JP2952048B2 - Bellows cleaning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bellows cleaning device, and more particularly to a device for cleaning foreign substances accumulated in a bellows groove when the inner surface of the bellows is narrow.

[0002]

2. Description of the Related Art In a pipe used in a nuclear power generation facility or in a connection point of various pipes such as a thermal power plant or a chemical plant, a large pipe in a length direction of the pipe is absorbed so as to absorb a large thermal displacement of the pipe. When it is necessary to allow the amount of expansion and contraction, a molded bellows or a welded bellows is used in the joint portion of the pipe.

FIG. 14 and FIG. 15 show an example of a mounting structure of a bellows arranged in a vent pipe portion in a suppression chamber of a boiling water reactor.

[0004] The tip of a vent pipe B attached to the outside of the containment vessel A penetrates the suppression chamber C, and inside the pool water of the suppression chamber C via a vent header D and a downcomer E. Around the vent pipe B, a vent nozzle G surrounding the vent pipe B with an annular gap F therebetween is attached to the wall of the suppression chamber C. The annular gap F between the vent pipe B and the vent nozzle G is The bellows H is communicated with the inside of the suppression chamber C, and is isolated from the outside air by disposing the bellows H on the opposite side.

As shown in FIG. 15, the bellows H is attached to the vent pipe B via an end plate I and an attachment sleeve J, with an intermediate sleeve K and an attachment flange L interposed therebetween. A guard pipe M is provided for protection.

On the other hand, the bellows H is formed with a bellows groove X serving as a concave portion based on the provision of corrugated irregularities on the inner surface, and dust and the like are deposited on a portion below the bellows groove X. It has an easy structure. Therefore, factors such as the accumulation of dust during the construction of the reactor, the diffusion of radioactive materials after the start of operation of the reactor, and the condensation of water vapor generated by the pool water in the suppression chamber are superimposed. It is conceivable that they adhere to the groove X.

For this reason, in the bellows H used for nuclear power generation facilities, if the amount of dust adhering to the bellows groove X is large, when a worker enters the containment vessel or the suppression chamber during a periodic inspection or the like. In addition, the radiation exposure dose increases, and the workability during periodic inspections and the like deteriorates.
It is necessary to perform a cleaning operation for removing dust and the like prior to various operations inside the device.

[0008]

The work for cleaning the inner surface of the bellows H is extremely impaired because the annular gap F between the vent pipe B and the bellows H is a narrow portion. In the bellows H shown in FIGS. 14 and 15, for example, when the outer diameter of the vent pipe B is 1464 mm to 2075 mm and the inner diameter of the vent nozzle G is 1564 mm to 2175 mm, the gap size between the vent pipe B and the vent nozzle G is about 50 mm. And
Further, the depth dimension from the opening of the vent nozzle G to the end plate I is, for example, about 1550 mm in a short part and about 2350 mm in a long part.

For this reason, inside the suppression chamber C, for example, a scaffolding device (scaffolding device) for a suppression chamber of a nuclear reactor proposed in Japanese Patent Application Laid-Open No. 61-265168.
Even if N is installed and a working scaffold is secured,
It is difficult to manually clean the bellows groove X of the bellows H, which is the narrowed portion, by hand. Further, a mechanical device for cleaning the inner surface of the bellows groove X located in the annular gap F has not been developed yet.

The present invention is to effectively solve such a problem. In other words, it is an object of the present invention to reliably and efficiently remove accumulated foreign substances while detecting foreign substances accumulated in the groove of the bellows in the narrow portion.

[0011]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is to be inserted into a narrow portion inside a bellows.
A moving frame is provided, and the moving frame has a bellows inside.
A cleaning liquid jet nozzle for jetting a cleaning liquid onto a surface;
Cleans foreign matter deposited in the bellows groove located near the injection nozzle.
A rotating cleaning brush to be propelled, and
And a suction nozzle for sucking the foreign matter.
Use the moving frame to capture the status of the cleaning area
Bellows cleaning device with a monitoring means
I have.

