WO2019074040A1

WO2019074040A1 - Cleaning apparatus

Info

Publication number: WO2019074040A1
Application number: PCT/JP2018/037866
Authority: WO
Inventors: 昌明上田; 隆雄牛本; 恒男牧; 孝義池田
Original assignee: 日立造船株式会社
Priority date: 2017-10-12
Filing date: 2018-10-11
Publication date: 2019-04-18
Also published as: CN111201417A; EP3690380A4; EP3690380A1; JP6837951B2; JP2019074228A; CN111201417B

Abstract

A cleaning apparatus 100 is provided with: an apparatus body 1; a traveling mechanism 2 that is provided to the apparatus body 1 and that travels on at least two tubes P included in a tube group Q; and a cleaning mechanism 3 that is lifted/lowered from the apparatus body 1, and cleans off substances adhering to the surfaces of the tubes P located below the traveling mechanism 2. The traveling mechanism 2 makes a turn above the at least two tubes P in a state where the cleaning mechanism 3 has entered an area between the at least two tubes P.

Description

Cleaning device

The technology disclosed herein relates to a cleaning device.

DESCRIPTION OF RELATED ART Conventionally, the cleaning apparatus which removes the deposit | attachment adhering to the surface of tubes, such as a boiler tube, is known. For example, the cleaning device disclosed in Patent Document 1 cleans a pipe while traveling on the pipe.

JP 2001-336897 A

By the way, when the cleaning device travels on the pipe on which the extraneous matter adheres, there is a possibility that the traveling mechanism of the cleaning device slips on the pipe and slips over. If the running mechanism slips, the running mechanism can not advance properly. In particular, when the traveling mechanism turns on the pipe, if the traveling mechanism slips, the traveling mechanism moves in an unexpected direction.

The technique disclosed herein has been made in view of such a point, and its purpose is to properly execute turning of the traveling mechanism.

The cleaning device disclosed herein includes an apparatus main body, a traveling mechanism provided on the apparatus main body, and traveling on at least two pipes included in a pipe group, and moving up and down from the apparatus main body. And a cleaning mechanism for cleaning deposits on the surface of the lower tube than the lower one, and the traveling mechanism comprises the at least two tubes in a state where the cleaning mechanism enters between the at least two tubes. It shall turn up.

According to the cleaning device, the swing of the traveling mechanism can be appropriately performed.

FIG. 1 is a side view of the cleaning device according to the first embodiment. FIG. 2 is a front view of the cleaning device. FIG. 3 is a view of the cleaning mechanism in the Y-axis direction. FIG. 4 is a cross-sectional view of the cleaning unit taken along the line SS in FIG. 3 with the scraper housed. FIG. 5 is a cross-sectional view of the cleaning unit taken along line SS in FIG. 3 with the scraper expanded. FIG. 6 is a view of the cleaning mechanism in a state in which the guide is contracted as viewed in the X-axis direction. FIG. 7 is a view of the cleaning mechanism in a state in which the guide is expanded in the X-axis direction. FIG. 8 is a cross-sectional view of the first blade taken along a line TT in FIG. FIG. 9 is a view of the cleaning mechanism cleaning the pipe as viewed in the X-axis direction. FIG. 10 is a view of the cleaning device moving in parallel to the pipe as viewed in the X-axis direction. FIG. 11 is a view of the cleaning device moving in parallel to the pipe as viewed in the Z-axis direction. FIG. 12 is a view of the cleaning device pivoting on the pipe as viewed in the X-axis direction. FIG. 13 is a view of the cleaning device pivoting on the pipe as viewed in the Z-axis direction. FIG. 14 is a side view of the cleaning device according to the second embodiment. FIG. 15 is a view of the cleaning mechanism cleaning the pipe as viewed in the Y-axis direction. FIG. 16 is a view of the cleaning device in the X-axis direction when moving in parallel with the pipe and when pivoting on the pipe.

Hereinafter, exemplary embodiments will be described in detail based on the drawings.

Embodiment 1
The cleaning device 100 according to the first embodiment cleans the deposit attached to the surface of the tube included in the tube group. Here, a case where the cleaning device 100 cleans the heat transfer tube of the boiler will be described. FIG. 1 is a side view of the cleaning device 100. FIG. 2 is a front view of the cleaning device 100, partially in cross section.

In the boiler, a tube group Q (see FIG. 2) formed by a plurality of tubes P is provided. Inside the pipe P, a fluid such as water flows. The pipe P is a heat transfer pipe, and exchanges heat with the heat generated in the combustion chamber of the boiler. The plurality of tubes P extend in the horizontal direction, and are arranged in the horizontal direction and the vertical direction. That is, in the tube group Q, the plurality of tubes P are arranged in parallel with each other in the horizontal direction, and the plurality of tubes P are arranged in parallel with each other in the vertical direction.

One end of the pipe P and the other end of the pipe P may be connected to form one pipe. That is, in the tube group Q, one tube extends in the horizontal direction and then folded back and extends again in the horizontal direction, or one tube extends horizontally and then folded back and extends in the horizontal direction again. And may extend to meander as a whole. In this specification, even in such a case, each of the horizontally extending portions is regarded as one pipe P. Therefore, even if it is actually one continuous pipe, if there are a plurality of portions extending in the horizontal direction, they are treated as a plurality of pipes P.

In the boiler, the ash produced by the combustion may adhere to the pipe P. Some of the ash melts and becomes clinker. Thus, on the surface of the pipe P, deposits such as ash and clinker are attached. Here, the deposits are not limited to those in direct contact with the surface of the pipe P, but include those further stacked on those in direct contact with the surface of the pipe P. For example, not only the ash directly in contact with the surface of the pipe P, but also the ash further deposited thereon is included in the deposit.

The cleaning device 100 is placed on at least two pipes P aligned in the horizontal direction. The cleaning device 100 is provided in the device main body 1 and the device main body 1 and moves up and down from the device main body 1 and travels above at least two pipes P, and is positioned lower than the travel mechanism 2 And a cleaning mechanism 3 for cleaning deposits on the surface of the pipe P. The cleaning device 100 may include an elevation mechanism 7 that raises and lowers the cleaning mechanism 3 from the traveling mechanism 2. The cleaning device 100 may include a main body controller 8 that controls the cleaning device 100. The cleaning device 100 may include an external controller 9 that is operated when the operator inputs a command. The cleaning device 100 lowers and raises the cleaning mechanism 3 by the lifting mechanism 7 between the two pipes P on which the traveling mechanism 1 is mounted, and adheres to the two pipes P and the pipes P arranged below them. Clean the kimono. In FIG. 2, the lifting mechanism 7, the main body controller 8 and the external controller 9 are omitted.

Hereinafter, for convenience of explanation, the X axis, the Y axis, and the Z axis which are orthogonal to each other with respect to the cleaning device 100 are defined. The X axis is set in the traveling direction of the cleaning device 100 (that is, the traveling direction of the traveling mechanism 2), and the Z axis is set in the vertical direction of the cleaning device 100 (that is, the elevation direction of the elevating mechanism 7). The Y axis is set in the width direction (ie, the direction orthogonal to both the traveling direction and the vertical direction).

Further, U axis, V axis and W axis orthogonal to each other are defined with reference to the pipe group Q. A U axis is set in a direction in which the pipe P extends, a V axis is set in a direction perpendicular to the U axis and in a horizontal direction, and a W axis is set in a direction perpendicular to the U axis and in a vertical direction.

The apparatus body 1 has a flat plate-like base 11 extending on the XY plane, and a case 12 provided on the base 11 and accommodating the cleaning mechanism 3. At substantially the center of the base 11, an opening 11a (see FIG. 2) penetrating the base 11 is formed. The case 12 is formed in a rectangular tube shape having a substantially rectangular cross section whose longitudinal direction is the X-axis direction. The case 12 penetrates the opening 11 a of the base 11. Further, the apparatus body 1 is provided with a plurality of sensors (not shown) for detecting the pipe P.

The traveling mechanism 2 has two crawlers 21 attached to the lower surface of the base 11. The crawler 21 is configured to advance in the X-axis direction. That is, the rotation axis of the drive wheel of the crawler 21 extends in the Y-axis direction. The two crawlers 21 are arranged in the Y-axis direction across the opening 11 a of the base 11.

