JPH0765871B2 - Heat exchanger work robot - Google Patents

Description

TECHNICAL FIELD The present invention relates to a work robot used for inspection, repair or cleaning work of a heat transfer tube of a heat exchanger.

[Conventional technology]

In recent years, in nuclear power plants, thermal power plants, etc., in order to ensure the safety of workers and reduce human burden, inspection of heat transfer tubes for heat exchangers (for example, condensers) of this type of plant, Various work robots that automatically perform repair or cleaning work have been proposed.

In such a work robot, a large number of heat transfer tubes that form a heat exchanger are regularly arranged on the tube plate surface that supports the heat transfer tubes. Are often moved and positioned. For example, in Japanese Patent Publication No. 60-152, the working device is moved for each tube arrangement pitch of the heat transfer tube group. In addition, the work equipment is provided at the tip of the work arm attached to the work device main body, and the distance between the center of rotation of the work arm and the center of the work equipment is set to an integral multiple of the pipe arrangement pitch to expand the work range and work. We are working to improve efficiency.

[Problems to be Solved by the Invention]

By the way, this type of work robot mainly performs an eddy current flaw detection test, and when the work is performed, due to the nature of the work, a particularly large force does not act on the work device, and a support mechanism for the work device main body is used. Also, the device itself was of a size capable of supporting the own weight of the device. This support mechanism is generally performed by inserting support legs, which also have a walking function of the tube nest surface, into the inner peripheral surface of the tube end of the heat transfer tube and press-contacting them.

When such a work robot is used for cleaning the inside of the heat transfer tube that involves the injection of high-pressure water, a large reaction force due to the injection of high-pressure water affects the work device, which damages the support mechanism of the work device, Could fall off the tube sheet surface.
In particular, the tube arrangement of the condenser has the function that the outer peripheral portion of the tube nest is thinned out, so that the working arm is lengthened and the work equipment attached to the end of the arm up to the heat transfer pipe on the outer peripheral portion again. As a result, an excessive moment is generated in the work arm due to the reaction force during the work, which causes a large load on the support leg.

The present invention has been made in view of the above points, and an object thereof is to expand the workable range and improve the efficiency when inspecting, repairing or cleaning the heat exchanger,
It is an object of the present invention to provide a work robot of a heat exchanger that can reliably support a robot body (working device body) even when performing a heavy work such as high-pressure water injection as described above.

[Means for Solving the Problems]

In order to achieve the above object, the present invention is configured as follows. The reference numerals of the drawings used for the description of the embodiments are used as the reference numerals of the constituent elements.

That is, the present invention, for example, as shown in FIG. 5 to FIG. 9, corresponds to a predetermined stride, while accommodating alternate insertion / removal operations with respect to the heat transfer tubes 2 on the nest surface of a large number of heat transfer tubes 2 arranged in a group. Having a plurality of support legs 15 that perform a walking motion to
The support leg 15 is in contact with the inner peripheral surface of the tube end of the heat transfer tube 2 at the time of insertion into the heat transfer tube 2 in order to ensure the removal / insertion operation that enables the walking operation, and releases the pressure contact at the time of removal operation. The work robot main body 4 is supported by the support legs 15, and at least one of the support legs 15 is pressed against the inner peripheral surface of the heat transfer pipe 2 when the robot main body 4 is in a walking state. In the work robot of the heat exchanger, in which the robot main body 4 is fixed on the tube nest surface while maintaining the above, a working arm 10 which is controlled to rotate on the tube nest surface is attached to the robot body 4. At the tip of the working arm 10, there is provided a support leg 17 dedicated to the work that can be inserted into and removed from the heat transfer tube to be the work base selected by the turning control of the work arm 10 (see FIG. 9). ), A dedicated support for this work The working equipment 11 whose rotation is controlled by the turning radius of the tube arrangement 1 group of the heat transfer tubes 2 groups is attached to the leg 17, and the working leg 11 of the working dedicated support leg 17 walks the robot body 4 When the work is performed at the time of stop, it is characterized in that it is set in a state of being inserted into the inner circumference of the tube end of the heat transfer tube 2 which is to be a work base and is in pressure contact with the inner peripheral surface of the tube end.