[0012]

[0013]

[0014]

According to the bellows cleaning device of the present invention , the cleaning liquid is jetted into the bellows groove to be cleaned with the moving frame inserted into the narrow portion to soften the accumulated foreign matter, and then the rotary cleaning brush is used. The foreign substance is swept out by the rotation of
Next, the foreign matter is removed from the bellows groove by sucking the foreign matter with the suction nozzle, and the condition of the cleaning area is imaged.
To remove foreign matter at remote locations
Check the bellows groove condition and the accumulation or removal of foreign matter.
It allows for recognition .

[0015]

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a bellows cleaning apparatus according to the present invention will be described with reference to FIGS.

FIG. 8 shows the entire bellows cleaning device as a vent pipe B.
2 shows a state in which it is incorporated between the nozzle and the vent nozzle G.

FIGS. 8 to 13 show the bellows cleaning device.
As shown in FIG. 1, a swivel guide rail 1 attached to the outer peripheral surface of the vent pipe B, a swivel unit 2 attached to the swivel guide rail 1 so as to be able to swivel, a support frame 3 provided in the swivel unit 2, The frame 3 includes a moving frame 4 that is attached to the frame 3 so as to be movable in the axial direction of the vent pipe B, and a working unit 5 that is attached to the moving frame 4 to clean the inner surface of the bellows H. At a position apart from the annular gap F with the nozzle G, as shown in FIG.
A cleaning liquid supply device 6, a vacuum recovery device 7, a control means 8, and a monitoring means 9 are provided. The control means 8 includes a control device 8a and a power supply device 8b, and the monitoring means 9 includes a TV monitor 9a, a TV recorder 9b, and a recording device 9c.

As a supplementary explanation, the turning guide rail 1 is fixed to the outer periphery of the vent pipe B in a fitted state as shown in FIG. Then, as shown in FIG. 12 and FIG.
1a, a pin joint 1b for connecting these rail pieces 1a to each other to form a ring, and fitting to the vent pipe B by adjusting the connection length of the plurality of rail pieces 1a to apply tension. And a turn buckle part 1c for causing the buckle to rotate.

As shown in FIG. 9, the revolving portion 2 has a ring-like and basket-like shape as a whole. That is, the swivel unit 2 includes the support frame 3 shown in FIG.
, A turning drive frame 21, a dimension adjusting frame 22, and a connecting frame 23A.
23B are connected to each other by using a pin joint 2a or the like, so as to be annularly connected as shown in FIG.

As shown in FIGS. 10 and 11, the turning drive frame 21 is made of a frame material 2b made of aluminum or the like.
And a magnet wheel 2c that is disposed at, for example, four places of the frame member 2b and is rotatably and magnetically attached in the circumferential direction of the outer peripheral surface of the vent pipe B, and a turning drive source ( Turning motor) 2d, a rotating force transmitting means 2e composed of a chain and a sprocket for transmitting the rotating force of the rotating driving source 2d to the magnet wheel 2c, and a universal disposed in the middle of the rotating force transmitting means 2e. Joint
2f, a plurality of mounting brackets 2g disposed at the base of the frame member 2b, a turning guide roller 2h disposed on the mounting bracket 2g to guide the turning movement while holding the turning guide rail 1 from both sides, and a vent pipe. B has a turning position detecting roller 2i that is rotated in contact with the outer peripheral surface of the roller B, and a rotary encoder 2j that is connected to the turning position detecting roller 2i and rotated.

The dimension adjustment frame 22 is also made of aluminum or the like, and is lightened. A turnbuckle portion for adjusting the circumferential length of each frame connected to a part of the frame and applying tension thereto, It has fasteners such as bolts and nuts for attaching to the frames 23A and 23B in an integrated state.

The connection frames 23A and 23B are also reduced in weight by using an aluminum material or the like, and, as shown in FIG. Linked by Further, as shown in FIG. 9, the connection frame 23A and the connection frame 23B are set to have different circumferential dimensions.

