JPH0686207B2 - In-service vehicle - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to, for example, a pipe used for cleaning work or inspection inside the circulating water pipe (cooling water pipe) for cooling a condenser of a nuclear power plant or the like. Regarding traveling equipment.

[Technical background of the invention and its problems] In general, the inside of a circulating water pipe for cooling a condenser of a nuclear power plant, a thermal power plant, or the like is suitable for growing marine organisms such as shellfish and seaweed. Due to the fast growth of marine organisms, this not only hinders the fluid flow of cooling water but also reduces the cooling efficiency. Since there is a possibility that a large number of heat transfer tubes (heat exchange tubes) will be clogged and corrode when they enter the pipes, the inside of the pipes are regularly cleaned and inspected manually.

However, in the circulating water pipe, toxic gas is generated due to decay of marine organisms, and there is a fear of bad odor or lack of oxygen.
In addition, the inside of the pipe is dark, and it becomes very slippery due to seaweed due to residual water and water spills, the cleaning work environment is poor, and cleaning and inspection work inside the pipe are difficult.

On the other hand, the circulating water pump in a nuclear power plant is designed so that the inlet and outlet of the circulating water pipe are submerged in the intake channel and the discharge water reactor, respectively, in order to save energy in the power and to ensure the safety of the reactor. The circulating water pipe that cools the condenser, which is installed under the sea surface in nearly half of the building, has not only many bends but also complicated shapes such as steep slopes and deep vertical parts. Therefore, cleaning and maintenance inspection work by automated vehicles inside the pipe are desired.

On the other hand, although a traveling vehicle provided with an endless track (crawler track) using magnets has been proposed, it is difficult for the traveling and turning functions in the pipe. On the other hand, a traveling vehicle of the magnet roller type uses a magnetic material in the pipe. Since the contact area with the wall is small, a strong adsorption force cannot be expected, and the adsorption traveling type traveling vehicle has a problem in terms of work efficiency because of its slow moving speed.

[Object of the Invention]

The present invention has been made in view of the above-described circumstances, and for example, a horizontal portion in a pipe body such as a cooling water pipe and a bent portion such as a steep sloped portion and a vertical portion maintain balance of the vehicle body. It is intended to provide an in-pipe traveling vehicle whose purpose is to allow free traveling.

[Outline of Invention]

The present invention provides a pair of wheels on the front and rear of a bogie, a cleaning device on the front of the bogie, a hoisting machine on the rear of the bogie, and a rope wound around the drum of the hoisting machine. Is connected to a part of the pipe body through a guide roller attached in the middle of the bogie, and an arm rod having a weight is rotatably pivotally attached to the rear part of the bogie to balance the vehicle body. Is configured to run while being held.

Example of Invention

 The present invention will be described below with reference to an embodiment shown in the drawings.

In FIG. 1 and FIG. 2, reference numeral 1 is, for example, a pipe body made of a cooling water pipe having a bent portion 1a for cooling the condenser, and a manhole 1b is provided in a part of the pipe body 1. An opening / closing lid 2 is attached to the manhole 1b so as to be openable and closable.

A carriage 3 is accommodated in the pipe body 1, and front and rear portions 3a and 3b of the carriage 3 are provided with a pair of support frames 4 which are open to each other. Wheels 5 are axially mounted on the support frames 4 so that the wheels 5 are in contact with the inner wall surface of the tubular body 1 so as to be in contact with each other. Further, independent actuators 6 are installed on the support frame 4 on the opposite side of the wheels 5, and the actuators 6 can independently drive the wheels 5. Furthermore, a cleaning device 7 is provided on the front part 3a of the trolley 3, and the cleaning device 7 is composed of a rotary injection body 9 connected to a transmission mechanism part 8 having an electric motor. The high-pressure jet fluid of the jet nozzle 9a of the rotary jet 9 is adapted to peel off the sea life of the pipe 1 from the inner wall surface of the pipe 1 for cleaning.

On the other hand, a pedestal 10 is attached in the middle of the dolly 3, and an inspection work device 11 such as a television camera observes the front of the dolly 3 and the inner wall of the pipe body 1 on the pedestal 10. It is provided so that it can be done. Further, a lifting machine 12 such as a winch is provided on the rear portion 3b of the carriage 3, and an actuator 13 is attached to the lifting machine 12 so as to drive the hoisting drum 12a. ing. Further, one end of a rope 14 is wound around the hoisting drum 12a, and the other end 14a of the rope 14 passes through a guide roller 15 attached in the middle of the carriage 3 to guide the pipe. Body 1
Is connected to the opening / closing lid 2. Furthermore, the above-mentioned lifting machine 12
An arm rod 16 is rotatably pivoted by a support shaft 17 to the rear portion 3b of the trolley 3 in the vicinity of the. It is attached.

The operation of the present invention will be described below.

When the pipe traveling vehicle according to the present invention is carried into the pipe body 1 and traveling on the horizontal straight line portion of the pipe body 1, the rope 14 wound around the hoisting drum 12a of the hoisting machine 12 in advance is guided by the guide rollers 15. It is connected to the opening / closing lid 2 of the tube body 1 via. In this way, the wheels 5 of the carriage 3 are driven by the respective actuators 6 to travel. In this case, the rope 14 is used for the carriage 3
In synchronization with the traveling of the hoisting machine 12, the hoisting machine 12 is fed from the hoisting drum 12a.