[Action]

According to the above configuration, the moving body (robot body) 7 equipped with the work arm 10 with the work equipment 11 is moved to the work target position along the tube nest surface of the heat transfer tube 2 group by the walking motion of the plurality of support legs 15. Then, when stopped, at least one of the support legs 15 maintains pressure contact with the inner surface of the tube end of the heat transfer tube 2, and the robot body 4 is fixed on the tube nest surface. Working arm in this state
The turning control of 10 is carried out, the support leg 17 dedicated to the work provided on the working arm 10 is inserted into the selected heat transfer tube 2 which is to be the work base, and pressure-contacted to the inner peripheral surface of the tube end of this heat transfer tube. Working equipment 11
Is pivoted around a support leg 17 dedicated to this work.
In this case, since the working equipment 11 pivots around the work-specific support legs 17 independently of the working arm 10, the working arm 10 is responsible for specifying a large working range, and the working equipment 11 itself has a radius of gyration. It becomes possible to take charge of a small turn (with respect to the turning of the working equipment 11, its turning radius is set within the range of one pitch of the tube arrangement of the heat transfer tube group).

FIG. 18 (a) shows the principle of a state in which such working equipment 11 is swung on a heat transfer tube group arranged in a zigzag manner. When the working equipment 11 is swung around the O at a turning radius of 1 pitch of the tube arrangement, the heat transfer tubes P which can be worked exist on the concentric circles Q having the 1 pitch radius. Therefore, by sequentially turning the working equipment along the concentric circle Q by a predetermined angle, the plurality of heat transfer tubes P on the concentric circle Q can be turned at a single work base while keeping the working arm 10 as it is. You can work on it. Also work arm
Since 10 quickly identifies work sites in a wide range beforehand,
By the turning motion of the working arm 10 and the working device 11 uniquely, it is possible to widen the working range and accelerate the moving time of the working device 11 between a large number of heat transfer tubes to improve the working efficiency.

Therefore, by repeating such an operation at each position of the heat transfer tube group, the entire tube nest can be quickly and thoroughly worked.

In addition, the distance between the work equipment 11 and the work-specific support legs 17, that is, the length of the arm that supports the work equipment 11 can be shortened to about one pipe arrangement pitch, so that a reaction force during work (for example, transmission The load moment generated by the reaction force generated by the high-pressure water injection from the working device 11 to the heat pipe 2 can be reduced, and the robot main body (moving body) 4 is supported only for the above-mentioned work even when a large load (reaction force) is applied. The support leg 17 and the conventional support leg 15 for both walking on the robot body side can cooperate with each other to reliably support the robot.

Example of Invention

An embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows an example in which the present invention is applied to an automatic working device (corresponding to a robot body) used for cleaning a water chamber of a turbine condenser for a power plant. In FIG. 1, 1 is a condenser. Reference numeral 2 is a heat transfer tube that constitutes the heat transfer tube group, 3 is a tube plate that supports the heat transfer tube group, and the tube arrangement of the heat transfer tubes 2 is a staggered configuration as shown in FIG. 14 in order to improve heat transfer performance. The tube nest is composed of a dense portion 42 in the central portion and a thinned portion 43 in the outer peripheral portion.

Reference numeral 4 denotes an automatic work device that moves the surface of the tube sheet 3 in the vertical direction or the horizontal direction to clean the inside of the heat transfer tube 2. The automatic work device 4 includes rails 5 and 6 mounted orthogonally to each other, a function of moving each of the rails 5 and 6 in a vertical direction or a horizontal direction, and a function of being guided by the rails 5 and 6 and self-propelled. The moving body 7, the rail supporting mechanisms 8, 8 ', 9, 9'for supporting the moving body 7 together with the rails 5, 6, the working arm 10 rotatably mounted on the upper surface of the moving body 7, and the working arm 10. A work device 11 rotatably provided at the tip of the robot, and a movement control unit for performing movement control of rails 5 and 6, operation control of support mechanisms 8, 8 ', 9, 9', and self-propelled control of moving body 7. 12 and a work control unit 13 for controlling the operation of the work equipment 11.

