinge is fastened.

In detail, the forward and backward rotation driving unit 430 is fastened to the first forward and backward rotation support part 410 and penetrates the forward and backward rotation motor 431 to generate power and the first hinge fastening hole 413. It is provided to protrude toward the second forward and backward rotation support part 420, and one side of the vertical rotation part 500 in the left and right directions is hinged so that the vertical rotation part 500 is moved by the power transmitted from the forward and backward rotation motor 431. It includes a gearbox 432 for forward and backward rotation that allows rotation in the left and right directions.

At this time, the forward and backward rotation gearbox 432 has a hole formed through its center, and various gears are provided in the hole, so that one end of the left and right sides of the up and down rotation part 500 is inserted and fastened to the front and rear rotation motor 431. ), the vertical rotation part 500 rotates in the forward and backward directions while rotating about its axis based on the inserted end.

In addition, the forward and backward rotation driving unit 430 is engaged with the first forward and backward rotation support unit 410 at the upper side of the forward and backward rotation gearbox 432 to support the shaft rotation of the vertical rotation unit 500. It includes a support shaft 433 for forward and backward rotation.

To elaborate, the support shaft 433 for forward and backward rotation is hinged with one end of the upper and lower rotation part 500, so that the upper and lower rotation part 500 can be rotated in the left and right directions while fixed in the arranged position without tilting. let it be

At this time, the support shaft 433 for forward and backward rotation, the hole of the gearbox 432 for forward and backward rotation, and the second hinge fastening hole 423 are provided in a coaxial state so that the vertical rotation part 500 is connected to one axis. It allows rotation in a stable fixed state.

According to the above configuration, when the forward and backward rotation motor 431 operates, the forward and downward rotation part 400 rotates to the left or right, causing the spray unit 300 provided thereto to rotate. It rotates back and forth to spray high-pressure water.

At this time, the first forward/backward rotation support unit 410 is further provided with an injection confirmation camera C4 to check the injection state of high-pressure water, and the injection confirmation camera C4 is located on the injection unit 300 side. It is equipped to shoot and transmits the captured video to the control unit, and the transmitted video is sent to a screen output device so that the manager can visually check it.

Meanwhile, as shown in FIG. 6, the vertical rotation unit 500 includes a body 510 for vertical rotation and a drive unit 520 for vertical rotation.

The vertically rotating body 510 is composed of a frame that can be rotated in the vertical direction with the spray nozzle 330 of the spraying unit 300 facing upward, and can be rotated in the forward and backward directions by the forward and backward rotation part 400. It is rotatably fastened, and for this purpose, it includes a body frame 511, an end frame 512, a first forward-and-backward rotation axis 513, and a second forward-and-backward rotation axis 514.

The body frame 511 extends in the front and rear directions, and has both ends in the left and right directions bent so that the spray nozzle 330 of the spray unit 300 is exposed to one open side.

As described above, the body frame 511 is composed of a 'ㄷ' shaped frame extending in the front and rear directions and is arranged with both opposing sides facing left and right, and the open side facing upward.

Meanwhile, the end frames 512 are provided at the front and rear ends of the body frame 511, respectively, and the front and rear ends of the spray unit 300 are hinged so as to be rotatable.

In detail, the end frame 512 is composed of a plate with a hole formed through the center, and is fastened to the front and rear ends of the end frame 512, respectively, with a bearing provided on the inner peripheral surface of the hole, and the spray unit 300 ) The front and rear ends pass through the hole of the end frame 512 and are exposed as the front and rear ends, respectively.

At this time, a vertical rotation shaft 311 is provided at the front end of the injection unit 300 and is exposed forward through the front end frame 512, and at the rear end of the injection unit 300 is a supply connected to the supply passage. A sphere 312 is provided and exposed to the rear through the rear end frame 512.

The supply port 312 is connected to a high-pressure water supply device through a hose or the like, thereby allowing high-pressure water to be supplied to the spray unit 300.

Meanwhile, the first forward/backward rotation axis 513 is formed to protrude outward on one of a pair of opposing surfaces of the body frame 511 and is rotated in the forward/backward direction by the forward/backward rotation driving unit 430. do.