As shown in FIG. 2, the supporting frame 3 is made up of a guide frame 3a whose weight is made of aluminum or the like and whose longitudinal direction is set along the axial direction of the vent pipe B.
A plurality of guide rollers 3b arranged on both sides of the guide frame 3a for movably supporting the movable frame 4, a reciprocating drive source (reciprocating motor) 3c mounted on the guide frame 3a, and a longitudinally extending guide frame 3a. A reciprocating driving force transmitting means 3d such as a chain or a sprocket for connecting the reciprocating drive source 3c and the moving frame 4 to reciprocate the moving frame 4 disposed between both ends, and a reciprocating device connected to the reciprocating driving source 3c. Rotary encoder for detecting travel distance
And da 3e, a reinforcing member 3f for the reinforcement of the turning direction of the guide frame 3a, arranged in strategic points of the tip or the like of the guide frame 3a of the outer peripheral surface and rolling guide frame 3a of the vent pipe B pivotal movement Deflection-preventing rollers for assisting the deflection and suppressing the deflection of the guide frame 3a
3g, a magnet wheel 2c mounted according to the above-described turning frame 21, a turning drive source 2d, a turning force transmitting means 2e,
Universal joint 2f and mounting bracket 2g
And a turning guide roller 2h.

The moving frame 4 is, as shown in FIGS. 1 and 2, a straight guide rail 4a supported movably in the axial direction of the vent pipe B over a plurality of guide rollers 3b of the supporting frame 3. And an operating piece 4b for contacting and activating the axial position limit switches 3h and 3i arranged separately from the support frame 3, and as shown in FIG. In the state.

As shown in FIG. 1, the working section 5 comprises a cleaning means 51 mounted on the moving frame 4, a cleaning means 51, and an inspection means 52.

As shown in FIGS. 1 and 3, the cleaning means 51 includes a brush rotation drive source (DC motor) 5a mounted on the moving frame 4 for generating a rotation force, and a brush rotation drive source 5a.
5a, a brush rotating force transmission system 5b such as a sprocket chain that transmits the rotating force, a brush rotating shaft 5c connected to the brush rotating force transmitting system 5b, and the brush rotating shaft 5c rotatably supporting itself. A swinging power transmission sleeve 5d rotatably and axially movably supported by the moving frame 4, a sliding portion 5e disposed on the swinging power transmission sleeve 5d, and a sliding portion 5e.
Brush support arm 5f supported on the surface, and a rotary cleaning brush rotatably attached to the tip of the brush support arm 5f
5g, a driving pulley 5h shown in FIG. 1 attached to the tip of the brush rotating shaft 5c, a driven pulley 5i attached to the rotating cleaning brush 5g, and both these pulleys 5h.
5i, a rotation belt 5j wound around 5i, a roller support arm 5k rotatably attached to the tip of the brush support arm 5f, and a concave portion of the bellows groove X rotatably attached to the roller support arm 5k. A centering roller 5m for following the center, a resilient member 5n such as a torsion spring shown in FIG. 4 for applying a resilient force to return the roller support arm 5k to the vicinity of an extension of the brush support arm 5f, It has a brush swing drive source 5p mounted on the moving frame 4 and a swing power transmission belt 5q wound around the brush swing drive source 5p and the swing power transmission sleeve 5d. .

Further, as shown in FIG. 1, the cleaning means 51 includes an operating arm 5r integral with the oscillating power transmission sleeve 5d, and an oscillating position limit switch 5s for detecting the oscillating limit of the operating arm 5r. As shown in FIGS. 3, 5, and 6, a slide rail 5t is disposed integrally and in parallel with the oscillating power transmission sleeve 5d.
And a slide block 5u slidably supported by the slide rail 5t and having a brush support arm 5f attached thereto, and slide position sensors 5v and 5w for detecting movement of the slide block 5u in the longitudinal direction of the slide rail 5t. Has a structure

Therefore, the sliding portion 5e pivotally swings the brush support arm 5f by the rotation of the swinging power transmission sleeve 5d, and moves the swinging transmission sleeve 5d between the swing transmission sleeve 5d and the brush support arm 5f. Are connected movably in the axial direction.

Also, as shown in FIG.
In the vicinity of 5g, a cleaning liquid injection nozzle 6a connected to the cleaning liquid supply device 6 shown in FIG. 8, a suction pipe swing source 7a mounted on the moving frame 4, and a vacuum recovery device 7 shown in FIG. A suction pipe 7b and a suction nozzle 7c are disposed.

On the other hand, the inspection means 52 is connected to a TV monitor 9a or the like in the monitoring means 9 shown in FIG. 8, and as shown in FIG. 1, a TV camera 9d serving as an image pickup unit and a head attached to the tip of the TV camera 9d. A prism portion 9e that is swingably attached, a camera swinging motor 9f disposed near the prism portion 9e, and a bism that connects the camera swinging motor 9f and the prism portion 9e to set the orientation of the prism portion. And a swing power transmission system 9g.