Although the cleaning mechanism 3 will be described in detail later, when the frame 31 (see FIG. 1), the three cleaning units 4 (see FIG. 2) supported by the frame 31 and the cleaning mechanism 3 advance in the pipe group Q. And a guide 5 for guiding the cleaning mechanism 3 in the advancing direction. The cleaning mechanism 3 is accommodated in the case 12 when cleaning is not performed. When cleaning is performed, the cleaning mechanism 3 descends from the case 12 and cleans the surface of the pipe P included in the pipe group Q while advancing in the pipe group Q.

The lifting mechanism 7 has two winches 71 and wires 72 wound up on each winch 71. The winch 71 is installed on the upper surface of the base 11. The two winches 71 are arranged to sandwich the case 12 in the X-axis direction. The wire 72 is wound around a reel of the winch 71. One end of the wire 72 is attached to the cleaning mechanism 3. That is, the cleaning mechanism 3 is suspended by the two wires 72 and is moved up and down in the Z-axis direction by the elevation mechanism 7. The case 12 is formed with a notch (not shown) for avoiding interference with the reel of the winch 71 and the wire 72.

The main body controller 8 is mounted on the apparatus main body 1. The main body controller 8 is formed of a processor. The main body controller 8 controls each part of the cleaning device 100 in response to an instruction from the external controller 9. For example, the main body controller 8 determines the positional relationship between the apparatus main body 1 and the pipe P based on the output of the sensor that detects the pipe P described above. The main body controller 8 moves the cleaning device 100 to the position according to the command from the external controller 9 while referring to the output of the sensor. Further, the main body controller 8 operates the cleaning mechanism 3 and the elevating mechanism 7.

The external controller 9 is connected to the main body controller 8 via a cable 91. The operator operates the external controller 9 to input a command to the main body controller 8. For example, the external controller 9 can input an operation command to the cleaning device 100 as a command. In addition, the external controller 9 may be able to input the movement distance associated with the operation.

The cleaning mechanism 3 will be described in more detail below. FIG. 3 is a view of the cleaning mechanism 3 in the Y-axis direction. FIG. 4 is a cross-sectional view of the cleaning unit 4 taken along line SS in FIG. 3 with the scraper 34 housed. FIG. 5 is a cross-sectional view of the cleaning unit 4 taken along line SS in FIG. 3 with the scraper 34 spread out. FIG. 6 is a view of the cleaning mechanism 3 in a state in which the guide 5 is contracted as viewed in the X-axis direction. FIG. 7 is a view of the cleaning mechanism 3 in a state in which the guide 5 is expanded in the X-axis direction. FIG. 8 is a cross-sectional view of the first blade 51A taken along line TT in FIG.

The frame 31 is formed in a substantially rectangular frame shape as shown in FIG. The cover 31a is attached to the frame 31, and thereby, the frame 31 is formed in a box shape as a whole. Locking portions 31 c to which the wires 72 of the elevating mechanism 7 are attached are provided on each of the pair of vertical frames 31 b provided at both ends in the X-axis direction of the frame 31 and extending in the Z-axis direction.

The shape of the frame 31 when viewed in the Z-axis direction (that is, the lifting and lowering direction of the cleaning mechanism 3) is the distance G _{V in} the V-axis direction of the two pipes P on which the cleaning device 100 is mounted (see FIG. 2) Extends beyond a circle with a diameter of. Specifically, the dimension in the Y-axis direction of the frame 31 is set smaller than the distance G _V between the two pipes P. On the other hand, the dimension in the X-axis direction of the frame 31 is set to be larger than the gap G _V of the two pipes P. That is, when the X-axis direction of the cleaning device 100 and the U-axis direction of the pipe group Q coincide with each other, the frame 31 can enter between the two pipes P. The frame 31 is an example of a support.

The three cleaning units 4 are supported by the frame 31. The three cleaning units 4 project downward from the lower part of the frame 31.

The three cleaning units 4 are arranged in the X-axis direction. The positions of the three cleaning units 4 in the Z-axis direction (that is, the lifting and lowering direction of the cleaning device 3) are different. Specifically, the cleaning unit 4 in the middle protrudes downward relative to the cleaning units 4 on both sides. Hereinafter, in the case where the three cleaning units 4 are respectively distinguished, they are referred to as “first cleaning unit 4A”, “second cleaning unit 4B”, and “third cleaning unit 4C” in the order of alignment in the X-axis direction.

The cleaning unit 4 is configured to be in contact with the pipe P and remove deposits on the surface of the pipe P while rotating around a rotation axis A parallel to the Z axis (that is, parallel to the elevation direction of the cleaning mechanism 3). ing. Specifically, as shown in FIG. 3, the cleaning unit 4 contacts the surface of the pipe P by contacting the surface of the pipe P with the rotary shaft 32 rotating around the rotation axis A extending parallel to the Z axis. It has a scraper 34 for removing a deposit, a disc 35 provided coaxially with the rotation axis A, and an excavated portion 36 provided on the rotation axis A and at the tip of the cleaning unit 4. The rotating shaft 32 extends along the rotation axis A. The rotating shaft 32 is rotationally driven by a motor (not shown) supported by the frame 31. The cleaning unit 4 is an example of a cleaning unit, and the scraper 34 is an example of a contact unit.

A disc 35, a scraper 34 and an excavating portion 36 are provided at the tip of the rotary shaft 32. Four discs 35 are arranged coaxially with the rotation axis A at equal intervals. The disc 35 is attached to the rotating shaft 32 in a non-rotatable state. That is, the disc 35 rotates integrally with the rotating shaft 32. The diameter of the disc 35 is set smaller than the distance G _V between the two pipes P.

Three gaps are formed by the four disks 35. As shown in FIGS. 4 and 5, three scrapers 34 are disposed in each gap. Between two adjacent disks 35, three rocking shafts 37 extending along a rocking axis B parallel to the rotation axis A are provided. The three rocking shafts 37 are provided at equal intervals around the rotation axis A at a position eccentric to the rotation axis A. Each scraper 34 is swingably connected to the swing shaft 37. The scraper 34 is formed in a substantially arc shape. The scraper 34 is made of, for example, an aluminum alloy, carbon steel, urethane rubber, or brass.

As shown in FIG. 4, when the tip 34 a of the scraper 34, which is the end far from the swing axis B, is closest to the rotation axis A, the scraper 34 completely fills the gap between the two discs 35. Housed in That is, the scraper 34 is accommodated inside the outer peripheral edge E of the disc 35. When the scraper 34 is accommodated in the disk 35, the shape of the cleaning unit 4 when viewed in the Z-axis direction (that is, the lifting and lowering direction of the cleaning mechanism 3) has a diameter G _V of the two pipes P as a diameter. It is within the circle to be. Here, “to be accommodated inside the outer peripheral edge E” means that the scraper 34 does not protrude from the outer peripheral edge E. That is, the scraper 34 may be flush with the outer peripheral edge E when being accommodated between the disks 35.

On the other hand, as shown in FIG. 5, the scraper 34 swings so that the tip portion 34 a is separated from the rotation axis A by the centrifugal force of the rotating shaft 32 and spreads radially outward about the rotation axis A. At this time, the scraper 34 protrudes outward beyond the outer peripheral edge E of the disc 35 (that is, protrudes outward from the outer peripheral edge E).

Hereinafter, “radial direction” means a radial direction around the rotation axis A unless otherwise specified.

When the scraper 34 is accommodated in the disk 35, the direction in which the scraper 34 extends from the swing shaft 37 toward the tip 34a is opposite to the rotation direction of the rotary shaft 32. That is, the scraper 34 is accommodated inside the outer peripheral edge E of the disc 35 in a state where the tip end portion of the scraper 34 is positioned rearward of the swinging shaft 37 in the rotational direction of the rotary shaft 32. Therefore, even if the scraper 34 contacts something while the scraper 34 rotates around the rotation axis A in a spread state, the scraper 34 pivots in the direction to be accommodated in the disc 35, and the rotation is performed. Rotation of the scraper 34 about axis A is maintained.

The excavating portion 36 is disposed on the most distal side of the rotary shaft 32, as shown in FIG. The drilling portion 36 is attached to the rotating shaft 32 in a non-rotatable state. That is, the drilling unit 36 rotates integrally with the rotating shaft 32. The excavating portion 36 is formed in a substantially conical shape, that is, in a sharp shape. The digging portion 36 is formed with a groove for releasing chips scraped by the digging portion 36.