In detail, the first forward and backward rotation shaft 513 is inserted and fastened into the hole of the forward and backward rotation gearbox 432 and rotates in the forward and backward directions according to the operation of the forward and backward rotation gearbox 432, thereby forming the body frame. (511) is linked and rotates.

Meanwhile, the second forward-backward rotation axis 514 is formed to protrude in the opposite direction to the first forward-backward rotation axis 513 on the other side of the facing surface that is not provided with the first forward-backward rotation axis 513. A hinge is fastened to the second forward/backward rotation support portion 420.

Meanwhile, the vertical rotation drive unit 520 is provided on one side of the vertical rotation body 510 to rotate the spray unit 300 in the vertical direction. For this purpose, a fixing bracket 521 and a vertical rotation motor are installed. (522) and a caterpillar portion 523 for up and down rotation.

The fixing bracket 521 is for fixing the vertical rotation motor 522, and is composed of a bracket bent in an 'ㄴ' shape, with one bent end fastened to one side of the body frame 511 and the other bent end. There is a hole in the center of the hole.

Meanwhile, the vertical rotation motor 522 is provided with a drive shaft extending parallel to the injection unit 300 and exposed to the outside through the hole of the fixing bracket 521.

The vertical rotation caterpillar unit 523 transmits the power of the vertical rotation motor 522 to the injection unit 300, causing the injection unit 300 to rotate in the vertical direction.

Referring to FIGS. 5 and 6, the caterpillar portion 523 for vertical rotation includes a first rotation gear 523a provided at the front end of the injection unit 300 and the vertical rotation motor 522. It is configured to include a second rotation gear 523b provided at the end of the drive shaft and a caterpillar 523c that interlocks the first rotation gear 523a and the second rotation gear 523b.

According to the above configuration, the vertical rotation unit 500 causes the injection unit 300 to rotate in the up and down direction according to the operation of the vertical rotation driving unit 520 to spray high-pressure water.

Meanwhile, the control unit is for controlling the operation of the cleaning robot.

The control unit is electrically connected to the cleaning robot that has entered the inside of the steam generator by a wire or cable, and can determine the internal situation of the steam generator through various cameras provided in the cleaning robot, depending on the captured internal situation. By controlling the operation of the cleaning robot and controlling the operation of the spray unit 300, the heat pipe in the steam generator can be cleaned.

According to the above-described configuration, as shown in FIGS. 7A and 7B, the cleaning robot according to the present invention can clean the heat pipe while moving along the side wall of the steam generator.

In detail, when the traveling driving unit 230 is operated while the cleaning robot is magnetically attached to the side wall of the steam generator, the cleaning robot moves forward or backward and reaches a position where cleaning is required.

In this state, when high-pressure water is supplied to the spray unit 300, the spray unit 300 cleans the heat transfer pipe while spraying high-pressure water into the heat transfer tube. In this process, the up-and-down rotation unit 500 and the forward-and-back rotation unit ( When 400) is operated, the spray unit 300 rotates up and down and forward and backward to clean a large amount of heat pipes.

When cleaning of the heat pipe is completed at the arranged position, the cleaning robot is moved forward or backward again and the process of cleaning the heat pipe is repeatedly performed to complete the cleaning of the heat pipe.

Although the preferred embodiments of the present invention have been described above, the scope of the rights of the present invention is not limited thereto, and it should be understood that the scope of the rights of the present invention extends to the scope substantially equivalent to the embodiments of the present invention. Various modifications can be made by those skilled in the art without departing from the spirit of the invention.