The rail support mechanism 8 (or 8 ', 9, 9') constituting the automatic work device 4 is supported on each end of the rail 5 (or 6) via reciprocating means 14 as shown in FIG. A pair of legs is provided so that the legs 15 can reciprocate vertically with respect to each rail 5, and the ends of the supporting legs 15 are expanded and contracted by supplying and exhausting fluid.
As shown in FIG. 3, when the rail reaches the target position on the surface of the tube plate 3 and the axes of the support legs 15 and the predetermined heat transfer tubes 2 coincide with each other, as shown in FIG. A pad 16 provided at the tip of the support leg 13 is inserted into one end of the heat transfer tube 2,
Then, as shown in FIG. 4, the pad 16 is expanded so that the pad 16 is pressed into the heat transfer tube 2 and the supporting leg 15 is fixed. Next, the movement operation of the automatic work device 4 on the surface of the tube sheet 3 will be described with reference to FIGS. In the initial state of the automatic work device 4, as shown in FIG. 5, the rail 5 has a rail support mechanism in advance.
A case where the moving body 7 is located at the lower end of the rail 5 and is supported by 8, 8'and the moving body 7 is moved upward will be described. First, as shown in FIG. 5, an actuator (not shown) of a self-propelled means built in the moving body 7 is driven to move the moving body 7 above the rail 5. Then, as shown in FIG. 6, after the supporting legs 15 of the supporting mechanisms 9, 9'of the rail 6 are aligned with the axis of the heat transfer tube 2, the supporting legs 15
Is sent to the heat transfer tube 2, and the moving body 7 is passed through the supporting legs 15.
Hold. After that, the support mechanisms 8 and 8'provided on the moving rail 5 side are released, and the support legs 15 of the support mechanisms 8 and 8'are connected to the heat transfer tube 2.
Then, the moving body 7 is driven by an actuator (not shown) of a rail moving mechanism built in the moving body 7 to move the rail 5 upward. Then, as shown in FIG. 7, the support leg 15 on the rail 5 side is fed to and fixed to one end of the heat transfer tube 2 in alignment with the axis of the heat transfer tube 2 to hold the rail 5, and then to support the moving body. The mechanism 9 is released, and the support mechanism 9 is released.
Pull out the support leg 15 of the from the heat transfer tube 2. In this way
The holding state of the moving body 7 is the same as the initial state, and the moving body 7 can move upward along the tube sheet 3 by repeating the same operation. In addition, also when moving the moving body 7 on the other moving axis using the rail 6, the same operation as described above may be repeated.

In other words, the plurality of support legs 15 perform a walking motion corresponding to a predetermined step length while accommodating the insertion / removal motions of the heat transfer pipes 2 on the nest surfaces of a large number of heat transfer pipes 2 arranged in a group. Then, the support leg 15 is pressed against the inner peripheral surface of the tube end of the heat transfer tube 2 at the time of insertion into the heat transfer tube 2 in order to ensure the removal / insertion operation that enables the walking operation, and releases the pressure contact at the time of the removal operation. A member 16 is provided. When the work robot body 4 is supported by the support legs 15 and the walking of the robot body 4 is stopped, at least one of the support legs 15 maintains pressure contact with the inner peripheral surface of the tube end of the heat transfer tube 2 and the robot body 4 is held. Is fixed on the tube nest surface.