Furthermore, as shown in FIGS. 3, 6 and 7, guides 5 are provided on each of the pair of vertical frames 31 b of the frame 31. The guide 5 has a pair of first blades 51A and a second blade 51B. The guide 5 may further include four first to fourth links 61 to 64 that connect the first blade 51A and the second blade 51B to the vertical frame 31b. The first blade 51A and the second blade 51B have symmetrical shapes in the left-right direction. The first blade 51A and the second blade 51B guide the cleaning mechanism 3 by coming into contact with the pipe P outside the guide 5 in the Y-axis direction. When the first blade 51A and the second blade 51B are not distinguished from one another, they are simply referred to as "blade 51". The first to fourth links 61 to 64 all have the same shape. When the first link 61, the second link 62, the third link 63, and the fourth link 64 are not distinguished from one another, they are simply referred to as "link 6".

Each blade 51 has a shape extending in the Z-axis direction. Each blade 51 has an edge 53 extending generally in the Z-axis direction on the outer side in the Y-axis direction (that is, the side far from the center of the frame 31 in the Y-axis direction). An edge 53 contacts the pipe P. As shown in FIGS. 6 and 7, both ends of the edge 53 in the Z-axis direction are inclined with respect to the Z-axis so as to be positioned inside in the Y-axis direction toward the tip end side. The cross-sectional shape of the edge 53 according to the XY plane (that is, a plane orthogonal to the traveling direction of the cleaning mechanism 3) becomes thinner toward the Y axis direction outer side (that is, located outside the Y axis direction) as shown in FIG. The closer to the pipe P, the thinner the tip). First to fourth links 61 to 64 are connected to each blade 51.

The longitudinal center of each link 6 is rotatably attached to the vertical frame 31 b. The first link 61 and the second link 62 are attached to the same rotation axis C. The third link 63 and the fourth link 64 are attached to the same rotation axis D. One longitudinal end (hereinafter referred to as "first end") of each link 6 is connected to the first blade 51A, and the other longitudinal end (hereinafter referred to as "second end") of each link 6 Is connected to the second blade 51B.

Specifically, the first end 61a of the first link 61 is rotatably and slidably mounted in the elongated hole 54 in the elongated hole 54 formed in the first blade 51A and extending in the Z-axis direction. . The second end 61b of the first link 61 is rotatably attached to the second blade 51B. The first end 62a of the second link 62 is rotatably attached to the first blade 51A. The second end 62 b of the second link 62 is rotatably and slidably attached to the inside of the elongated hole 54 in the elongated hole 54 formed in the second blade 51 B and extending in the Z-axis direction.

Similarly, the first end 63a of the third link 63 is rotatably and slidably attached to the elongated hole 54 formed in the first blade 51A and extending in the Z-axis direction. . The second end 63b of the third link 63 is rotatably attached to the second blade 51B. The first end 64a of the fourth link 64 is rotatably attached to the first blade 51A. The second end 64 b of the fourth link 64 is rotatably attached to an elongated hole 54 formed in the second blade 51 B and extending in the Z-axis direction so as to be slidable in the elongated hole 54.

In the first link 61 and the second link 62, the first end 61a of the first link 61 and the second end 62b of the second link 62 are separated in the Y-axis direction, and the second end of the first link 61 A coil spring (not shown) urges the first end 62 a of the second link 62 and the first end 62 a of the second link 62 around the rotation axis C by a coil spring (not shown).

Similarly, in the third link 63 and the fourth link 64, the first end 63 a of the third link 63 and the second end 64 b of the fourth link 64 are separated in the Y-axis direction. A coil spring (not shown) urges the two end 63 b and the first end 64 a of the fourth link 64 around the rotation axis D so as to be separated in the Y-axis direction.

Thus, the first blade 51A and the second blade 51B are urged away from each other in the Y-axis direction while maintaining the posture extending in the Z-axis direction. That is, the first blade 51A and the second blade 51B are biased so as to press the edge 53 against the pipe P located outside the guide 5 in the Y-axis direction. The first blade 51A and the second blade 51B also move in the Z-axis direction when moving in the Y-axis direction. As shown in FIG. 7, the first blade 51 </ b> A and the second blade 51 </ b> B extend in the Y axis direction more than the frame 31 in the most expanded state. The locking portion 31c is disposed at a position not to interfere with the first blade 51A and the second blade 51B, which move as described above, and the first to fourth links 61 to 64.

The cleaning mechanism 3 configured in this way can be accommodated in the case 12 as shown in FIGS. The distance between the two edges 53 of the pair of blades 51 in the state of being most expanded in the Y-axis direction is larger than the dimension of the case 12 in the Y-axis direction. That is, in the state where the cleaning mechanism 3 is accommodated in the case 12, the pair of blades 51 is contracted inward in the Y-axis direction, and the two edges 53 are in contact with the inner surface of the case 12. As a result, the position of the cleaning mechanism 3 in the Y-axis direction in the case 12 is determined.

Subsequently, the operation of the cleaning device 100 will be described. FIG. 9 is a view of the cleaning mechanism 3 cleaning the pipe P as viewed in the X-axis direction.

The cleaning device 100 cleans the two pipes P and the pipes P arranged below the two pipes P in the Z-axis direction by lowering and raising the cleaning mechanism 3 between the two pipes P. Do.

First, the operator places the cleaning device 100 on the pipe P. The operator operates the external controller 9 to move the cleaning device 100 to the cleaning start position. For example, in the cleaning start position, two crawlers 21 are mounted on two pipes P in parallel with the pipe P, and the cleaning device 100 is located at one end of the two pipes P in the U-axis direction. And, it is a position where the cleaning mechanism 3 is positioned between the two pipes P in the V-axis direction. The movement of the cleaning device 100 to the cleaning start position may be performed visually by the operator, or a sensor of the cleaning device 100 may detect the cleaning start position. In the case of visual observation by the operator, the input from the external controller 9 may be an operation command such as forward, backward or turning of the cleaning device 100, or may be a movement distance.

When the cleaning device 100 moves to the cleaning start position, the operator inputs a cleaning start instruction via the external controller 9.

When the main body controller 8 receives a command to start cleaning, the rotary shaft 32 of the cleaning mechanism 3 is rotationally driven, and the cleaning mechanism 3 is lowered between the two pipes P by the elevation mechanism 7 in this state. The centrifugal force caused by the rotation of the rotary shaft 32 spreads the scraper 34 radially outward around the rotation axis A.

Since the scraper 34 spreads by centrifugal force, if there is not enough space, the scraper 34 will not spread to the maximum and will spread as far as possible. That is, when the radially outer space of the scraper 34 differs depending on the position in the Z-axis direction, the scraper 34 descends while changing the spread according to the radially outer space. When the cleaning mechanism 3 descends in the pipe group Q, as shown in FIG. 9, the position where the pipe P does not exist radially outside the scraper 34, or the pipe P exists radially outside the scraper 34, but the scraper In the position where 34 does not reach, the scraper 34 is in the state of being expanded to the maximum (see the scraper 34 of the relatively upper part of the first cleaning unit 4A in FIG. 9). In the position where the pipe P exists radially outward of the scraper 34 and the scraper 34 reaches the pipe P, the scraper 34 expands to a state in contact with the pipe P (the relatively lower scraper of the first cleaning unit 4A in FIG. 34 and scraper 34 of second cleaning unit 4B). As a result, the scraper 34 contacts the surface of the pipe P while changing the radial spread according to the surface shape of the pipe P as it passes by the side of the pipe P.

That is, the scraper 34 penetrates between the plurality of pipes P arranged along the direction of movement of the cleaning mechanism 3 (that is, arranged in the W-axis direction), and the deposits existing between the plurality of pipes P And contact with the surfaces of the plurality of tubes P to remove deposits on the tubes P. As a result, the scraper 34 not only has a portion of the surface of the pipe P facing the space through which the cleaning mechanism 3 passes, but also a direction (for example, the V-axis direction) intersecting the advancing direction of the cleaning mechanism 3 from the space. The deposit adhering to the part (that is, the recessed part) away from is also removed.

Preferably, the diameter of the circumscribed circle F (see FIG. 5) of the scraper 34 in the most expanded state of the scraper 34 is set larger than the distance between the axes of the two tubes P aligned in the V-axis direction. Thereby, the scraper 34 can remove the deposit | attachment of the substantially semicircle part among the surfaces of the pipe | tube P by passing the side of the pipe | tube P to the W-axis direction.

Thus, the scraper 34 scrapes off deposits attached to the surface of the pipe P.

