Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F22—STEAM GENERATION
  • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
  • F22B37/00—Component parts or details of steam boilers
  • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
  • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F22—STEAM GENERATION
  • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
  • F22B37/00—Component parts or details of steam boilers
  • F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
  • F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
  • F22B37/483—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers specially adapted for nuclear steam generators
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F28—HEAT EXCHANGE IN GENERAL
  • F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
  • F28G1/00—Non-rotary, e.g. reciprocated, appliances
  • F28G1/16—Non-rotary, e.g. reciprocated, appliances using jets of fluid for removing debris
  • F28G1/166—Non-rotary, e.g. reciprocated, appliances using jets of fluid for removing debris from external surfaces of heat exchange conduits

Definitions

• the invention relates to a Rohrgassen-Mani pulator for high-pressure blowdown of heat exchangers, in particular for the tube sheet area of the steam generator of nuclear power plants, according to the preamble of claim 1. It also relates to an advantageous spray head for such a Rohrgassen-Manipulator according to claim 19 and to a method for performing a spraying operation with such a spray head according to claim 20.
• a pipe lane manipulator according to the preamble of claim 1 is known.
• a spray lance is pushed by hand through a steam generator hand hole through the pipe alley and pivoted back and forth by a motor.
• the lance is positioned in the correct spraying position by observing the nozzle jet and by adjusting the lance: the water jet is atomized or scattered when the pipes are hit, which is not desirable; the water jet is closed when the nozzles spray precisely into the intermediate spaces between the pipes.
• the insertion of the lance, its positioning and its advance are relatively cumbersome and time-consuming. It should be noted that the operator is exposed to an increased dose of radiation while at the steam generator hand hole.
• the invention has for its object to form a pipe lane manipulator according to the generic term so that overcoming the difficulties described the insertion or assembly in the working position and the removal or disassembly of the manipulator can be done much more conveniently and the positioning in the injection position and the feed can run largely automatically, so that observations through the hand hole or by means of suitable television cameras can only be limited to random control observations.
• Subordinate tasks consist in the creation of an advantageous spray head for the new pipe path manipulator and the specification of a particularly favorable spraying method with such a spray head, which makes the blowdown process particularly effective.
• the main task is solved by the features specified in the characterizing part of claim 1.
• the two subordinate tasks find their solution in the characterizing features of claims 19 and 20.
• Fig. 1 in a cross section along the line II of Fig. 2, a U-tube steam generator, such as is used for pressurized water nuclear power plants, with one inserted into its pipe lane between those in the pipe legs of the tube bundle
• FIG. 2 shows a detail of an elevation section along the line II-II of Figure 1, the steam generator section between the tube sheet and egg ner above the hand holes imaginary axis-normal plane is shown.
• Fig. 3 is a plan view of a pipe lane manipulator according to the invention with a coupled six-nozzle spray head in a simplified Dar position, the manipulator being clamped on opposite pipes of the pipe lane;
• FIG. 4 shows the object according to FIG. 3 in supervision with a view of the face of the spray head;
• Fig. 5 is a pipe grid in the cutout to illustrate that in the steam generator shown in Fig. 1 and Fig. 2 pipe grid lanes are present, which run at an angle of 30 °, 90 ° and 150 ° to the longitudinal axis of the pipe gas;
• Fig. 6 is a plan view corresponding to Fig. 3, but more in detail and with a modified spray head (30 ° and 150 ° nozzles instead of 90 ° nozzles).
• the manipulator is partly in view, partly in section along the
• the pipe path manipulator designated as a whole in FIG. 1, hereinafter referred to simply as the manipulator, is used for high-pressure blowdown of heat exchangers which are provided with at least one pipe passage 2 within their bundle of heat-exchanging pipes.
• High-pressure blowdown is of particular importance for the tube sheet area of the steam generators of nuclear power plants.
• Such a steam generator is shown in detail in FIGS. 1 and 2. It shows the already mentioned Rohrgasse 2 in the middle between the two legs 3a, 3b of its U-
• the tube bundle 3 is sealed with the ends of its heat-exchanging tubes 3 'in corresponding bores of the tube sheet 4, that is to say in particular welded in, the primary chamber spaces of an inlet and an outlet chamber being to be considered below the tube sheet 4.
• the housing shell of the steam generator forming a pressure vessel is designated by 5; an annular space 7 is left between it and the shirt 6 surrounding the tube bundle 3, which is normally referred to as a drop space and - as FIG. 1 and FIG. 2 show - can also serve to carry out service operations.