Next, when the carriage 3 approaches the bent portion which is the vertical portion of the pipe body 1, the rope 14 that has been once fed is moved by the actuator 13 of the hoisting machine 12 to the hoisting drum 12a.
The rope 14 is wound up on the rope 14 to give tension to the rope 14 while supporting the own weight of the carriage 3 itself.
While the ropes 13 are unrolled and lowered by the actuator 13 of the above, seawater attached to the inner wall of the pipe body 1 is peeled off and cleaned by the cleaning device 7 installed on the carriage 3 and, on the other hand, like a TV camera. The inner wall of the tubular body 1 is inspected for cracks, corrosion and the like after being cleaned by the various inspection work equipment 11. The cleaning device 7 moves forward together with the trolley 3 while rotating the rotary injection body 9 by the transmission mechanism 8 to remove marine organisms adhering to the inner wall of the pipe body 1 from the injection nozzle 9a with a high-pressure jet fluid for cleaning. However, you are free to use a rotary brush to clean. In this way, the in-pipe traveling vehicle according to the present invention allows the horizontal straight line of the pipe body 1 to travel by the respective actuators 6 by the respective wheels 5, while the vertical portion of the pipe body 1 is provided with the rope 14 of the lifting machine 12. It is designed to run while being assisted by.

On the other hand, when the traveling vehicle in the pipe according to the present invention changes direction from the horizontal portion to the vertical portion of the pipe body 1, the arm rod 16 having the hanging weights 18 and 19 by the counterweight mechanism attached to the rear portion 3b of the carriage 3 is provided. Thus, it is possible to travel while maintaining the balance of the carriage 3.

Explaining this with a formula, the lever ratio of the arm rod 16 is set as each fulcrum.
If AB: BC is m: n and the weight 19 is w, the trolley weight W is the fulcrum and the trolley weight W is It is in a relatively reduced state by the amount.

Therefore, the weight applied under the same tension applied to the rope 14
It is much smaller than it would be without the arm rod 16 with 14. Of course, the tension applied to the rope 14 changes depending on the ratio of m: n and the weight of the weight 19, and the tension can be set to an optimum value.

On the other hand, when the wheels 5 travel in the horizontal portion of the tubular body 1, the wheels 5 are driven by the independently driven actuators 6, so that the turning function (turning on the spot) is excellent.

Incidentally, although the rope 14 of the hoisting machine 12 according to the present invention has been described so as to raise and lower 1 by a rope, if a plurality of ropes are wound around the hoisting drum 12a and used, a more stable hoisting operation is performed. be able to.

On the other hand, although the present invention has been described as applied to the pipe body 1 of the cooling water pipe, it can be freely used, for example, for cleaning other fluid pipe lines within a range not changing the gist of the present invention. .

〔The invention's effect〕

As described above, according to the present invention, the front and rear portions 3a, 3 of the carriage 3 are
Each pair of wheels 5 is provided on b, a cleaning device 7 is provided on a front portion 3a of the carriage 3, and a lifting machine 12 is provided on a rear portion 3b of the carriage 3.
The rope 14 wound around the hoisting drum 12a of the hoisting machine 12 is connected to a part of the pipe body 1 through a guide roller 15 attached in the middle of the carriage 3, and is attached to the rear portion of the carriage 3. Weight 18,19
Since the arm rod 16 provided with is pivotally rotatably attached, not only can the weight of the carriage be relatively reduced, but also the tension of the rope 14 can be reduced, so that the output of the hoisting machine can be reduced. Can be reduced and the size and weight can be reduced, and the turning function is also excellent, so that the efficiency of cleaning work and the like can be improved.

[Brief description of drawings]

FIG. 1 is a side view of a vehicle traveling in a pipe according to the present invention, and FIG. 2 is a front view taken along a chain line AA in FIG. 1 ... Tube, 2 ... Opening / closing lid, 3 ... Truck, 5 ... Wheels,
6 ... actuator, 7 ... cleaning device, 11 ... inspection work equipment, 12 ... enhancing machine, 13 ... actuator, 14 ...
Rope, 15 ...... guide roller, 16 …… arm rod, 17 …… spindle, 18,19 …… weight.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masamichi Okada 1000 Kasama-cho, Totsuka-ku, Yokohama-shi, Kanagawa Inside the Ofuna Plant, Shibaura Manufacturing Co., Ltd. (56) Reference JP-A-53-32085 (JP, A) Showa 58-128955 (JP, A) Actually opened Showa 56-31891 (JP, U)

Claims (1)

[Claims] 1. A pair of wheels are provided at the front and rear of the bogie, a cleaning device is provided at the front of the bogie, a hoisting machine is provided at the rear of the bogie, and the hoisting drum of the hoisting machine is wound. The rope is connected to a part of the pipe body through a guide roller attached in the middle of the bogie, and an arm rod is rotatably attached to the rear part of the bogie, and a plurality of weights are attached to the arm rod. An in-pipe traveling device characterized in that a weight is detachably provided, and each wheel is attached so as to drive an independent actuator.