At this time, the scraper 34 is disposed between the two discs 35. Therefore, when the cleaning unit 4 rotates or when the scraper 34 contacts with another object such as the pipe P, the shake of the scraper 34 in the Z-axis direction can be reduced by the disc 35.

Further, when the cleaning mechanism 3 passes through the narrow gap, the spread of the scraper 34 is suppressed. The scraper 34 is accommodated in the disc 35 when the spread of the scraper 34 is minimized. That is, the minimum outer shape of the cleaning unit 4 when viewed in the Z-axis direction is the outer shape of the disc 35. Here, if there is no disc 35, the minimum outer shape of the cleaning unit 4 is formed by the outer edges of the three scrapers 34 whose tip approaches the rotating shaft 32 (in the state where the disc 35 is omitted in FIG. 4). The minimum outer shape of the cleaning unit 4 in this case is not a complete circle, but a recess is formed between two adjacent scrapers 34, and has an overall unevenness. When the cleaning unit 4 which is a rotating body having such irregularities is in contact with the pipe P and the like, the repulsion from the pipe P and the like becomes large. On the other hand, by providing the disc 35, it is possible to reduce the repulsion when the cleaning unit 4 contacts the pipe P and the like.

Here, when the cleaning mechanism 3 descends between the two pipes P, a deposit such as ash is present on the front side (that is, below the cleaning mechanism 3) in the advancing direction of the cleaning mechanism 3 There is a case. For example, when the thickness of the deposit on the surface of the tube P increases, the distance between the two tubes P covered with the deposit in the V-axis direction decreases. If there is a large amount of deposits, the distance between the two tubes P in the V-axis direction may be filled with the deposits. If this interval becomes smaller than the diameter of the disc 35 or the dimension in the Y-axis direction of the frame 31, the disc 35 and the frame 31 interfere with the deposit when the cleaning mechanism 3 descends, and the descent of the cleaning mechanism 3 is inhibited. Ru. The scraper 34 can remove deposits on the radially outer side from the disc 35 but can not remove deposits on the lower side of the disc 35. On the other hand, a digging portion 36 is provided at the tip of the cleaning unit 4. The digging portion 36 rotates integrally with the rotating shaft 32 when the cleaning mechanism 3 descends. Therefore, when the cleaning mechanism 3 descends, the digging portion 36 excavates the deposit present below the cleaning mechanism 3. Thereby, the cleaning mechanism 3 can be lowered smoothly.

Furthermore, when the cleaning mechanism 3 advances in the pipe group Q, the guide 5 guides the cleaning mechanism 3. Specifically, the first blade 51A and the second blade 51B of the guide 5 are biased in the direction away from each other in the Y-axis direction. Therefore, the first blade 51A contacts the pipe P on one side in the V-axis direction, and the second blade 51B contacts the pipe P on the other side in the V-axis direction. Thus, the position of the cleaning mechanism 3 in the V-axis direction is determined with respect to the pipes P located on both sides in the V-axis direction. Specifically, the cleaning mechanism 3 is positioned at the center in the V axis direction of the tubes P aligned in the V axis direction. Furthermore, since the cross-sectional shape of the edge 53 of the first blade 51A and the second blade 51B in contact with the pipe P is sharp toward the outside in the Y-axis direction, deposits adhere to the surface of the pipe P Even so, the edge 53 cuts into the deposit and tends to come in contact with the surface of the pipe P. Thereby, the positioning accuracy of the cleaning mechanism 3 is improved.

Incidentally, both ends in the Z-axis direction of the edges 53 of the first blade 51A and the second blade 51B are inclined so as to be positioned inside in the Y-axis direction toward the tip end side. That is, in other words, the distance in the Y-axis direction between both edges 53 of the first blade 51A and the second blade 51B is shorter toward the tip end. Therefore, when the first blade 51A and the second blade 51B enter between the two pipes P, the ends in the Z-axis direction of the first blade 51A and the second blade 51B do not get caught in the pipe P, The first blade 51A and the second blade 51B smoothly enter between the two pipes P.

The cleaning mechanism 3 is raised by the elevating mechanism 7 when the cleaning unit 4 descends until the cleaning unit 4 passes the lowermost one of the pipes P to be cleaned. The arrival of the cleaning mechanism 3 in the lowermost position may be confirmed visually by the operator, or a sensor may be provided in the cleaning device 3 and detected by the sensor. Alternatively, the operator may input the lowering distance of the cleaning mechanism 3 at the start of cleaning.

Even when the cleaning mechanism 3 ascends, the scraper 34 contacts the surface of the pipe P while changing the radial expansion according to the surface shape of the pipe P, and scrapes the deposit adhering to the surface of the pipe P I will drop it. That is, the cleaning mechanism 3 cleans the surface of the pipe P with the scraper 34 both at the time of descent and at the time of ascent.

Since the cleaning mechanism 3 is provided with three cleaning units 4 aligned in the X-axis direction, three lowering of the position in the U-axis direction in the pipe P is cleaned by one lowering and raising of the cleaning mechanism 3. Ru.

When the upward and downward reciprocation of the cleaning mechanism 3 is completed, the cleaning device 100 moves along the two pipes P by a predetermined amount in the U-axis direction. After that, the cleaning mechanism 3 performs the lowering and the raising again. That is, the cleaning mechanism 3 cleans a portion of the pipe P in which the position in the U-axis direction is different from that at which the cleaning mechanism 3 descends and rises earlier. Thus, the apparatus body 1 repeatedly moves and stops along at least two pipes P included in the pipe group Q as the traveling mechanism 2 travels, and the cleaning mechanism 3 is at the position where the apparatus body 1 is stopped. Move up and down to clean at least two pipes P.

The movement of the cleaning device 100 in the U-axis direction may be performed automatically by the cleaning device 100 when the lifting of the cleaning mechanism 3 is completed, or the operator may input a command via the external controller 9. You may go by.

Thus, the cleaning device 100 repeats lowering and raising of the cleaning mechanism 3 while changing the position in the U-axis direction. When the cleaning device 100 finishes moving the two pipes P on which the cleaning device 100 is mounted from one end to the other end in the U-axis direction, the cleaning device 100 is mounted on the two pipes P on which the cleaning device 100 is mounted. Finish the cleaning in between.

The arrival of the cleaning device 100 at the other end in the U-axis direction of the two pipes P may be confirmed visually by the operator or may be detected by a sensor provided in the cleaning device 100. Alternatively, the operator may input the moving distance of the cleaning device 100 in the U-axis direction at the start of cleaning.

Subsequently, the cleaning device 100 is moved in the V-axis direction, and the cleaning mechanism 3 is disposed between two different pipes P. Specifically, the cleaning device 100 turns from the state in which the two crawlers 21 are parallel to the pipe P to the state in which the two crawlers 21 are substantially orthogonal to the pipe P. Then, the cleaning device 100 moves across the pipes P until the cleaning mechanism 3 is positioned between the two adjacent pipes P between the two pipes P whose cleaning has been completed. When the cleaning mechanism 3 moves between the two adjacent pipes P, the cleaning device 100 turns so that the two crawlers 21 are parallel to the pipe P. After pivoting, the cleaning device 100 moves to the end in the U-axis direction of the two pipes P. In addition, one of the two new pipes P is one pipe P of the two pipes P whose cleaning has already been completed.

Then, the cleaning device 100 cleans the two new pipes P and the lower pipe P in the same manner as described above. Thus, the cleaning device 100 cleans the pipes P included in the pipe group Q by repeating the above-described cleaning while changing the two pipes P on which the cleaning device 100 is placed.

Here, the pivoting of the cleaning device 100 after the end of cleaning between one set of pipes P, the crossing of the pipe P of the cleaning device 100, the re-pivoting of the cleaning device 100, and the U axis direction of another set of pipes P. The movement of the cleaning device 100 to the end may be performed automatically by the cleaning device 100 or may be performed by the operator inputting a command via the external controller 9. When the operator inputs a command, all of the turning, crossing, re-turning and moving of the cleaning device 100 may be performed by one command, and the operation of the turning, crossing, re-turning and moving of the cleaning device 100 A command may be input every time.