• over the circumference of the jacket 5 are distributed, arranged as a whole 8 closable service openings, which are also referred to as hand holes and are provided with removable or re-sealable hand hole covers 9.
• the diametrically opposite two hand holes 8.1 and 8.2 are in alignment with the longitudinal axis 2 'of the Rohrgasse 2; they are used for insertion and removal take the manipulator 1. Of the remaining hand holes, those 8.3 and 8.4 are offset by 90 ° with respect to the hand holes 8.1, 8.2; they are used to insert the suction proboscises 10.2 located at the ends of suction hoses 10.1, the suction hoses 10.1 being connected to suction pumps 10. Furthermore, as shown in FIGS. 1 and 2, the 90 ° hand holes 8.3, 8.4 are used to insert so-called pigs, that is pressure hoses 11.1 with nozzle heads 11.2 at their ends, which are connected to high-pressure pumps 11.
• a distribution box 11.3 is arranged, for example; for the sake of simplicity, the pump is not shown for the other pressure line 11.1.
• the direction of flow of the rinsing liquid is indicated by the arrows sp; this is injected into the ring zone 7 via the nozzle heads 11.2 at a high pressure of, for example, 100 bar and then sucked off by the suction heads 10.2 together with the deposits.
• the height distance of the center line of the hand holes 8 from the tube sheet 4 is approximately 250 to 300 mm. As shown in Fig.
• the tube sheet is grooved in the area of the ring zone 7, so that an annular groove is formed in which the deposits torn off by the rinsing process with the manipulator 1 and also with the nozzle heads 11.2 collect and are suctioned off from there can.
• the other hand holes are each shown closed with a lid 9; however, if necessary, they can also be opened for rinsing purposes for introducing the pressure and suction hoses 11.1, 10.1.
• the spray head 13 of the manipulator 1 equipped with nozzles 12 is inserted into the pipe passage 2 through the hand hole 8.1 and is in this Pipe lane 2 so movable along the pipe lane longitudinal axis 2 'and positionable that the spray jets of the spray head 13 are each directed into the pipe lattice spaces, which can also be referred to as pipe lattice lanes.
• the sludge water that accumulates and contains the torn deposits passes through the pipe lanes 15 (see FIG.
• the spray pressure for the spray head 13 which is connected to a high-pressure hose 13.1, is approximately 220 bar.
• So-called deionate is used as spray water, which is chemically treated water, the conductivity of which must be below 100 ⁇ S and the pH value of which must be between 5 and 10.
• the deionized material is taken from a storage container, for example with a content of 3 m 3 . The water sprayed into the steam generator is then pumped out and returned to the storage container via a filter unit.
• the deionized water circulating in the circuit is continuously monitored for its pH value and conductivity during the cleaning process and is renewed when the aforementioned limit values are no longer met.
• the outer water circuit with reservoir, pumps, filters and monitoring devices is not shown, since it is not necessary to understand the invention.
• Figures 3 and 4 show in more detail that the spray head 13 is carried by an insertable through a service opening (for example hand hole 8.1 in FIG. 1) into the Rohrgasse 2 and can be moved therein by remote control vehicle mO of the manipulator 1.
• the nozzles 12 of the spray head 13 can be positioned in their respective spray position of a spray position sequence extending over the entire length of the pipe aisle in that the vehicle mO conforming to the pipe pitch with retractable clamping feet k1, k2 and k3, k4 on the pipes 3 'of the two opposite one another Pipe lane sides 2a, 2b can be clamped.
• the manipulator with its vehicle m0 and its spray head 13 is in the spraying position, that is to say that both the clamping feet k1, k2 in the clamping plane aa and the clamping feet k3, k4 in the clamping plane bb are in the extended, clamped position, at which they lay on the pipes 3 'with the concave clamping surfaces adapted to the pipe contour, in the illustrated case it is the pipes 3.1, 3.2, 3.3 and 3.4.
• FIG. 3 A comparison of FIG. 3 with FIG. 5 shows that there are three types of pipe grid lanes in the pipe grid configuration shown: 90 ° lanes 15.1, 30 ° lanes 15.2 and 150 ° lanes 15.3.
• the manipulator 1 must be able to spray with all of these different types of lanes with fine spray jets, for which purpose different spray heads with correspondingly oriented spray nozzles are provided.