The rotary cleaning brush 5g is made of, for example, fine stainless steel bristles that are soft enough not to damage the bellows H.

Prior to the bellows cleaning operation of the bellows groove X by the operation of the working portion 5, the bellows cleaning device having such a structure, as shown in FIG.
And a vent nozzle G in the annular gap F.

When the turning guide rail 1 is mounted on the outer peripheral surface of the vent pipe B shown in FIG. 8, the whole is made annular by connecting a plurality of rail pieces 1a with each other by a pin joint 1b, and the turnbuckle 1c is operated. Thus, a tension is generated, and the turning guide rail 1 is attached to the outer circumference of the vent pipe B in a fastened state.

After the swivel guide rail 1 is attached, a part of the swivel part 2 divided into a plurality of parts, particularly a part of the support frame 3 having the largest weight is inserted into the upper part of the annular gap F, and the vent pipe is inserted. B is placed on the upper surface to support the load.

The supporting frame 3 is provided with a moving frame 4 and a working unit 5 as required. In this case, the magnet frame 2c is magnetically attached to the surface of the vent pipe B, so that the support frame 3 is supported, and the fall of the position of the support frame 3 when the position of the support frame 3 is shifted from the vertical line of the center of gravity is achieved.

The position of the support frame 3 is set by engaging a plurality of turning guide rollers 2h with the turning guide rail 1. By this position setting, the support frame 3, which is a part of the swivel unit 2, is in a state where it can be swiveled.

As shown in FIG. 9, a connection frame 23A, a dimension adjustment frame 22, a connection frame 23A, and a rotation drive frame 21 are provided next to the support frame 3 in a state engaged with the rotation guide rail 1 in the circumferential direction. , The connecting frame 23B and the like are added to each other using the pin joint portion 2a, a fastener, or the like, and the entire frame is formed in a cage shape by sequentially connecting the frames.

At the time of these connections, the turning position is adjusted so that the center of gravity of the connected portion is directly above the vent pipe B, and when the next frame is added, the center of gravity of the frame of the connected portion becomes the center of the vent pipe B. Repeatedly adjust the turning position to be on top,
The entire frames are connected in a cage shape.

After connecting the entire frame in a cage shape, the dimension adjustment frame
The circumferential tension is generated by operating the turnbuckle section 22 and the like, and in addition to the magnetic attachment of the magnet wheel 2c, the connecting frame 23
The rotation roller 2r and the deflection preventing roller 3g of the A.23B are tightly brought into contact with the outer peripheral surface of the vent pipe B, so that they can be rolled.

By these assembling, the turning part 2 is
All the turning guide rollers 2h are engaged with the turning guide rail 1 so that the turning position of the turning portion 2 can be freely changed.

On the other hand, when the movable frame 4 is mounted on the support frame 3, the linear guide rail 4a is engaged with and guided by the plurality of guide rollers 3b, and is movable in the longitudinal direction of the support frame 3. Becomes

The revolving part 2 and the moving frame 4 are shown in FIG.
As shown in (1), when the thickness of the annular gap F is, for example, 50 mm and the thickness of the annular gap F is, for example, 50 mm, the thickness is set to, for example, about 30 mm so that the annular gap F can freely move therethrough. In this case, the working unit 5 and the like are also set to be within the thickness range.

The cleaning operation of the bellows groove X of the bellows H will be described below. As shown in FIG.
When the support frame 3 is inserted into the annular gap F between the support frame 3 and the vent nozzle G, the turning position of the working unit 5 of the support frame 3 is set by the operation of each of the turning drive sources 2d of the turning unit 2, and By operating the reciprocating drive source 3c, the working unit 5 is extended to a desired working position, and the axial position of the vent pipe B is set.

When moving in the turning direction, the turning section 2 and the support frame 3 have a plurality of turning drive sources 2d, and a difference in the number of rotations at the time of simultaneous operation occurs. By doing so, the torque can be matched to achieve a smooth rotation state, and the turning movement of the turning portion 2 can be performed without any trouble.

Next, by operating the working unit 5 at these desired positions, the cleaning operation of the bellows groove X of the bellows H is started.