Subsequently, the movement of the cleaning device 100 will be described in more detail. FIG. 10 is a view of the cleaning device 100 moving in parallel with the pipe P as viewed in the X-axis direction. FIG. 11 is a view of the cleaning device 100 moving in parallel with the pipe P as viewed in the Z-axis direction. FIG. 12 is a view of the cleaning device 100 pivoting on the pipe P as viewed in the X-axis direction. FIG. 13 is a view of the cleaning device 100 pivoting on the pipe P as viewed in the Z-axis direction. 11 and 13 schematically show the cleaning device 100. Moreover, in FIG. 11, 13, among the three cleaning units 4, only the cleaning unit 4 with the same pipe | tube P and W axial direction position in which the cleaning apparatus 100 was mounted is shown in figure.

As described above, when the cleaning device 100 cleans the pipe P included in the pipe group Q, the cleaning device 100 travels on the pipe P. Since the deposit adheres to the surface of the pipe P, the crawler 21 can slip and slip. Therefore, it may be difficult to drive the cleaning device 100 to a desired position. Therefore, the cleaning device 100 achieves movement to a desired position by using the cleaning unit 4 as a guide during traveling.

Basically, when the cleaning device 100 moves on the pipe P, the cleaning unit 4 is pulled up as shown in FIG. 2 so that the cleaning unit 4 does not interfere with the pipe P (the cleaning unit 4 It moves in a state where it does not project downward from the traveling mechanism 2).

However, when the cleaning device 100 moves in the U-axis direction along the two pipes P in order to clean the portions in which the pipe P in the U-axis direction is different, the cleaning device 100 as shown in FIG. The cleaning unit 4 is protruded below the traveling mechanism 2 and travels in a state where the cleaning unit 4 is advanced between the two pipes P on which the cleaning device 100 is mounted. Since the cleaning unit 4 enters between the two pipes P, the cleaning device 100 is deviated in the V-axis direction when moving along the two pipes P as shown in FIG. Is regulated. That is, the cleaning unit 4 functions as a guide when the cleaning device 100 moves in parallel with the pipe P.

At this time, it is preferable that a plurality of cleaning units 4 are in a state of entering between two pipes P. In the cleaning mechanism 3, since the first cleaning unit 4A and the third cleaning unit 4C have the same position in the Z-axis direction, the first cleaning unit 4A and the third cleaning unit 4C are made to enter between the two pipes P. Since the cleaning units 4 aligned in the X-axis direction enter between the two pipes P, the cleaning device 100 is restricted from rotating around the Z-axis when moving along the two pipes P. Ru.

In addition, the cleaning device 100 may move across the pipe P, for example, as in the case of changing the two pipes P that perform cleaning. In such a case, the cleaning device 100 needs to turn and change the crawler 21 from the parallel state to the pipe P. The cleaning device 100 drives the two crawlers 21 in opposite directions when turning. That is, one crawler 21 is driven to move to one side in the X-axis direction, and the other crawler 21 is driven to move to the other side in the X-axis direction. Thus, the cleaning device 100 pivots about an axis parallel to the Z axis. However, if a deposit (for example, ashes) adheres to the surface of the pipe P with which the crawler 21 is in contact, the crawler 21 may idle and the cleaning device 100 may not turn well. For example, when only one crawler 21 slips, the cleaning device 100 moves in the direction in which the other crawler 21 travels.

In order to prevent this, the cleaning device 100 turns in a state where only one cleaning unit 4 is inserted between two pipes P. In the cleaning mechanism 3, since the second cleaning unit 4B protrudes downward relative to the first cleaning unit 4A and the third cleaning unit 4C, the second cleaning unit 4B has two pipes P as shown in FIG. It is made to enter in the meantime. The scraper 34 can be accommodated in the disc 35, and the outer diameter of the disc 35 is smaller than the distance between the two pipes P. That is, the outer shape of the second cleaning unit 4B when viewed in the Z-axis direction is within a circle whose diameter is the distance between the two pipes P. Therefore, even in a state where the second cleaning unit 4B enters between the two pipes P, the cleaning device 100 can pivot. When viewed in the Z-axis direction, the transverse direction dimension of the frame 31 is smaller than the distance between the two pipes P, but the longitudinal dimension of the frame 31 is larger than the distance between the two pipes P . Therefore, the frame 31 does not enter between the two pipes P.

In this way, when the second cleaning unit 4B enters between the two pipes P, the cleaning device 100 can not move freely even if the driving force of one of the crawlers 21 is superior. When the cleaning device 100 continues to travel with the second cleaning unit 4B engaged with the two pipes P and the driving forces of the two crawlers 21 being unbalanced, the crawler 21 which has been idled is also brought into contact with the pipe P soon. Frictional force acts between them, and the cleaning device 100 pivots. As a result, as shown in FIG. 13, even if the cleaning device 100 can not pivot on the spot, it eventually pivots while slightly moving along the two pipes P.

Then, when the two crawlers 21 are substantially orthogonal to the pipes P, the cleaning device 100 is configured such that the cleaning unit 4 that has entered between the two pipes P is pulled out from between the two pipes P. The cleaning mechanism 4 is raised by the lifting mechanism 7.

When the cleaning unit 4 does not protrude downward from the traveling mechanism 2, the cleaning device 100 moves across the pipe P. The cleaning device 100 moves until the second cleaning unit 4B is positioned between the two pipes P to be cleaned next in the V-axis direction. When the cleaning device 100 moves to the position, the cleaning device 100 lowers the cleaning mechanism 4 so that only the second cleaning unit 4B enters between the two pipes P. In this state, the cleaning device 100 turns as described above. At this time, the cleaning device 100 pivots until the two crawlers 21 become parallel to the two pipes P.

When the two crawlers 21 are parallel to the two pipes P, the cleaning device 100 is configured such that the plurality of cleaning units 4 (specifically, the first cleaning unit 4A and the third cleaning unit 4C) have two pipes P. The cleaning mechanism 4 is lowered to enter during the period. The cleaning device 100 moves along the two pipes P to a position where the cleaning is resumed, with the cleaning units 4 entering between the two pipes P as described above.

Thus, when using the cleaning unit 4 as a guide, the cleaning device 100 turns when the cleaning unit 4 is advanced between the pipes P and in a state where the cleaning unit 4 is advanced between the pipes P. Alternatively, when moving, the rotary shaft 32 is rotationally driven. When the rotating shaft 32 is rotating, when the scraper 34 contacts something, a component acts on the scraper 34 in the direction to accommodate the scraper 34 in the disc 35. Therefore, even if the scraper 34 contacts something, the scraper 34 is swung in the direction of being accommodated in the disc 35, and the rotation of the scraper 34 is maintained. That is, the movement of the cleaning device 100 is substantially restricted by the contact of the disc 35 with the pipe P. The rotational speed of the rotary shaft 32 when the cleaning unit 4 functions as a guide is set to a lower speed than the rotational speed of the rotary shaft 32 when the cleaning unit 4 cleans the pipe P.

As described above, the cleaning device 100 is moved up and down from the device body 1 and the traveling mechanism 2 provided on the device body 1 and traveling on at least two pipes P included in the tube group Q. And the cleaning mechanism 3 for cleaning deposits on the surface of the pipe P located below the traveling mechanism 2, and the traveling mechanism 2 is in a state where the cleaning mechanism 3 enters between at least two pipes P. It pivots on at least two pipes P.

According to this configuration, two cleaning mechanisms 3 are provided even when there are deposits or the like on the two tubes P and the traveling mechanism 2 can not travel properly by sliding on the two tubes P. Since it has entered between the pipes P, the traveling mechanism 2 never travels without restriction. Since the state where at least the cleaning mechanism 3 has entered between the two pipes P is maintained, if the turning movement by the traveling mechanism 2 is continued, the slip of the traveling mechanism 2 is alleviated or eliminated in the end, and the traveling is continued The mechanism 2 can pivot.

In addition, the cleaning mechanism 3 includes a cleaning unit 4 (cleaning unit) for removing deposits on the surface of the pipe P, and a frame 31 (supporting unit) positioned above the cleaning unit 4 and supporting the cleaning unit 4. When viewed in the elevating direction of the cleaning mechanism 3, the shape of the cleaning unit 4 is contained in a circle having a diameter G _V between the two pipes P, while the shape of the frame 31 is two and it protrudes a distance G _V of the pipe P from the circle to the diameter, when the traveling mechanism 2 pivots the frame 31 is not entered between at least two of the pipe P, and the cleaning unit 4 Has entered between at least two tubes P.