• a 90 ° spray head is shown, that is, its nozzles 12 are at right angles to the longitudinal pipe axis 2 'or the feed axis of the manipulator 1, so that the pipe grid streets 15.1 can be sprayed with these nozzles.
• the individual pairs of nozzles are called spe target 12a, 12b, 12c.
• the direction of the spray nozzle orifices 12 and their distance from the clamping planes bb and aa of the clamping feet k are matched to the pipe pitch t such that the spray jets 16 (see FIG. 4) in any case into the pipe grating lanes 15 (see FIG. 5) or 3, the pipe lattice alleys 15.1 arrive.
• This formula also applies analogously to spray heads, the nozzles of which do not spray into the pipe grid streets at a right angle, but, for example, at an angle of 30 ° or 150 ° to the pipe pipe longitudinal direction, if one considers the intersection of the nozzle axis with the pipe connection line cc, which is parallel to the pipe line direction 2 ', as a "distance criterion. That is, in this case the nozzle jet is always aligned with the center of the pipe grid lines 15 (cf. FIG. 5).
• the vehicle mO is a walking mechanism which can be moved along the feed axis v, which coincides with the central axis 2 'of the tube lane 2.
• the vehicle mO consists of at least two walking mechanism members m1, m2 which can be moved with respect to one another in the feed axis v and which can also be referred to as first and second walking mechanism members.
• Each of the straddle sections m1, m2 is with at least a pair of clamping feet k1, k2 or k3, k4 can be locked on the pipes 3 'located on both sides of the pipe lane 2.
• the two stepping elements m1, m2 one of the two is connected to the bottom guide plate 17 with which the vehicle mO can slide along the tube sheet 4.
• it is the second walking member m2.
• the feed motor which is generally designated C, is also mounted on the second walking mechanism member m2, the movable drive member of which is arranged within the sealing collar 18 and is connected to the first walking mechanism member m1.
• It can be an electric motor with a gear which rotates a spindle, for example, the traveling nut, which is axially displaceable but non-rotatably mounted on the spindle, being connected to the first walking mechanism member.
• it can also be hydraulic or pneumatic piston-cylinder systems. This applies analogously to the actuators B1, B2 of the
• FIG. 3 and 4 also show that the spray head 13 with its high-pressure hose connection 13.2 forms a separate structural unit which can be coupled to the vehicle mO by means of a quick coupling 21.
• This coupling is indirect, since the spray head 13 is connected to a traveling nut 22.1, which is mounted on the vertical threaded spindle 22 of a winding member 23 in a rotationally fixed but longitudinally or vertically adjustable manner (see in particular FIG. 4).
• Lift member 23 consists of a vertical frame with bottom and top-side bearing plate 23.1, 23.2, the already mentioned, rotatably mounted on the bearing plates vertical threaded spindle 22, also mentioned, on the spindle rotatably and height-adjustable traveling nut 22.1 as a support body of the spray head and one one of the spindle ends, in the present case the upper, assigned rotary drive, of which only one coupling pin 23.3 for coupling an on Drive shaft can be seen in Fig. 4.
• the quick coupling 21 as well as the elevator member 23 are only simplified and shown schematically in FIGS. 3, 4, they are also described in more detail with reference to FIGS. 6 to 8.
• the elevator member 23 has the particular advantage that at the beginning of the spraying process the spray head 13 can begin with the spraying process not in the lower position shown in FIG. 4 but in a higher position, because in general (compare the Schlammberg contours in FIG. 1 and Fig. 2) more or less large amounts of sludge have accumulated between the inspection cycles and these are best removed from top to bottom. So you go through the pipe lane 2 with the manipulator 1 so that the mud mountains are removed from top to bottom or washed out, successively with each passage through the pipe lane the spray head 13 with its elevator member 23 is adjusted a little downwards.
• FIG. 7 shows the feed motor C, designed as a stepping piston-cylinder system which can be acted upon from two sides, the stepping cylinder c2 being connected to the stepping member m2 and the stepping piston c1 being connected to the first stepping member m1.
• the first walking mechanism member m1 is essentially a cylinder block which has the cylinder bores of the two tensioning piston-cylinder systems A1, A2 (FIG. 6) and the bores arranged in a rectangle for the piston guide rods. The latter are with a4, the cylinder bores tion is labeled a3.
• the second walking mechanism member m2 is also essentially a cylinder block, which not only contains the cylinder bore c3 for the walking piston d, which is oriented in the feed direction v, but also transverse to the cylinder bore b3 for the two tensioning pistons of the tensioning piston-cylinder system B1, B2 of the clamping level bb.