Next, an example of the work equipment 11 constituting the automatic work device 4 will be described with reference to FIG. In the figure, reference numeral 17 denotes a support leg provided at the tip of the work arm 10 in a direction orthogonal to the work arm 10, and the work equipment 11 is rotatably attached to the work support leg 17 via a thrust bearing 19. And a gear 20 is fixedly installed on a part of the outer side of the working device 11 so that the working arm 10
Is engaged with the pinion gear 22 of the drive motor 21 provided at the tip of the work motor 11 by the rotation of the drive motor 21
It is configured to be able to turn around. Also support legs 17
A distance L between the shaft center 24 of the heat transfer tube 2 and the shaft center 23 of the work body 11 is one pitch of the tube arrangement of the heat transfer tubes 2. 25 is working equipment 11
Is an injection nozzle for cleaning the inside of the pipe. Injection nozzle
25 is attached to a water injection chamber 26 formed in the working equipment 11 so as to be able to reciprocate, and a part of which is projected in the same direction as the support leg 17, and the water injection chamber 26 through a water injection port 27. When water is injected, the jet nozzle 25 moves forward and fits into one end of the heat transfer tube 2, and jet water injection is performed on the heat transfer tube 2. Further, when water is injected into the water injection chamber 26 from the inlet 28, the injection nozzle 25 is set back and separated from the heat transfer tube 2. Reference numeral 29 denotes a piston chamber formed at the tip of the support leg 17, and a support piston 30 is partially projected and stored in the piston chamber 29. A fixed rubber 31 having a diameter slightly smaller than the diameter of the heat transfer tube 2 in the normal state is attached to the tip side of the support piston 30. Then, as shown in FIG. 12 (b), the working arm 10 is advanced to insert the tips of the supporting legs 17 into the heat transfer tube 2, and then the supporting piston 30 in the piston chamber 29 is hydraulically moved to the arrow A.
When the fixed rubber 31 is retracted in the direction, the fixed rubber 31 is compressed so as to expand in the radial direction by receiving a sandwiching pressure between the tip of the support piston 30 and the tip of the support leg 17, and thus the fixed rubber 31 is compressed. The support leg 17 is fixed to the tube end of the heat transfer tube 2 by being crimped onto the tube wall of the. Reference numerals 32 and 33 are fluid supply / discharge ports for operating the reciprocating movement of the support piston 30.

In other words, the robot body 4 is provided with the working arm 10 which is controlled to turn on the tube nest surface of the heat transfer tube group 2, and the tip of the working arm 10 is selected by the turning work of the working arm 10. A support leg 17 dedicated to the work that can be inserted into and removed from the heat transfer tube 2 that is to be the work base is provided. The working leg 11 is mounted on the support leg 17 dedicated to this work, and the turning is controlled by the turning radius of the tube arrangement 1 pitch of the two groups of heat transfer tubes.

Further, when the work equipment 11 performs work when the robot body 4 stops walking, the support leg 17 dedicated to the work is inserted into the inner peripheral surface of the pipe end of the heat transfer pipe 2 which is to be a work base. Therefore, it is set so as to come into pressure contact with the inner peripheral surface of the pipe end.

Next, the operation of this embodiment will be described.

First, based on the control signal of the movement control unit 12 shown in FIG.
The moving body 7 and the rail support mechanism 8,8 ', 9,9' which have already been described in the fifth section.
The automatic working device 4 is moved to a predetermined cleaning start position of the tube sheet 3 by controlling the operation so as to perform the series of operations shown in FIGS. The moving speed of the automatic work device 4 is the moving speed of the moving body 7 on the rail 5 (or the rail 6) and the contraction pad 16 of the rail supporting mechanism 8, 8 ', 9, 9'into the heat transfer tube 2. Depends on the time required for sticking and separation. Therefore, in order to improve the moving speed, it is effective to make the shrinking pad 16 thin so as not to cause any trouble in supporting the load to improve the shrinking speed. When the moving body 7 reaches a predetermined position, it is supported in the state shown in FIG.

Next, the working arm 10 and the working equipment (hereinafter, the working body 11
The work body 11 is positioned by turning. 12 (a) to 12 (f) show the positioning operation of the work body 11 and the subsequent movement operation. As shown in FIG. 3A, when the work arm 10 reaches the work start position on the surface of the tube sheet 3 (step 1), the work arm 10 moves in the tube sheet 3 direction based on the control signal of the movement control unit 12. Move forward (first
In FIG. 12B, the tips of the support legs 17 are inserted into one end of the heat transfer tube 2. After the insertion, the support piston 30 is retracted in the direction of arrow A by hydraulic pressure, the fixed rubber 31 is compressed and brought into close contact with the tube wall of the heat transfer tube 2, and the support leg 17 is fixed to the heat transfer tube 2 (step 2). Then, based on the control signal of the movement control unit 12, the work body 11 is turned around the support leg 17 by a predetermined angle, so that the work body 11 is moved to the work start position (initial pipe hole position) 2a.
(Step 3, Fig. 12 (c)). Then, based on the control signal of the work control unit 13, when water is injected into the water injection chamber 26 of the work body 11 from the water injection port 27, the cleaning nozzle 25 moves forward (Fig. 12 (d)) and reaches the pipe end of the heat transfer pipe 2a. Fit and heat transfer tube 2a
Jet water is injected into the pipe (step 4). After the completion of water injection (cleaning), water is injected from the water injection port 28 into the water injection chamber 26, the cleaning nozzle 25 is returned to the original state, and the state shown in FIG. 12 (b) is obtained (step 5). Next, the drive motor 21 is driven to rotate the work body 11 to the right by 60 °, and the same operation is repeated at the new position of the heat transfer tube 2 to perform the work inside the heat transfer tube 2 (step 6,
Figure 12 (e)). The above operation is repeated 6 times, and when completed, the work body 11 is returned to the initial position shown in FIG. 12 (b) (FIG. 12 (f)). Then, based on the control signal of the movement control unit 12, the rails 5 and 6 for movement, the rail support mechanisms 8, 8 ', 9,
9 ', the moving body 7 is operated and controlled as described above, and the working body 1
1 is moved to the next work position, and thereafter, as shown in FIG.
The operation of (f) is repeated.