100: moving part 110: moving body
111: Hinge protrusion for first connection 120: Magnetic force for movement
130: moving wheels
200: Running part 210: Running body
211: Hinge protrusion for second connection 220: Magnetic force for driving
230: Driving unit for driving 231: Wheel for driving
232: Motor for driving 233: Caterpillar for driving
240: running support 241: support bracket
242: support wheel
300: injection unit 310: injection body
311: vertical rotation axis 312: supply port
320: spray groove 330: spray nozzle
400: Anteroposterior rotation part 410: First anteroposterior rotation support part
411: Base for first forward and backward rotation 412: Support bracket for first forward and backward rotation
413: 1st hinge fastening hole 420: 2nd support for forward and backward rotation
421: Base for second forward and backward rotation 422: Support bracket for second forward and backward rotation
423: Second hinge fastening hole
430: Drive unit for forward and backward rotation 431: Motor for forward and backward rotation
432: Gearbox for forward and backward rotation 433: Support shaft for forward and backward rotation
500: Up and down rotation part 510: Up and down rotation body
511: body frame 512: end frame
513: 1st anteroposterior rotation axis 514: 2nd anteroposterior rotation axis
520: Drive unit for vertical rotation 521: Fixing bracket
522: Motor for up and down rotation 523: Caterpillar part for up and down rotation
523a: Gear for 1st rotation 523b: Gear for 2nd rotation
523c: Caterpillar
C1: Front camera C2: Rear camera
C3: Camera for support C4: Camera for spraying confirmation

Claims (14)