• four holes b4 arranged in a rectangle are provided for receiving the associated tensioning piston guide rods.
• T-shaped guide grooves 24 and 25 see also FIG.
• a plate-shaped cylinder head gasket which is centrally penetrated by the piston rod c11, is designated c4, the piston ring seated in an annular groove of the piston c12 with c5 and the other ring seals in the cylinder head gasket c4 with c41.
• the tensioning pistons a1, a2 and b1, b2 are indicated by dashed lines in FIG. 6; the associated piston guide rods are designated a11, a21, b11 and b21. These are just like the piston rod gen a12, a22, b12, b22 connected at their outer ends to the support feet k1 to k4; the latter have an approximately saddle-shaped contour to adapt to the heat exchanger tubes.
• the plate-shaped cylinder head seals for sealing the cylinder chambers and the piston rod bushing are generally designated a41 and b41.
• FIG. 8 shows a cross section and an external view of the two tensioning piston-cylinder systems B1 and B2.
• This shows the clamping piston version with the piston ring b5 in a corresponding piston ring groove and the ring seals b42 on the cylinder head gasket b41.
• the clamping feet are tightened by means of strong countersunk screws 270 on the piston rods of the tensioning pistons.
• the compressed air connections for the walking piston d are designated c + and c-, the plus symbol symbolizing that the associated compressed air connection is used to extend the piston, the minus symbol accordingly symbolizes a compressed air connection, when the piston is actuated when the piston is retracted.
• the tensioning pistons whose common compressed air connections for extending are designated a + or b + and their compressed air connections assigned to each individual tensioning piston for insertion are designated a1-, a2-, b1- and b2-.
• the compressed air connections consist of nipples that are suitable for quick coupling and uncoupling of the compressed air lines.
• the guide plate 17 already mentioned with reference to FIG. 4 is fastened on the floor side to the second walking mechanism member m2; it could also be designed as a skid.
• the first stepping element m1 is provided on the bottom side with a guide plate 17.1 of the same height as the guide plate 17 or with corresponding skids.
• These guide plates or skids 17, 17.1 expediently consist of an abrasion-resistant plastic as well as the guide strips 28 provided on the top side on both longitudinal sides of the vehicle MO, which are screwed at 28.1 to the cylinder block of the second stepping element m2. They are used for the additional guidance of the vehicle mO on the two rows of tubes cc directly adjacent to the tube passage and can be replaced by other suitable guide strips depending on the width of the tube passage of the steam generator to be cleaned.
• FIG. 6 shows that the spray head 13 consists of a solid spray head housing with a central bore 13.3, from which the branch bores 13.4 leading to the individual spray nozzles 12.3a, 12.3b (upper half of FIG. 6) or 12.2a, 12.2b ( lead lower half of Fig.
• a threaded bore 13.3a is arranged at the outer end of the central bore 13.3.
• Corresponding threaded bores 13.4a are each provided at the outer ends of the branch channels 13.4, into which the spray nozzles can be screwed in sealingly with corresponding threaded necks 12.4.
• the upper nozzles 12.3a, 12.3b are used for the free spraying of 150 ° tubular grating lanes 15.3 (FIG. 5); they belong to a four-nozzle spray head, but naturally also a six-nozzle or an eight-nozzle according to FIG. 3
• Spray head could be provided.
• the number of nozzles is limited by the performance of the high pressure pumps; with a high-pressure pump of 240 kW, a spray head with eight nozzles forms the upper limit, ie there is still no noticeable pressure drop instead of.
• a spray head with the spray nozzles 12.2a, 12.2b is shown, which belongs to a four-nozzle spray head and is used for the free spraying of pipe grid streets 15.2 (see FIG. 5), which is an angle of 30 ° to the feed direction v or the longitudinal direction of the pipe aisles. It could also be six or eight nozzle.
• the elevator member 23 is in turn connected to the vehicle mO by means of a quick coupling, for which purpose the elevator member 23 is provided on its vehicle side with a coupling extension 30 and the vehicle mO is provided with a corresponding coupling recess 31 on its rear end side.
• the coupling extension 30 is a coupling prism with a circular segment cross section that covers approximately 3/4 of a circumference, the coupling extension 30 in the a corresponding clear cross-section coupling recess 31 can be inserted from above.