In the above operation, when cleaning the step 4, a large reaction force due to the high-pressure water injection of the injection nozzle 25 is applied to the work body.
Act on 11. This force is transmitted from the work body 11 to the support leg 17 through the thrust bearing 19, but the work body 11 is supported by the frictional force between the fixed rubber 31 at the tip of the support leg 17 and the heat transfer tube 2 without yielding to this force. . In particular, in this case, the interval between the work body 11 and the support leg 17 is set to one pitch of the pipe arrangement, and since the interval is short, the load moment transmitted to the support leg 17 can be suppressed to a small value, and , Support legs
Since 17 is provided on the work arm 10 which is not related to the movement of the apparatus, the fixed rubber 31 can be strongly pressed against the wall of the heat transfer tube 2 by hydraulic pressure, so that the fixed rubber 31 and the support legs 17
The work body 11 can be reliably fixedly supported at the work position of the heat transfer tube 2 via.

FIG. 13 shows a positioning control method for setting the work body 11 at the work start position (initial pipe hole position) 2a. As shown in the figure, the heat transfer tubes 2 arranged in a staggered pattern on the condenser 1
Since the horizontal directions 34 and 35 of the group coincide with the horizontal axis 36 and the heavy and straight axis 37, when the angle 38 between the work arm 10 and the horizontal axis 36 is θ, the work body 11 is set to the heat transfer tube 2a. Is the initial heat transfer tube
If the position of 2a is at an angle of 2 / 3π from the horizontal direction,
A line 39 that always connects the axis 23 of the work body 11 and the axis 24 of the support leg 17
However, from the extension line 40 of the working arm 10, Take the angle of. Therefore, the working body 11 is the working arm.
By controlling only the relative relationship with 10, it is possible to always set the initial position 2a of the heat transfer tube 2. As a method of controlling the direction of the work body 11, a method of providing an accelerometer on the work body 11 and detecting the gravitational direction of the work body 11 to control the position can be considered, but the above method is simpler. is there.

FIG. 15 shows a state in which the above-mentioned automatic work device 4 is used to perform work at the position of the outermost peripheral portion 43 of the tube nest. Then, in the present embodiment, as described above, the work body 11 and the support legs 17
Since the interval of (support point of load weight F) is reduced,
Even at the position of the outermost peripheral portion 43 of the tube nest, it can be used in a situation where an excessive moment is not generated. Therefore, the work arm 10 does not generate a large moment M, and the situation as shown in FIG. 8, that is, the situation in which the support leg 15 is disengaged from the heat transfer tube 2 is prevented.