In a cleaning robot for cleaning a steam generator in which a large number of heat pipes are arranged at regular intervals,
A moving part 100 that moves along the side wall of the steam generator;
At least one traveling unit 200 is hinged to each of the front and rear ends of the moving unit 100 and moves along the side wall of the steam generator;
A spray unit 300 configured to be rotatable in the forward and backward and up and down directions and provided on the moving unit 100, sprays high-pressure cleaning water toward the heat transfer tube; and
A control unit that controls the operation of the cleaning robot;
A cleaning robot for a steam generator comprising a.
In claim 1,
The moving unit 100,
A mobile body 110 configured to have a predetermined volume and configured to be equipped with various devices therein;
A moving magnetic force unit 120 made of a magnetic material and provided inside the moving body 110; and
Two or more moving wheels 130 provided on both left and right sides of the moving unit 100;
A cleaning robot for a steam generator comprising a.
In claim 1,
The traveling unit 200,
A traveling body 210 configured to have a predetermined volume and capable of having various devices therein;
A traveling magnetic force unit 220 made of a magnetic material and provided inside the traveling body 210; and
A driving drive unit 230 that causes the driving body 210 to move forward or backward by power;
A cleaning robot for a steam generator comprising a.
In claim 3,
The driving driving unit 230 is,
It includes a wheel, a driving shaft provided at the center of the wheel, and a driving gear provided on the driving shaft, and two or more driving wheels are respectively hinged to the left and right sides of the driving body 210 ( 231);
A pair is provided inside the driving body 210, with drive shafts facing different left and right directions, and each drive shaft is one of two driving wheels 231 arranged on both ends in the left and right directions. A driving motor 232 connected to the driving drive shaft of the driving wheel 231 to transmit power; and
A driving caterpillar (233) that allows driving driving gears arranged in the same direction to be interlocked with each other;
A cleaning robot for a steam generator comprising a.
In claim 3,
In the traveling unit 200,
A support bracket 241, one end of which is fastened to one side of the traveling body 210, and the other end of which protrudes outwardly; and
At least one support wheel 242 is provided at the other end of the support bracket 241 and is in surface contact with the pipe support plate of the steam generator;
A cleaning robot for a steam generator, characterized in that it is further provided with a traveling support unit 240 including.
In claim 1,
The moving part 100 is further provided with a forward and backward rotating part 400, the forward and backward rotating part 400 is further provided with an up and down rotating part 500, and the up and down rotating part 500 is provided with a spray unit 300. As it is provided, the spraying unit 300 is rotated in the vertical direction by the up and down rotating part 500, and the up and down rotating part 500 and the spraying part 300 are simultaneously moved back and forth by the forward and downward rotating part 400. A cleaning robot for a steam generator characterized in that it rotates in one direction.
In claim 6,
The front and rear rotation part 400,
A first forward/backward rotation support part 410 provided on one side of the moving body 110 of the moving part 100 in the left and right directions;
A second front and rear support unit is provided on the other left and right sides of the moving body 110 at a predetermined distance from the first support unit 410 in the left and right directions, and the other side of the upper and lower rotation unit 500 in the left and right directions is hinged. Rotating support unit 420; and
A forward and backward rotation drive unit configured to transmit power to the up and down rotation unit 500 and fastened to the first forward and backward rotation support unit 410, and one side of the up and down rotation unit 500 in the left and right directions is rotatable on an axis ( 430);
A cleaning robot for a steam generator comprising a.
In claim 7,
The first support portion 410 for forward and backward rotation,
A first forward and backward rotation base 411 fastened to one side of the movable body 110 in the left and right directions;
a first forward/backward rotation support bracket (412) protruding upward from one surface of the first forward/backward rotation base (411); and
A first hinge fastening hole 413 formed through a surface of the forward and backward rotation support bracket 241 into which the forward and backward rotation driving unit 430 is inserted and fastened;
A cleaning robot for a steam generator comprising a.
In claim 8,
The second forward and backward rotation support portion 420,
A second forward and backward rotation base 421 fastened to the other side in the left and right directions of the movable body 110;
A second forward and backward rotation support bracket 422 is formed to protrude upward from one surface of the second forward and backward rotation base 421 and is provided to face the first forward and backward rotation support bracket 412; and
A second hinge fastening hole 423 is formed through the surface of the second forward and backward rotation support bracket 422 and is hinged to the other side of the vertical rotation part 500 in the left and right directions;
A cleaning robot for a steam generator comprising a.
In claim 8,
The forward and backward rotation driving unit 430,
a motor for forward and backward rotation (431) that is fastened to the first support portion for forward and backward rotation (410) to generate power; and
It is provided to protrude through the first hinge fastening hole 413 toward the second forward and backward rotation support portion 420, and one side of the up and down rotation portion 500 in the left and right directions is hinged to form the forward and backward rotation motor 431. A gearbox 432 for forward and backward rotation that causes the vertical rotation part 500 to rotate in the left and right directions by power transmitted from;
A cleaning robot for a steam generator comprising a.
In claim 7,
The upper and lower rotation part 500,
A body for vertical rotation consisting of a frame rotatable in the vertical direction with the injection nozzle 330 of the injection unit 300 facing upward, and rotatably fastened in the forward and backward directions by the forward and backward rotation portion 400. (510); and
A vertical rotation driving unit 520 provided on one side of the vertical rotation body 510 to rotate the spray unit 300 in the vertical direction;
A cleaning robot for a steam generator comprising a.
In claim 11,
The vertically rotating body 510,
A body frame 511 that extends in the front and rear directions and is bent at both ends in the left and right directions so that the spray nozzle 330 of the spray unit 300 is exposed to one open side therein;
End frames 512 provided at the front and rear ends of the body frame 511, respectively, where the front and rear ends of the spray unit 300 are hinged so that they can rotate about an axis;
a first forward/backward rotation shaft 513 that protrudes outward on one of a pair of opposing sides of the body frame 511 and is rotated in the forward/backward direction by the forward/backward rotation driving unit 430; and
On the other side of the facing surface that is not provided with the first forward and backward rotation axis 513, it is formed to protrude in the opposite direction to the first forward and backward rotation axis 513 and is hinged to the second forward and backward rotation support portion 420. A second anteroposterior pivot axis 514 is fastened;
A cleaning robot for a steam generator comprising a.
In claim 11,
The vertical rotation driving unit 520,
A fixing bracket 521 consisting of a bracket bent in an 'ㄴ' shape, the bent end of which is fastened to one side of the body frame 511, and which is formed through a hole at the center of the other bent end;
A vertical rotation motor 522 whose drive shaft extends parallel to the injection unit 300 and is exposed to the outside through the hole of the fixing bracket 521; and
A caterpillar unit 523 for vertical rotation that transmits the power of the vertical rotation motor 522 to the injection unit 300 to rotate the injection unit 300 in the vertical direction;
A cleaning robot for a steam generator comprising a.
In claim 13,
The caterpillar part 523 for up and down rotation,
A first rotation gear 523a provided at the front end of the injection unit 300;
A second rotation gear 523b provided at the end of the drive shaft of the vertical rotation motor 522; and
A caterpillar (523c) that causes the first rotation gear and the second rotation gear to be interlocked;
A cleaning robot for a steam generator comprising a.