By operating the TV camera 9d and the camera swinging motor 9f of the inspection device 52 shown in FIG. 1, the prism portion 9e is directed toward the bellows groove X to visualize the state of accumulation of foreign substances (dust and the like). , And a TV monitor 9a to set a cleaning range.

By operating the cleaning liquid supply device 6, the cleaning liquid is sent to the working section 5 and the cleaning liquid jet nozzle 6a
, The cleaning liquid is sprayed toward the bellows groove X in a spray form. By this injection, processing such as permeating the cleaning liquid into foreign matter such as dust and changing the cleaning liquid to a softened state or the like is performed.

When the support frame 3 is inserted into the annular gap F, as shown in FIG. 1, the brush support arm 5f which has been retracted so as to be within the range of the thickness of the moving frame 4 is described below.
By the operation of the brush swing drive source 5p, the brush support arm 5f swings and swings toward the bellows groove X as shown in FIG. 5, and the rotary cleaning brush 5g is inserted into the bellows groove X.

As shown in FIG . 7, when the centering roller 5m at the tip of the brush support arm 5f is brought into contact with the bellows groove X,
The resistance in the insertion turning direction exceeds the resilience of the resilient member 5n, and the roller support arm 5k is bent.

Therefore, in the range between the contact position P1 and the contact position P2 in FIG. 5, the state in which the rotary cleaning brush 5g and the centering roller 5m are simultaneously in contact with the bellows groove X is maintained.

In these cases, if the centering roller 5m is displaced from the center of the bellows groove X, the centering roller 5m contacts the inclined portion of the U-shaped bellows groove X shown in FIG. Based on this, a copying operation for returning the centering roller 5m to the center of the bellows groove X occurs.

That is, the brush supporting arm 5f is
When the centering roller 5m is in a one-sided contact state by being movably attached to the swing transmission sleeve 5d with the interposition of 5e, the direction in which the contact pressure decreases becomes the center of the bellows groove X. Rotated cleaning brush returned to the direction
The cleaning position where 5 g is positioned at the center of the bellows groove X is automatically set.

When the cleaning position is set along the bellows groove X, when the displacement of the slide portion 5e is large and the slide position sensors 5v and 5w are activated, the moving frame 4 is moved in the axial direction of the vent pipe B. Then, correct the cleaning position.

Similarly, the change of the cleaning position is performed by moving the moving frame 4.

In the set cleaning position, the brush rotation drive source 5a is operated to transfer the torque to the torque transmitting system.
5b, the brush rotating shaft 5c, and the rotating belt 5j are transmitted to the rotating brush 5g, and the rotating brush 5g is rotated to clean the bellows groove X.

When the cleaning range is slightly corrected, for example, when the rotary cleaning brush 5g slightly deviates from one bellows groove X, a new cleaning solution is applied based on the fact that the spray range is widened at the time of spraying the cleaning solution. There is no problem even if injection is not performed.

Then, the vacuum recovery device 7 shown in FIG. 8 is operated, and the suction pipe swing source 7a is operated so that the tip of the suction nozzle 7c shown in FIG. Dust and the like separated from the surface of the bellows groove X by 5 g are sucked by the suction nozzle 7c and removed from the inside of the bellows groove X.

After the foreign matter is removed, the inspection device 52 described above is operated, and the prism portion 9e of the TV camera 9d is directed toward the cleaned bellows groove X, and the condition of the cleaned bellows groove X is visualized and confirmed. .

The bellows cleaning device is usually operated by remote control by utilizing the monitoring means 9 shown in FIG. 8, and the working unit 5 is inserted into the annular gap F, which is a narrow portion, so that the desired portion is removed. Can be cleaned freely.

[0061]

According to the bellows cleaning apparatus of the present invention , the cleaning liquid jet nozzle, the rotary cleaning brush, and the suction nozzle are arranged on the moving frame, thereby guiding the foreign matters accumulated in the bellows groove to a softened state. After pulverization or fine-graining is performed, foreign substances can be efficiently removed from the bellows groove located in the narrow portion by suppressing the diffusion of the foreign substances by sucking these foreign substances. And so on. Further, with respect to the cleaning range, the situation before and after the removal of the foreign matter is visualized by the monitoring means, and at a remote place, the place requiring cleaning and the removal state of the foreign matter can be monitored, and the bellows groove cleaning operation can be reliably performed. And so on.