According to this configuration, the shape of the cleaning unit 4 when viewed in the elevating direction of the cleaning mechanism 3 is within a circle having a diameter G _V between the two pipes P as a diameter. Even in the state of entering between the pipes P, the cleaning unit 4 does not inhibit the turning of the traveling mechanism 2. On the other hand, since the shape of the frame 31 when viewed in the raising and lowering direction of the cleaning mechanism 3 protrudes from a circle having a diameter G _V between the two pipes P, the frame 31 enters between the two pipes P In this state, the frame 31 may inhibit turning of the traveling mechanism 2. Therefore, when the traveling mechanism 2 turns, the cleaning unit 4 is made to enter between the two pipes P, while the frame 31 is not made to enter between the two pipes P. Thereby, the traveling mechanism 2 can be smoothly turned.

Furthermore, the cleaning mechanism 3 has a plurality of cleaning units 4 with different positions in the elevation direction of the cleaning mechanism 3, and when the traveling mechanism 2 turns, the lowermost one in the elevation direction among the plurality of cleaning units 4 2 Only the cleaning unit 4B is in a state of entering between at least two pipes P.

According to this configuration, since the cleaning mechanism 3 has the plurality of cleaning units 4, when the plurality of cleaning units 4 enter between the two pipes P when the traveling mechanism 2 turns, The cleaning unit 4 may inhibit the turning of the traveling mechanism 2. Therefore, when the traveling mechanism 2 turns, the lowermost second cleaning unit 4B is made to enter between the two pipes P. That is, the cleaning units 4 other than the second cleaning unit 4B do not enter between the two pipes P. Thereby, the traveling mechanism 2 can be smoothly turned.

When the traveling mechanism 2 travels along at least two pipes P, a plurality of cleaning units 4 are in a state of entering between at least two pipes P.

According to this configuration, the turning of the traveling mechanism 2 is limited by the plurality of cleaning units 4 entering between the two pipes P. That is, the plurality of cleaning units 4 function as a guide for causing the traveling mechanism 2 to travel along the two pipes P.

Furthermore, the cleaning unit 4 is configured to contact the pipe P and remove deposits on the surface of the pipe P while rotating around a rotation axis A parallel to the elevating direction of the cleaning mechanism 3.

According to this configuration, the cleaning unit 4 is formed in a shape that can rotate around the rotation axis A between the two pipes P. Even in the state where the cleaning unit 4 enters between the two pipes P, the cleaning unit 4 does not inhibit the turning of the traveling mechanism 2.

Further, the cleaning unit 4 fits in a circle having a diameter G _V of the two pipes P as a diameter when viewed in the raising and lowering direction of the cleaning mechanism 3 and the rotating shaft 32 rotating around the predetermined rotation axis A. The deposit on the surface of the pipe P is connected to the surface of the pipe P by contacting the surface of the pipe P so as to expand beyond the circle radially outward around the rotational axis A by the centrifugal force of the rotational shaft 32 And a scraper 34 (contact portion) to be removed.

Furthermore, the scraper 34 is swingably connected to a swinging shaft 37 that rotates integrally with the rotating shaft 32, and is pivoted around the swinging shaft 37 by the centrifugal force of the rotating shaft 32 so that the rotation axis A is centered. Extend radially outward.

<< Embodiment 2 >>
Subsequently, the cleaning device 200 according to the second embodiment will be described. FIG. 14 is a side view of the cleaning device 200. FIG.

The cleaning device 200 mainly differs in the configuration of the cleaning mechanism 203 and the elevation mechanism 207 from the cleaning device 3 and the elevation mechanism 7 of the cleaning device 100. Hereinafter, components of the cleaning device 200 that are different from the cleaning device 100 will be mainly described. About the structure similar to the cleaning apparatus 100 among the cleaning apparatuses 200, the same code | symbol is attached | subjected and description is abbreviate | omitted.

The cleaning device 200 is placed on at least two pipes P aligned in the horizontal direction. The cleaning device 200 includes an apparatus main body 201, a traveling mechanism 2 traveling on at least two pipes P, and a cleaning mechanism 203 for cleaning deposits on the surface of the pipe P located below the traveling mechanism 2. The elevating mechanism 207 which raises and lowers the cleaning mechanism 203 from the apparatus main body 201, the main body controller 8 which controls the cleaning device 200, and the external controller 9 which is operated when the operator inputs a command. The cleaning device 200 causes the cleaning mechanism 203 to be lowered and raised between the two pipes P on which the traveling mechanism 1 is mounted by the elevating mechanism 207 and attached to the two pipes P and the pipes P lined below them. Clean the kimono.

As in the case of the cleaning device 100, for convenience of description, the X axis, the Y axis, and the Z axis orthogonal to each other are defined with reference to the cleaning device 200. Specifically, the X axis is set in the traveling direction of the cleaning device 200 (that is, the traveling direction of the traveling mechanism 2), and the Z axis is set in the vertical direction of the cleaning device 200 (that is, the elevation direction of the elevating mechanism 207). The Y axis is set in the width direction of the cleaning device 200 (that is, the direction orthogonal to both the traveling direction and the vertical direction).

The apparatus main body 201 has a flat base 211 extending in the XY plane, and a frame 212 provided on the base 211 and supporting the elevating mechanism 207. An opening (not shown) passing through the base 211 is formed substantially at the center of the base 211.

The traveling mechanism 2 is attached to the lower surface of the base 211. The configuration of the traveling mechanism 2 of the cleaning device 200 is substantially the same as the configuration of the traveling mechanism 2 of the cleaning device 100.

The cleaning mechanism 203 has a nozzle 204 for ejecting liquid, and a supply unit for supplying the liquid to the nozzle. The nozzle 204 is configured to remove deposits on the surface of the pipe P by injecting a fluid. In this example, the liquid to be jetted is water.

The nozzle 204 has a nozzle body 241 and a plurality of injection ports 242. The nozzle body 241 is formed in a cylindrical shape having an axial center H extending in the Z-axis direction. The plurality of injection ports 242 are arranged symmetrically with respect to the ZX plane. More specifically, the plurality of injection holes 242 are arranged at equal intervals in the circumferential direction centering on the axial center H in the nozzle body 241. From the injection port 242, the liquid is injected in the radial direction around the axis H. That is, from the nozzle 204, the liquid is jetted radially around the axis H. Further, the shape of the nozzle 204 when viewed in the Z-axis direction (that is, the raising and lowering direction of the nozzle 204) is the interval G _{V in} the V-axis direction of the two pipes P on which the cleaning device 200 is mounted (see FIG. 2) In a circle with a diameter of. The nozzle 204 is an example of a cleaning unit.

The supply unit includes a liquid supply source provided outside the cleaning device 200 and a hose 251 connecting the supply source and the nozzle 204.

The lifting mechanism 207 is a so-called pantograph. The lifting and lowering mechanism 207 has a plurality of links 271 constituting a pantograph. Specifically, the longitudinal ends of one set of two links 271 form another set of two links, with the two links 271 rotatably connected at the longitudinal center in a crossing state as one set. It is rotatably connected to the longitudinal direction end of 271 respectively. Relatively short links 271 are rotatably connected to longitudinal ends of the lowermost set of two links 271 (ends not connected with another set of links). The nozzles 204 (more specifically, the nozzle body 241) are connected to these short links 271. The lifting mechanism 207 also functions as a support for supporting the nozzle 204 in the cleaning mechanism 203.

The longitudinal ends (the ends where the other set of links are not connected) of the topmost set of two links 271 are connected to the frame 212. The frame 212 has a pair of vertical frames 212a extending from the base 211 in the Z-axis direction, and a horizontal frame 212b connected to the upper end of the pair of vertical frames 212a and extending in the X-axis direction. One link 271 (hereinafter, referred to as “first link 271A”) of the uppermost set is coupled to the horizontal frame 212b in a rotatable and non-slidable manner in the X-axis direction. The other top link 271 (hereinafter referred to as “second link 271 B”) is connected to the horizontal frame 212 b in a rotatable and slidable manner in the X-axis direction (see the arrow in FIG. 14). ).

The second link 271B is moved in the X-axis direction along the lateral frame 212b by a drive unit (not shown). When the longitudinal end of the second link 271B is moved away from the longitudinal end of the first link 271A, the dimension in the Z-axis direction of the entire pantograph is reduced, and as a result, the nozzle 204 is lifted. On the other hand, when one end in the longitudinal direction of the second link 271B is moved in a direction approaching the one end in the longitudinal direction of the first link 271A, the dimension in the Z-axis direction of the whole pantograph becomes large, and as a result, the nozzle 204 descends.