FIG. 16 shows a working step when working on the dense portion 42 of the tube nest of the heat transfer tube 2. As shown in FIG. 3A, the support leg 17 attached to the working arm 10 is indicated by a square mark (A-
0), after starting cleaning from the initial position A-1 (0 °), the work body 11 is centered on the support leg 17 at 60 °, 120 °, 180 °.
5 places by turning ゜ and 240 ゜ sequentially (○: A-1 to A-5)
Perform the work of [Step I]. Then, as shown in FIG. 7B, the support leg 17 is moved laterally by one pitch to move the square mark B-
After fixing to 0, the work body 11 from the initial position B1 60 °, 120 °, 180
Turn at ゜ and 300 ゜ and turn at 4 places (○: B-2, B-3, B-4, B
Perform the work of -6) [Step II]. Next, as shown in FIG. 7C, the support leg 17 is laterally moved by two pitches and fixed to the square mark C-0, and after cleaning is started from the initial position value C-1 (0 °), the work body 11 Same as step I, 60 °, 120 °, 180
5 places by turning ゜ and 240 ゜ sequentially (○: C-1 to C-5)
Perform the work of [Step III]. Next, move the support leg 17 laterally by one pitch and fix it to the square mark D-0, then press the step.
In the same way as II, perform the work at 4 places (○: D-2, D-3, D-4, D-6) by turning 60 °, 120 °, 180 °, 300 ° sequentially from the initial position D-1. Do [Step IV]. Hereinafter, by repeating the operations of Steps III and IV, all the heat transfer tubes 2 can be worked all over. Therefore, according to the work operation of the present embodiment, 4.5 heat transfer tubes 2 are worked on average at one work position, which reduces the work of positioning the working device and reduces the amount of control signals required for positioning control. Can be reduced.

FIG. 17 shows a working step in the outer peripheral portion 43 where the tube nest is cut out. As shown in FIGS. 9A to 9D, when the work is performed on such an outer peripheral portion 43, the support leg 17 provided on the work arm 10 is first positioned on the square mark and then the work body 11 is initialized. 60 °, 120 from position (A-1)
Carry out work at three places (A-2, A-3, A-4) by sequentially turning ゜ and 180 ゜ [Step I]. Next, the support leg 17 is moved by one pitch diagonally and fixed, and the work body 11 is moved to the initial position B-1.
Turn 60 °, 120 °, 240 ° from 3 places (B-2, B-3, B-
Carry out step 5) [Step II]. After that, the step
By repeating the operations I and II, it is possible to perform an efficient operation also on the outer peripheral portion 43 of the tube nest.

According to the present embodiment described above, the conventional automatic working device (Japanese Patent Publication
60-1522) has the following advantages.

As shown in FIG. 18 (b), in the conventional device, the distance between the center of rotation of the working arm S and the center of the working equipment is set to an integral multiple in the heat transfer tube group in a rectangular arrangement, and the working arm S is swung. Is used to move the work position. In this case, when the center distance between the working arm S and the working equipment is 5 pitches of tube arrangement or an integral multiple thereof, there are 12 workable heat transfer tubes P'on a concentric circle Q ', but these heat transfer tubes are Since they are scattered at unequal intervals, the apparatus main body must be moved in a complicated manner when working all over the tube nest, which is a problem in terms of work efficiency. In addition, the number of transfer tubes that can be worked in the other tube arrangement pitches is four.

On the other hand, in this embodiment, when the working arm is swung, the number of heat transfer tubes P that can be worked is six.
By the way, the larger the number is, the more the number of operations can be performed at one time. However, when the number is the same, it is better to exist as many pieces as possible from the viewpoint of efficiently operating the entire tube nest. Therefore, in the staggered arrangement, the distance between the working equipment and its rotation center should be one pitch of the pipe arrangement. In this case, the work positioning step (Figs. 16 and 17) has already been described. As described above, it is possible to improve the work efficiency by reducing the movement amount of the positioning device body without performing complicated positioning control.

Since the pipe arrangement pitch is usually as short as about 30 to 40 mm, even if the distance between the center of rotation of the working arm S of the conventional device and the working body is shortened to secure one pitch, the working body is close to it. It is difficult to construct the present invention because the turning operation is hindered by a main body moving device.

Further, in this example, since the work supporting legs can be provided on the work arm at a pitch of 1 pitch between the work equipment and the pipe arrangement,
It is possible to shorten the distance between the working equipment and the supporting leg, that is, the length of the arm. As a result, the load moment generated during the work can be suppressed to be small, and even when a large load (reaction force) is applied to the main body of the work device during the work, the work device can be reliably supported and the work can be performed.

Further, according to the present embodiment, since the work arm 10 quickly specifies a work site in a wide range in advance, the working arm 10 and the working device 11 have their own turning and equalizing differences, so that the working device can be expanded while expanding the working range. It is possible to improve the work efficiency by accelerating the transfer time between 11 large numbers of heat transfer tubes.

Therefore, by repeating such an operation at each position of the heat transfer tube group, the entire tube nest can be quickly and thoroughly worked.