[Brief description of the drawings]

FIG. 1 is a front view showing one embodiment of a main part of a bellows cleaning device according to the present invention.

FIG. 2 is a front view showing an example of a support frame and a moving frame in the bellows cleaning device according to the present invention.

FIG. 3 is a front view showing an example of a cleaning unit in the bellows cleaning device according to the present invention.

FIG. 4 is a left side view of the cleaning unit shown in FIG. 3;

5 is a plan view of a slide portion of the cleaning unit shown in FIG.

FIG. 6 is a view taken along line FF of FIG. 5;

FIG. 7 is a side view showing a state of contact between a centering roller and a bellows groove when the brush support arm shown in FIG. 3 swings.

FIG. 8 is a partially cutaway perspective view showing a state in which the bellows cleaning device has been incorporated into a portion to be cleaned.

FIG. 9 is a side view showing one embodiment of a turning portion in the bellows cleaning device shown in FIG. 8;

10 is a front view showing an example of a turning drive frame portion in the bellows cleaning device shown in FIG.

11 is a bottom view illustrating an example of a turning drive frame portion in the bellows cleaning device illustrated in FIG. 8.

12 is a side view showing an example of a turning guide rail portion in the bellows cleaning device shown in FIG.

13 is a bottom view showing an example of a turning guide rail portion in the bellows cleaning device shown in FIG.

FIG. 14 is a partially sectional front view showing an example of a mounting structure of a bellows arranged in a suppression chamber of a boiling water reactor.

15 is an enlarged view of a portion indicated by a chain line O in FIG.

[Explanation of symbols]

 B Vent pipe F Annular gap G Vent nozzle H Bellows X Bellows groove 1 Swing guide rail 2 Swivel unit 3 Support frame 4 Moving frame 5 Working unit 6 Cleaning liquid supply device 7 Vacuum recovery device 8 Control means 9 Monitoring means 51 Cleaning means 52 Inspection means 5a Brush rotation drive source (DC motor) 5b Rotary force transmission system 5c Brush rotation shaft 5d Swing power transmission sleeve 5e Slide section 5f Brush support arm 5g Rotary cleaning brush 5j Rotation belt 5m Centering roller 5p Brush swing drive source 5q Swing Power transmission belt 5s Swing position limit switch 5v / 5w Slide position sensor 6a Cleaning liquid injection nozzle 7a Suction tube swing source 7b Suction tube 7c Suction nozzle 9a TV monitor 9b TV recorder 9c Recording device 9d TV camera 9e Prism unit 9f Camera swing Motor 9g prism swing power transmission system

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kiyosuke Hozumi 1-9-4 Fukuura, Kanazawa-ku, Yokohama-shi, Kanagawa Prefecture Ishikawajima Inspection & Measurement Co., Ltd. Yokohama No.2 Office (72) Inventor Shuji Miyahara Isogo-ku, Yokohama-shi, Kanagawa No. 1, Shin-Nakahara-cho, Ishikawajima-Harima Heavy Industries, Ltd., Yokohama No. 1 Factory (72) Inventor Toshio Uehara, No. 1, Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa, Japan Ishikawajima-Harima Heavy Industries, Ltd. Hei 2-129898 (JP, U) Actual opening Hei 2-129899 (JP, U) Actual opening Sho 61-102284 (JP, U) Real opening Hei 3-3489 (JP, U) Sho opening 58-78189 (JP) , U) Hikaru Hei 3-83690 (JP, U) (58) Fields surveyed (Int. Cl. ⁶ , DB name) B08B 9/02 G21F 9/00 G21F 9/28

Claims (1)

(57) [Claims] A movable frame inserted into a narrow portion inside the bellows; a cleaning liquid ejecting nozzle for ejecting a cleaning liquid onto an inner surface of the bellows; and a bellows groove disposed near the cleaning liquid ejecting nozzle. A rotary cleaning brush that sweeps out foreign substances deposited on the rotary cleaning brush, and a suction nozzle that is disposed near the rotary cleaning brush and suctions foreign substances.
On the frame, take a picture of the status of the cleaning area with the rotating cleaning brush
A bellows cleaning device, wherein a monitoring means is provided .