The shape of the lifting mechanism 207 when viewed in the Z-axis direction (that is, the lifting and lowering direction of the nozzle 204) protrudes from a circle having a diameter G _V in the V-axis direction of the two pipes P. Specifically, the dimension of the elevating mechanism 207 in the Y-axis direction is smaller than the distance G _V between the two pipes P, while the dimension of the elevating mechanism 207 in the X-axis direction is the distance G _V between the two pipes P Greater than. When the X-axis direction of the cleaning device 200 coincides with the U-axis direction of the pipe group Q, the lifting mechanism 207 can enter between the two pipes P.

Subsequently, the operation of the cleaning device 200 will be described. FIG. 15 is a view of the cleaning mechanism 203 cleaning the pipe P as viewed in the Y-axis direction.

The cleaning device 200 cleans the two pipes P and the pipes P arranged below the two pipes P by lowering and raising the cleaning mechanism 203 between the two pipes P. Cleaning is started from the state where the two crawlers 21 are mounted on the two pipes P in parallel with the pipe P and the nozzle 204 is positioned between the two pipes P in the V-axis direction.

The nozzle 204 is lowered between the two pipes P by the lift mechanism 207. At this time, liquid is jetted from the nozzle 204. The jetted liquid removes deposits on the surface of the pipe P. The nozzle 204 jets the liquid in the direction intersecting the Z axis, so that the liquid is drawn between the plurality of tubes P arranged along the traveling direction of the nozzle 204 (that is, arranged in the W axis direction). The spray is applied to remove deposits present between the plurality of tubes P and to remove deposits on the surfaces of the plurality of tubes P. As a result, the nozzle 204 is not only in the portion of the surface of the pipe P facing the space through which the nozzle 204 passes, but also in a direction (for example, the V-axis direction) intersecting the traveling direction of the nozzle 204 from the space It also removes deposits attached to remote parts (ie, recessed parts).

The nozzle 204 jets the liquid radially about the axis H, and thus removes deposits on the pipes P on both sides of the nozzle 204 in the V-axis direction. At this time, the nozzle 204 receives a reaction force due to the ejection of the liquid. The injection ports 242 of the nozzle 204 are disposed symmetrically with respect to the ZX plane. Therefore, the reaction force to one side in the V-axis direction received by the nozzle 204 and the reaction force to the other side in the V-axis direction cancel each other. As a result, movement of the nozzle 204 in the V-axis direction is suppressed by the reaction force from the injection. That is, even if the cleaning mechanism 203 does not have a guide mechanism such as the guide 5 of the cleaning mechanism 3, the positional deviation in the V-axis direction can be reduced.

Thus, the nozzle 204 removes deposits on the surface of the pipe P in a substantially semi-peripheral portion by passing through the side of the pipe P in the W-axis direction.

The nozzle 204 is raised by the raising and lowering mechanism 207 as it descends until it passes the lowermost pipe P of the pipes P to be cleaned. Even when the nozzle 204 ascends, the nozzle 204 jets the liquid to the pipe P to cut off the deposits on the pipe P. That is, the nozzle 204 cleans the surface of the pipe P both at the time of descent and at the time of ascent.

When the up and down reciprocation of the nozzle 204 is completed, the cleaning device 200 moves along the two pipes P in the U axis direction by a predetermined amount. Thereafter, the nozzle 204 performs lowering and raising again. That is, the nozzle 204 cleans the portion of the pipe P which is different in U-axis direction position from the previous lowering and rising of the nozzle 204.

Like the cleaning device 100, the cleaning device 200 repeats lowering and raising of the nozzle 204 while changing the position in the U-axis direction, and the two pipes P on which the cleaning device 200 is mounted are The movement from one end to the other end is ended. Subsequently, the cleaning device 200 is moved in the V-axis direction, the nozzle 204 is disposed between two different pipes P, and the two new pipes P and the pipes P therebelow are the same as described above. Clean up. Thus, the cleaning device 200 cleans the pipes P included in the pipe group Q by repeating the above-described cleaning while changing the two pipes P on which the cleaning device 200 is placed.

Subsequently, movement of the cleaning device 200 will be described. FIG. 16 is a view of the cleaning device 200 viewed in the X-axis direction when moving in parallel with the pipe P and when pivoting on the pipe P. As shown in FIG.

As described above, when the cleaning device 200 cleans the pipe P included in the pipe group Q, the cleaning device 200 travels on the pipe P. At this time, the cleaning device 200 achieves movement to a desired position by using the nozzle 204 as a guide for traveling.

Basically, when the cleaning device 200 moves on the pipe P, the nozzle 204 is pulled up as shown in FIG. 14 so that the nozzle 204 does not interfere with the pipe P (the nozzle 204 runs the traveling mechanism 2) Move out from the bottom).

However, when the cleaning device 200 moves in the U-axis direction along the two pipes P in order to clean the portions in which the pipe P in the U-axis direction is different, the cleaning device 200 as shown in FIG. The nozzle 204 is protruded below the traveling mechanism 2 and travels in a state in which the nozzle 204 enters between two pipes P on which the cleaning device 200 is mounted. Since the nozzle 204 has entered between the two pipes P, the cleaning device 200 is prevented from shifting in the V-axis direction.

The cleaning device 200 moves in the U-axis direction in a state where not only the nozzle 204 but a part of the lifting mechanism 207 (for example, the relatively lower link 271) is advanced between the two pipes P. You may go.

In addition, the cleaning device 200 turns in a state where the nozzle 204 is advanced between the two pipes P. The outer shape of the nozzle 204 when viewed in the Z-axis direction is within a circle whose diameter is the distance G _V between the two pipes P. Therefore, even in the state where the nozzle 204 enters between the two pipes P, the cleaning device 200 can pivot. When viewed in the Z-axis direction, the lateral dimension of the pantograph of the lifting mechanism 207 is smaller than the distance between the two tubes P, but the longitudinal dimension of the pantograph is greater than the distance between the two tubes P. Too big. That is, the outer shape of the pantograph of the lifting and lowering mechanism 207 when viewed in the Z-axis direction protrudes from a circle having a diameter G _V between the two pipes P. Therefore, the pantograph does not enter between the two pipes P.

Thus, when the nozzle 204 enters between the two pipes P, the cleaning device 200 can not move freely even if the driving force of one of the crawlers 21 is superior. When the cleaning device 200 continues traveling with the nozzle 204 engaged with the two pipes P and the driving forces of the two crawlers 21 being unbalanced, the crawler 21 which has been idled will soon be in friction with the pipe P. Force will be exerted and the cleaning device 200 will pivot. As a result, the cleaning device 200 eventually pivots while moving slightly along the two pipes P.

As described above, the cleaning device 200 is provided to the device main body 201 and the device main body 201, and is moved up and down from the device main body 201 and the traveling mechanism 2 that travels on at least two pipes P included in the pipe group Q. And the cleaning mechanism 203 for cleaning the deposit on the surface of the pipe P located below the traveling mechanism 2, and the traveling mechanism 2 is in a state where the cleaning mechanism 203 enters between at least two pipes P. It pivots on at least two pipes P.

According to this configuration, even if there are deposits or the like on the two pipes P and the traveling mechanism 2 can not properly travel by sliding on the two pipes P, two cleaning mechanisms 203 are provided. Since it has entered between the pipes P, the traveling mechanism 2 never travels without restriction. Since the state where at least the cleaning mechanism 203 has entered between the two pipes P is maintained, if the turning travel by the traveling mechanism 2 is continued, the slip of the traveling mechanism 2 is alleviated or eliminated in a short time, and the traveling The mechanism 2 can pivot.

Further, the cleaning mechanism 203 has a nozzle 204 (cleaning part) for removing deposits on the surface of the pipe P, and an elevation mechanism 207 (support part) located above the nozzle 204 and supporting the nozzle 204. The shape of the nozzle 204 fits in a circle whose diameter is the distance G _V between the two tubes P, while the shape of the lifting mechanism 207 protrudes from the circle whose diameter G is the distance G _V between the two tubes P. When the traveling mechanism 2 turns, the elevating mechanism 207 does not enter between at least two pipes P, and the nozzle 204 enters between at least two pipes P. It has become.