〔The invention's effect〕

As described above, according to the present invention, when the inspection, repair or cleaning work of the heat exchanger is performed, the workable range is expanded by the two-stage swiveling operation of the work arm and the work equipment independent of the work arm. And the efficiency can be improved, and the load moment generated during work of the heat exchanger can be suppressed to a small level, so when performing work with a large load (reaction force) such as high-pressure water injection as described above. Even so, it is possible to provide a work robot of a heat exchanger that can reliably support the robot body (working apparatus body).

[Brief description of drawings]

FIG. 1 is a use state diagram showing an embodiment of the present invention, and FIGS. 2 to 4 are operation explanatory diagrams showing an operation step of a moving support leg used in the above embodiment, FIGS. 5 to 7 Is a side view showing the traveling step of the automatic working apparatus of the above-mentioned embodiment, FIG. 8 is a side view of the automatic working apparatus showing a state in which the work support legs of the present invention are not attached, and FIG. FIG. 10 is a plan view of FIG. 9, FIG. 11 is a plan view of FIG. 10, and FIG. 12 is a schematic view of FIG. f) is an explanatory view showing the operation step of the work equipment and the work support legs, FIG. 13 is a plan view showing a state in which the work start position is positioned by using the automatic work device of the above embodiment, FIG. Is a schematic view showing an arrangement state of the heat transfer tube group of the heat exchanger, and FIG. 15 shows the automatic working device of the above-mentioned embodiment outside the heat transfer tube group. Plan view illustrating a state of being positioned in the tube nest section, FIG. 16 is an explanatory view showing a working step when performing work dense tube nests portion of the tube bank by using the above embodiment,
FIG. 17 is an explanatory view showing a work step when working is performed on the outer peripheral tube nest portion of the heat transfer tube group using the above embodiment, and FIGS. 18 (a) and 18 (b) are staggered tube arrangements of heat transfer tubes. FIG. 5 is a comparative explanatory view showing a state and a rectangular tube arrangement state. 1 ... Heat exchanger, 2 ... Heat transfer tube, 4 ... Automatic working device,
5,6 …… Transport rail, 7 …… Mobile unit, 10 …… Working arm, 11 …… Working device (working body), 15 …… Supporting leg, 16…
… Crimping means (patts), 17 …… Working support legs, 25 …… Injection nozzle (working equipment), 31 …… Fixing means (fixing rubber)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical indication location F28G 15/04 (72) Inventor Shigeo Oda 3-1-1 Sachimachi Hitachi City, Ibaraki Stock Association Hitachi, Ltd., Hitachi Plant (56) References JP-A-56-30504 (JP, A) Actually developed-58-188189 (JP, U)

Claims (1)

[Claims] 1. A plurality of support legs that perform walking motions corresponding to a predetermined stride while accommodating alternate insertion / removal operations with respect to the heat transfer tubes (2) on the tube nest surface of a group of a large number of heat transfer tubes (2) collectively arranged. 15), the support leg (15) is provided on the inner peripheral surface of the heat transfer tube (2) at the time of insertion into the heat transfer tube (2) in order to ensure the inserting / removing operation that enables the walking operation. A work robot body (4) is provided with a member (16) which is pressed and released when the drawing operation is performed.
When the robot body (4) is stopped walking, at least one of the support legs (15) maintains pressure contact with the inner peripheral surface of the heat transfer tube (2) at the tube end (2). 4) In the work robot of the heat exchanger, which is configured to be fixed on the tube nest surface, the robot body (4) is provided with a working arm (10) which is controlled to rotate on the tube nest surface, At the tip of the work arm (10), there is a support leg (17) dedicated to work that can be inserted into and removed from the heat transfer tube (2) that should be the work base selected by the turning control of the work arm (10). The support leg (17) provided for this work is equipped with a working device (11) which is swivel-controlled by a radius of rotation of one pitch of the tube arrangement of the heat transfer tubes (2) group, and the support leg dedicated for the work. (17)
When the work equipment (11) performs work when the robot body (4) stops walking, the work equipment (11) is inserted into the inner circumference of the pipe end of the heat transfer pipe (2) which is to be a work base. A work robot for a heat exchanger, characterized in that it is set so as to be in pressure contact with the inner peripheral surface of the pipe end.