• the coupling position see FIG. 7, is defined and secured by a ball lock 32.
• the elevator member 23 and the vehicle mO also lie on flat counter surfaces 34 with flat contact surfaces 33, so that the alignment of the spray head 13 with its longitudinal axis to the feed direction v is thus ensured.
• the coupling extension 30 is clamped to the vertical frame of the elevator member 23 by means of cylinder screws 35.
• Fig. 7 closer details of the elevator member.
• Its cover-side bearing plate 23.2 is angled upwards and thus forms a bearing leg 23.4.
• the upper end of the spindle 22 meshes via a bevel gear 36 with a drive bevel gear 37, the shaft 38 of which is mounted in a bearing bush 39 of the vertical plate leg 23.4.
• An elongated drive crank 40 can be coupled to the outer drive coupling extension 23.3 of the drive bevel gear shaft 38.
• This consists of the actual crankshaft 40.1 with crank 40.2 and the shaft housing 40.3, the latter of which can be placed centering on the bearing bush 39 with a cup-shaped extension, the shaft 40.1 coupling with a corresponding coupling recess 40.11 to the knife-shaped coupling extension 23.3.
• a drive motor on the cover-side bearing plate 23.2 which is coupled to a drive pinion of the spindle 22 (not shown), in particular via a reduction gear.
• suitable drive motors for such a remote controlled rotation of the threaded spindle 22 are in particular electrical direct current or multi-phase stepper motors.
• the bottom bearing plate 23.1 is with the
• the skid 41 connected or made in one piece with this.
• the skid 41 has four sliding foot parts 41.1 and 41.2 on two fork-like extensions 41.3 on the tube sheet (FIG. 6).
• the threaded spindle del 22 is rotatably supported at its two ends in bearing bushes 42, 43, the latter being inserted into corresponding recesses in the bottom and top-side circuit boards 23.1, 23.2.
• the support body 22.1 consists of the traveling nut part 22.1a with an internal thread, a fork part 22.1b for holding the coupling pin 29 and for locking the coupling hook 13.5 and a guide part 22.1c with an approximately T-shaped recess which comprises the vertical frame of the elevator member 23 and is guided on this longitudinally and rotatably.
• the spraying and cleaning process with the described manipulator 1 is particularly effective when working with a spray head which has at least three spray nozzle pairs lying one behind the other in the feed direction v, the spray nozzles of each spray nozzle pair on opposite sides of the spray head for loading each Tube bundle half are arranged, as it is shown in Fig. 3 in principle with the spray head 13 or was explained with the spray head 13 of Fig. 6 (the spray head designs of the upper and lower half of Fig. 6 are supplemented by at least one further pair of spray nozzles consider).
• a sol Chen spray head can then carry out a spraying process in which the spray head is advanced by at least one pipe pitch, preferably by two pipe pitches, after each partial spraying process, in which all at least three pairs of nozzles spray in the respective pipe lane position, so that after the first and each further partial spraying process, at least one pair of pipe grid alleys, preferably two pairs of pipe grid alleys, sludge-releasing and pre-rinsing, and accordingly at least one adjacent pair of pipe grid alleys is subsequently rinsed.
• This method can best be carried out with an eight-nozzle spray head, which therefore has four pairs of spray nozzles, because then two pairs of pipe grid alleys can be sprayed off and rinsed off and the adjacent two pairs of pipe grid alleys can be rinsed and the feed of the manipulator or Spray head between the partial spraying operations is two pipes.
• This feed of two pipe divisions is also the basis of the manipulator shown in FIG. 3 and in FIGS. 6 to 8, because the distance of the heat exchanger pipes in the feed direction v of the two rows of pipes closest to the pipe gases to which the manipulator is clamped is always two pipe divisions (2 xt).
• the manipulator 1, ie its vehicle mO, can additionally be equipped with lighting devices, such as headlights, and television cameras, so that the progress of the spraying and rinsing process can be observed remotely on a monitor.
• the special advantage of the manipulator is that it is easy to handle: the vehicle mO can be conveniently brought into its starting position through the open hand hole and coupled to the elevator and spray head.
• the stroke of the walking piston d or the walking piston system C is set precisely to two pipe divisions. In this way, it can walk intrinsically safely without a complicated control mechanism along the pipe aisle and center itself on the heat-exchanging pipes.
• a lock is expedient, which only allows the spray nozzles to be acted upon when the vehicle mO is clamped with all four clamping feet.