According to this configuration, the shape of the nozzle 204 when viewed in the elevating direction of the cleaning mechanism 203 falls within a circle having a diameter G _V between the two pipes P, so that the pipe 204 has two nozzles P. The nozzle 204 does not inhibit the turning of the traveling mechanism 2 even in the state of entering between them. On the other hand, since the shape of the lifting and lowering mechanism 207 when viewed in the lifting and lowering direction of the cleaning mechanism 203 is out of the circle having a diameter G _V between the two pipes P, the lifting and lowering mechanism 207 is between the two pipes P In the state in which the vehicle moves in, the lifting mechanism 207 may inhibit the turning of the traveling mechanism 2. Therefore, when the traveling mechanism 2 turns, the nozzle 204 is made to enter between the two pipes P, while the elevating mechanism 207 is not made to enter between the two pipes P. Thereby, the traveling mechanism 2 can be smoothly turned.

Furthermore, the nozzle 204 is configured to remove deposits on the surface of the pipe P by injecting a fluid.

<< Other Embodiments >>
As mentioned above, the said embodiment was described as an illustration of the technique disclosed in this application. However, the technology in the present disclosure is not limited to this, and is also applicable to embodiments in which changes, replacements, additions, omissions, and the like are appropriately made. Moreover, it is also possible to combine each component demonstrated by the said embodiment, and to set it as a new embodiment. Further, among components described in the attached drawings and the detailed description, not only components that are essential for solving the problem but also components that are not essential for solving the problem in order to illustrate the above-mentioned technology. May also be included. Therefore, the fact that those non-essential components are described in the attached drawings and the detailed description should not immediately mean that those non-essential components are essential.

For example, although the cleaning mechanism 3 is provided in the cleaning device 100, it is not limited thereto. In the above-described configuration, the cleaning mechanism 3 is transported by the cleaning device 100 and moved up and down. However, the cleaning mechanism 3 may be operated manually by the operator. That is, the operator may grip the cleaning mechanism 3 and clean the pipe P with the cleaning mechanism 3 while moving the cleaning mechanism 3 in the pipe group Q. Further, even if the cleaning mechanism 3 is provided in the cleaning device 100, the configuration of the traveling mechanism 2 or the elevation mechanism 7 is not limited to the above-described configuration. For example, the traveling mechanism 2 may be not wheels but wheels. The lifting mechanism 7 may be a rack and pinion or pantograph instead of a winch.

The number of cleaning units 4 provided in the cleaning mechanism 3 is not limited to three. The cleaning unit 4 may be one, two or four or more. The moving direction of the cleaning mechanism 3, that is, the position of each cleaning unit 4 in the Z-axis direction is not limited to the above-described position. For example, the positions of the three cleaning units 4 in the Z-axis direction may be the same. Alternatively, the positions of the three cleaning units 4 in the Z-axis direction may all be different.

The configuration of the cleaning unit 4 is not limited to the above-described configuration. For example, the number of scrapers 34 included in the cleaning unit 4 is not limited to three, and may be one, two, or four or more. The cleaning unit 4 may not have the disc 35 or the excavating portion 36. In the cleaning unit 4 described above, a plurality of scrapers 34 are provided in each of three gaps formed by the four disks 35. That is, three sets of scrapers 34 are provided. However, the number of sets of scrapers 34 may be one, two or four or more.

The shape of the scraper 34 may not be arc-shaped, but may be linear, for example. The scraper 34 may be configured to slide instead of swinging. For example, an elongated hole may be formed in the scraper 34, and the scraper 34 may be connected to the pin so that the pin provided between the two disks 35 is inserted into the elongated hole. In this configuration, the scraper 34 can slide relative to the pin such that the pin moves relative to the slot. If the scraper 34 is configured to be slidable, when the centrifugal force of the rotating shaft 32 acts on the scraper 34, the scraper 34 slides according to the centrifugal force and spreads radially outward.

The cleaning mechanism 3 includes the guide 5, but the guide 5 may not be provided. The configuration of the guide 5 is not limited to the above-described configuration. The guide 5 may not have the link 6. For example, the blade 51 may be slidably connected to the frame 31 and may be biased outward in the Y-axis direction by a spring or the like.

In addition, the cross-sectional shape of the edge 53 of the blade 51 may be a sharp tip that is thinner toward the pipe P, and the portion closest to the pipe P, that is, the portion in contact with the pipe P may be somewhat rounded.

The configuration of the traveling mechanism 2 or the elevation mechanism 207 in the cleaning device 200 is not limited to the above-described configuration. For example, the traveling mechanism 2 may be not wheels but wheels. The lifting mechanism 207 may be a winch or a rack and pinion instead of a pantograph.

The configuration of the nozzle 204 is not limited to the above-described configuration. The number and arrangement of the injection ports 242 can be set arbitrarily. Further, the cleaning mechanism 203 may have a plurality of nozzles 204. When the plurality of nozzles 204 are provided, the Z-axis direction positions of the plurality of nozzles 204 may not coincide with each other. In that case, as in the cleaning device 100, when the traveling mechanism 2 travels along the two pipes P, the plurality of nozzles 204 enter between the two pipes P, and the traveling mechanism 2 turns In this case, only the lowermost nozzle 204 may enter between the two pipes P.

Further, the substance injected from the nozzle 204 of the cleaning mechanism 203 is not limited to the liquid. For example, the nozzle 204 may inject a gas such as air or particles suitable for cleaning the pipe P. Here, "particles" also include fine particles such as powder. For example, "powder" is a minute sphere such as metal or ceramic.

As discussed above, the techniques disclosed herein are useful for cleaning devices.

100, 200

cleaning device

1, 201 main body 2

traveling mechanism

3, 203 cleaning mechanism 31 frame (support portion)
4A 1st cleaning unit (cleaning unit)
4B Second cleaning unit (cleaning unit)
4C 3rd cleaning unit (cleaning unit)
204 nozzle (cleaning unit)
207 Lifting mechanism (support part)
G _V interval Q tube group P tube

Claims

The device body,
A traveling mechanism provided on the device body and traveling on at least two pipes included in the pipe group;
A cleaning mechanism for lifting deposits on the surface of the tube located below the traveling mechanism by moving up and down from the main body of the device;
The cleaning device is characterized in that the traveling mechanism pivots on the at least two pipes with the cleaning mechanism entering between the at least two pipes.
In the cleaning device according to claim 1,
The cleaning mechanism has a cleaning unit that removes deposits on the surface of a pipe, and a support unit that is positioned above the cleaning unit and supports the cleaning unit.
The shape of the cleaning part, when viewed in the raising and lowering direction of the cleaning mechanism, falls within a circle whose diameter is the distance between the two pipes, while the shape of the support part is that of the two pipes. It protrudes from the circle whose diameter is the interval,
When the traveling mechanism turns, the support does not enter between the at least two pipes, and the cleaning part enters between the at least two pipes. Cleaning device characterized by
In the cleaning device according to claim 2,
The cleaning mechanism includes a plurality of the cleaning units having different positions in the raising and lowering direction of the cleaning mechanism,
When the traveling mechanism turns, only the lowermost cleaning portion in the elevating direction among the plurality of cleaning portions is in a state of entering between the at least two pipes. apparatus.
In the cleaning device according to claim 3,
A cleaning apparatus characterized in that when the traveling mechanism travels along the at least two pipes, a plurality of the cleaning parts enter between the at least two pipes.
In the cleaning device according to any one of claims 2 to 4,
The cleaning unit is configured to be in contact with the pipe to remove deposits on the surface of the pipe while rotating around a rotation axis parallel to the raising and lowering direction of the cleaning mechanism. .
In the cleaning device according to claim 5,
The cleaning unit is
A rotating shaft that rotates about a predetermined rotation axis;
When viewed in the raising and lowering direction of the cleaning mechanism, the space between the two pipes falls within a circle whose diameter is the diameter, while the centrifugal force of the rotating shaft exceeds the circle radially outward centering on the rotating shaft And a contact portion connected to the rotating shaft so as to expand and removing deposits on the surface of the tube by contacting the surface of the tube.
In the cleaning device according to claim 6,
The contact portion is swingably connected to a swinging shaft that rotates integrally with the rotating shaft, and is oscillated around the swinging shaft by a centrifugal force of the rotating shaft and has a radius centered on the rotating shaft A cleaning device characterized in that it spreads out in the direction.
In the cleaning device according to any one of claims 2 to 4,
The cleaning device according to claim 1, wherein the cleaning unit is configured to remove deposits on the surface of the tube by injecting liquid, gas or particles.