• the pneumatic control is very robust. Just as the manipulator can be moved in the feed direction v, the backward movement takes place. It is generally not necessary to turn the vehicle around at the end of the pipe lane because the last pipe lane lanes have no sludge deposits. In principle, however, it would also be possible to provide the two end faces of the vehicle with a spray head, either for alternating loading of both spray heads or for simultaneous loading in order to intensify the spraying and rinsing process. Since practically all operations can be carried out remotely, MannRem saves remarkably. There may be cases where only one of the two opposing long sides of the pipe lane of a heat exchanger or steam generator is available for pipe clamp feet, for example if the pipe lane width is reduced by internals. In this
• Case is provided according to the invention that on one side of the vehicle mO at least two clamping feet k arranged one behind the other in the direction of advance v of the vehicle are arranged for engagement with the heat exchanger tubes, on the other hand one on the other longitudinal side of the vehicle within the tube passage in the longitudinal direction thereof or in the Feed direction aligned guide rail can be installed, which forms the abutment for the clamping feet k and a guide for the vehicle mO in the feed direction v.
• This embodiment is not shown in FIGS. 1 to 8, but instead in FIGS. 9 to 15 in the context of a second exemplary embodiment. It shows:
• FIG. 10 shows the U-rail body in elevation; Fig.13 the U-rail body in plan, the two coupled together individual
• Fig. 15 shows the section along the line DD from Fig. 13, that is, the clutch plate with adjusting wedge, adjusting screws and loop handle.
• Fig. 9 shows a top view of the two similarly constructed individual manipulators 1a and 1b, which can be moved within the tube alley 2 of a U-tube steam generator on a longitudinal rail 50a, 50b axially parallel to the longitudinal tube direction 2 'in the feed direction v or -v.
• the clear width 2.1 of the pipe lane 2, which results between the first two rows of pipes 3a1, 3b1, is not fully available, but is divided by tie rods 51 arranged in the middle of the pipe lane, so that two are relatively narrow
• Sub-lanes 2a1 on the pipe-lane side 2a and 2b1 on the tube-lane side 2b on both sides of the tie rods 51 and on both sides result in a vertical plane of symmetry conceived by the longitudinal axis 2 '.
• the tubes of the U-tube bundle, denoted as a whole by 3, are individually denoted by 3 '.
• FIG. 11 one can see in the cut-out the tube sheet 4 of the steam generator housing forming an essentially hollow cylindrical pressure vessel, of which a wall section is indicated at 5 in FIG. 13.
• Each of the individual manipulators 50a, 50b consists of a vehicle mO, an elevator member 23 (FIG. 10) coupled thereto and one on the elevator member 23 Height-adjustable spray head 13 with spray nozzles, which are generally designated 12 and in particular 12.1a, 12.1b, 12.1c and 12.1d (see in particular FIGS. 1 and 2).
• the vehicle mO is a walking mechanism which consists of two walking mechanism members which can be moved relative to one another in the feed axis v, namely a first m1 on the front and a second m2 on the rear.
• the front step member m1 of the manipulator 1a has the clamp foot k1a, its rear step member m2 the clamp foot k2a.
• the corresponding clamping feet in the vehicle mO of the second manipulator 1b are designated k1b and k2b.
• the pairs of clamp feet k1a, k2a and k1b, k2b are shown in the extended position in which they lie against the heat exchanger tubes 3 'of the front-side clamping level aa and the rear-side clamping level bb with concave base parts adapted to the heat exchanger tube contour.
• the concave parts of the foot are labeled 52.
• Pneumatic piston-cylinder systems A (stepping elements ml) and B (stepping elements m2) are used to actuate the clamping feet, which are generally designated by k.
• the abutment for the pneumatic locking of the vehicle mO or its straddle members m1, m2 on the heat exchanger tubes 3 ' is formed by a vertical leg 50, 1 of the guide rails 50a, 50b having an L-shaped profile, on which the vehicle mO each with its the long side facing away from the rows of pipes, as explained in more detail below.
• the vehicle mO furthermore has a feed motor C, which likewise consists of a piston-cylinder system, the cylinder c2 being connected to the walking member m2 and the piston c1 of the feeding motor C being connected to the front walking member m1 (see in particular FIG. 10).
• the piston-cylinder systems A, B and C of the vehicles mO of the two manipulators 1a, 1b can each be acted upon from two sides; they are explained in detail in the first exemplary embodiment, which is why a detailed description can be dispensed with here. It should only be mentioned that a1, b1 are the tensioning pistons and a3, b3 are the associated cylinders of the piston-cylinder systems A of the clamping plane aa and B of the clamping plane bb.
• Vehicles mO can advance in the feed direction v if, when locked in the clamping plane bb, the clamping feet k1a, k1b of the clamping plane aa are loosened, ie retracted, and the feed motor C is acted on so that its piston d is extended with the front-mounted stepping element m1 , namely in this case by two pipe divisions t to a dashed indicated clamping plane a1-a1.
• both manipulators 1a, 1b are advanced at the same time, so that they work in the spraying process in the respective spraying position in the same way as the manipulator according to the first embodiment with the double spray head. In principle, it would also be possible to move the individual manipulators 1 a, 1 b independently of one another and / or spatially shifted through the pipe alley 2.
• Each of the manipulators 1a, 1b has the aforementioned elevator member 23 on the spray head side of the vehicle mO.
• This consists of a vertical frame with bottom and top bearing plates 23.1, 23.2, a vertical spindle 22 rotatably mounted on the bearing plates, a support body 22.1 rotatably and vertically adjustable with a traveling nut part 22.1a and one associated with one of the spindle ends Rotary drive, which is designated as a whole with Dr.
• the spray head 13 is suspended on a pin 22.11 of the support body 22.1 with a joint projection 13.6; it is positively supported with its joint projection on corresponding support surfaces of the support body 22.1.
• This mounting of the spray head 13 is again used for quick assembly and disassembly.
• the spray head 13 can thus be adjusted in the manner of an elevator upwards in the direction of the arrow h + or downwards in the direction of the arrow h-, so that an adaptation to different levels of mud on the tube sheet can be carried out.
• These mud mountains are generally of splashed away progressively from top to bottom.
• the injection pressure (compare first exemplary embodiment) is in the range between 100 and 220 bar, preferably approximately 200 bar.
• spray heads 13 There are generally three different types of spray heads 13 used: the one shown with 90 ° nozzles 12.1, which spray into the pipe lattice lanes in the direction of 15.1, and furthermore 30 ° and 150 ° spray heads, which are referred to as 15.2 and 15.3 and inject pipe lanes indicated by dashed lines.
• the quick coupling between the elevator member 23 and the vehicle mO takes place via a dovetail-shaped projection 21.1 on the vertical frame part 23.0 of the elevator member 23 and a corresponding dovetail-shaped groove on the rear end face of the walking member m2.
• the rotary drive Dr has an angular gear formed from bevel gears, a long drive crank for remote adjustment being able to be coupled to the shaft of the drive bevel gear mounted in the vertical plate 23.4 via its coupling pin 23.3.
• a drive motor attached to the frame of the elevator member 23 could also be provided.
• guide rails 50a, 50b are provided in this second exemplary embodiment, especially for pipe lanes with pipe-lane internals, for example in the form of the tie rods 51 shown, which allow precise manipulation of the manipulators with effective spraying in a confined space.
• at least one guide rail 50a or 50b approximately L-shaped in cross section, is provided, the vertical L-leg 50.1 of which is facing away from the nearest row of tubes 3a1 or 3b1.
• the vehicle is mO of the manipulator 1a , 1b inserted with an approximately rectangular cross section having a lower base body 56.
• This base body 56 belongs to the rear step member m2.
• this base body 56 is generally provided on the bottom side and / or on its side abutting the vertical L-leg 50.1 with projections or recesses with which it rests on corresponding recesses or projections of the horizontal and / or vertical L-leg 50.2, 50.1 of the guide rail generally designated 50 in the feed direction v glei tend.
• this guide exists for the base body 56 and thus for the manipulator 1a, 1b including the elevator member 23 in the guide engagement between the already mentioned longitudinal spring 53 and the side flanks of the bottom side in cross section, as does the longitudinal spring T-shaped longitudinal groove 54.
• the base body 56 also overlaps with a projection 57 arranged in the upper region of its one side flank, the upper end of the vertical L-leg 50.1 and is trapezoidally toothed at this upper end in the manner of a tongue and groove guide and guided in a sliding manner in the feed direction.
• a guide rail 50a, 50b with an approximately L-shaped cross section is installed within the two tube aisle halves 2a1, 2b1 to form a double rail, the vertical L-legs 50.1 of which face one another.
• the two identical vehicles mO of manipulators 1a, 1b one is slidably guided on a single guide rail in the feed direction v (or -v).
• the clamping feet k of the two individual vehicles mO each point laterally outwards from the vertical center plane (axis 2 ') to the adjacent tube row 3a1 or 3b1 of the heat exchanger and can be extended in this direction.
• the nozzles 12 of the spray heads 13 each assigned to a single vehicle mO also point away from the center plane and can be aligned with the intermediate spaces 15.1 (and with modified nozzle heads with intermediate spaces 15.2, 15.3) of the two tube bundle halves 3a, 3b.
• 13 shows in particular that the two guide rails 50a, 50b are combined in a twin arrangement at one end U2 to form an elongated U-rail body 58 in plan view.
• the two guide rails 50a, 50b have in the merging area on the outer sides of their horizontal L-legs 50.2 facing away from one another with axially parallel fitting surfaces 59.1 and stop cams 59 provided with oblique clamping surfaces 59.2.
• the distance between the clamping surfaces 59.2 from one another exceeds the pipe aisle width 2.1 (cf. FIG. 9).
• the two guide rails 50a, 50b are also fastened in the merging area with their vertical L-legs 50.1 to a rectangular connecting web 60 (see also FIG. 14).
• This connecting web 60 serves as a bearing for a tensioning device 61.
• This has an adjusting spindle 61.1, which is mounted in a corresponding threaded bore in the connecting web 60 and can be screwed in, with a pressure piece 61.2 at its free end.
• the U-rail body 58 which bypasses the tie rods 51 and is inserted into the pipe aisle 2 from the right end and abuts with the stop cams 59.2 on the end pipes of the first two rows of pipes 3a1, 3b1, by tensioning the adjusting spindle 61.1 on the heat exchanger wall 5 with the pressure piece 61.2 on the one hand and by means of the inclined surfaces 59.2 on the end pipes on the other hand and positioned in the desired relation to the rows of pipes.
• the pressure piece 61.2 is spherically adjustable at the free end of the spindle 61.1 and has a spherical contact surface 61 .21.
• a corresponding joint socket 62 inside the pressure piece 61 .2 For this purpose, grips a ball 63 at the free end of the spindle 61.1.
• the threaded shaft of the spindle 61.1 is followed by a knurled or corded handle cylinder 64, so that the spindle 61.1 can be easily adjusted by hand.
• a coupling plate 66 provided with an adjusting wedge 66.1 is with its adjusting wedge 66.1 between the two guide rails 50a, 50b, as shown, can be inserted and tightened by means of set screws 66.2 on the threaded blocks 65 in such a way that the guide rails 50a, 50b have at least one second pair of mating surfaces 67, which near the open end of the U-rail body on the sides of the horizontal L-legs 50.2 facing away from one another sits, with heat exchanger tubes 3 'which comes into contact with the first tube row 3a1 or 3b1 adjacent to the tube alley 2.
• the position of the U-rail body 58 relative to the adjacent first rows of pipes 3a1, 3b1 is fixed without play.
• the defined horizontal position is given by the fact that the cylinder screws 680 screwed into the underside of the horizontal L-legs 50.2 are ground to a uniform dimension.
• the U-rail body 58 lies in a defined manner on a flat tube sheet. Two pairs of mating surfaces are sufficient to align the U-rail body, namely 67.67 at the left end and 59.1.59.1 at the right end.
• the clutch plate 66 is provided with a bow handle 66.3 for better handling.
• the handling of the rail system is further facilitated if the individual guide rails 50a, 50b are cross-divided into at least two rail parts and have a rail joint 68 for about half their length.
• recesses for receiving coupling plates 69 and 70 are provided on both the bottom and sides of the two rail halves, which are screwed and pinned to the rail ends.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• General Engineering & Computer Science (AREA)
• High Energy & Nuclear Physics (AREA)
• Thermal Sciences (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Manipulator (AREA)
• Cleaning In General (AREA)

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Citations (4)

• 1983
  • 1983-01-20 EP EP83100498A patent/EP0084867B1/de not_active Expired
  • 1983-01-20 WO PCT/DE1983/000009 patent/WO1983002657A1/en unknown
  • 1983-01-20 JP JP58500605A patent/JPS59500065A/ja active Pending
  • 1983-01-20 DE DE8383100498T patent/DE3360268D1/de not_active Expired
  • 1983-12-16 ES ES83528140A patent/ES8504379A1/es not_active Expired

Patent Citations (4)

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