JPH0792357B2 - Automatic cleaning device - Google Patents

Description

The present invention relates to an automatic cleaning apparatus, and more particularly to an automatic heat exchanger having a large number of heat transfer tubes such as a condenser of a nuclear power plant. Cleaning device

(Prior Art) Generally, a condenser of a turbine operating in a thermal power plant or a nuclear power plant uses seawater for cooling water, and therefore, the inside of a large number of heat transfer tubes extending inside the condenser. Marine organisms and water stains tend to adhere, and it is necessary to regularly wash the inside of the heat transfer tube to remove marine organisms and the like in order to maintain its performance.

Conventionally, in this cleaning work, after closing the seawater intake valve leading to the water chamber of the condenser, an operator enters the water chamber with cleaning equipment and manually cleans the cleaning bullets inserted at the inlet of each heat transfer tube. It was carried out by pumping with the water pressure of the gun and penetrating the inside of the heat transfer tube with a cleaning bullet, which was manually done by an operator for a long time.

(Problems to be solved by the invention) However, in this method, if the seawater intake valve is accidentally opened during work, a large amount of seawater may flow into the water chamber, which may endanger the operator. Due to the corrosion of marine organisms adhering to the walls of the room, the inside of the water has a bad odor, and when the condenser is operated by one lung, the temperature inside the water is about 40 ° C and the humidity is about 10
It reached 0%, the working environment was extremely bad, and there were problems in occupational safety and health. Further, in the case of a nuclear power plant, there is a risk that the worker is exposed to radiation during the cleaning work.

Therefore, the present invention solves the problems of the above-mentioned conventional techniques, frees the operator from the cleaning work in a bad environment of high temperature, high humidity, and bad odor, and efficiently cleans the heat transfer tubes of the condenser without human labor. It is an object of the present invention to provide an automatic cleaning device capable of performing the above.

[Structure of Invention]

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a pair of guides provided along a tube plate of a heat exchanger having a plurality of heat transfer tubes and extending in a vertical direction. A guide including a rail, a fixing device that fixes the guide to the tube sheet by inserting a clamp mechanism into the opening of the heat transfer tube, and a vertical direction along the guide rail mounted on the guide. And a moving platform fixed to the lifting platform and extending in the horizontal direction, a work platform suspended in the travel rail and movable in the horizontal direction, and attached to the work platform and attached to the tube sheet. It is composed of a SCARA arm that can rotate along with it, and a cleaning gun that is provided on the SCARA arm and that can be inserted into the heat transfer tube.

(Operation) The guide along the tube plate of the heat exchanger is fixed to the tube plate at a predetermined distance from the tube plate by the fixing device. The movable device moves along the guide at a predetermined distance from the tube sheet. The mounting means connecting the SCARA arm to the movable device moves along with the movable device along the tube sheet. Also, the slara arm also rotates along the tube sheet. Thus, the cleaning gun provided on the SCARA arm moves along the tube sheet to an arbitrary position on the tube sheet by a combination of the movements of the movable device, the attaching means and the SCARA arm. Then, the cleaning gun positioned at this arbitrary position is inserted into the heat transfer tube opening in the tube sheet, and by spraying pressure water, the cleaning bullet inserted into the heat transfer tube inlet is pressure-fed, and the inside of the heat transfer tube is To be washed.

(Embodiment) An embodiment of the automatic cleaning apparatus according to the present invention will be described below with reference to FIGS. 1 to 13.

1 and 2 show a first embodiment of the automatic cleaning apparatus, in which reference numeral 1 denotes a tube plate which vertically partitions the interior of the condenser into a heat exchange chamber 2 and a water chamber 3. A plurality of heat transfer tubes 4 extending in the heat exchange chamber 2 are fixed to the tube plate 1 so as to open, and seawater in the water chamber 3 flows into the heat transfer tubes 4.
Further, an automatic cleaning device indicated by reference numeral M is fixed on the tube plate 1 of the water chamber 3 at a predetermined distance, and the automatic cleaning device M has a substantially cross shape as shown in FIG. Formed,
As a general rule, an elevating unit M _V extending vertically along the tube sheet 1 and a working unit M _H extending horizontally along the tube sheet 1
It consists of and.

The elevating unit M _V of the automatic cleaning device is one in which an upper base plate 6 and a lower base plate 7 extending horizontally are fixed to both ends of a column 5 extending vertically along the tube plate 1. Two guide rails 8 are provided between the base plates 6 and 7 on the plate 1 side so as to be separated from the support 5 by a predetermined distance and parallel to each other, and form a frame-shaped guide as a whole. The guide rail 8 is provided with an elevating table 9 as a movable device that moves up and down so as to face the tube sheet 1, and the elevating table 9 is a ball screw provided along the guide rail between the guide rails 8. Engage (not shown). Then, the elevator 9 is driven by the rotation of the ball screw by the drive device 10 which is provided on the upper surface of the upper base plate 6 and is composed of a servo motor, an encoder and the like. Further, two upper slide base plates 11 and two lower slide base plates 12 extending toward the tube plate 1 are provided at the side edges of the upper base plate 6 and the lower base plate 7, respectively. The plates 11 and 12 are formed by linear cross roller bearings (not shown) or the like so as to be slidable and rigid with respect to the base plates 6 and 7. A fixing device 15 including an air cylinder 13 and a clamp mechanism 14 connected to the air cylinder 13 and extending toward the tube plate 1 is provided at the edges of the slide base plates 11 and 12 on the tube plate 1 side. . This fixing device 15
Inserts the claw portion 14a of the clamp mechanism 14 into the heat transfer tube 4 opening to the tube sheet 1, pulls the air cylinder 13 with air pressure, expands the claw portion 14a, and presses the tip end thereof to the inner surface of the heat transfer tube 4. The lifting unit M _V is fixed on the tube sheet 1 by the four fixing devices 15 and the position on the tube sheet 1 is determined. Further, each fixing device 15 can slide vertically and horizontally, and the heat transfer tube 4 and the heat transfer tube 4 into which the claw portions 14a are inserted.
You can adjust the distance of 15 fixing devices according to the distance. In addition, the lower base plate 7 has support legs 16 that can be vertically extended and contracted in consideration of safety and stability of the automatic cleaning device M during operation, and can be prevented from extending and contracting after being grounded on the floor surface. Is provided downward.

On the other hand, as a working unit M _H of the automatic cleaning device, a traveling rail 17 extending in the horizontal direction along the tube sheet 1 is provided on the side surface of the lifting table 9 on the tube sheet 1 side. The traveling rail 17 is composed of a channel (not shown) having a substantially C-shaped cross section through which a spline (not shown) that functions as a guide is inserted, and a drive rack (not shown) is provided on the lower surface of the channel in the longitudinal direction. ) Is provided. Further, on the traveling rail 17, two work benches 18 that are engaged with the channels of the travel rail are suspended. The work benches 18 are servo motors,
A pinion gear (not shown) of the drive device 19 including an encoder, a speed reducer, a pinion gear, and the like can be moved in the left-right direction in FIG. 2 by meshing with the drive rack. Further, on the side surface of each workbench 18 on the tube plate 1 side, a SCARA arm which rotates while maintaining a predetermined distance from the tube plate 1 by a drive device 20 provided on the workbench 18 and including a servomotor, an encoder, a speed reducer, and the like. 21 are provided. Then, the SCARA arm 21 is connected to the elevating table 9 through the attaching means composed of the traveling rail 17 and the work table 18. Further, the SCARA arm 21 also functions as a water distribution pipe through which pressure water sent from an external pressure water source (not shown) flows, and the SCARA arm 21 jets this pressure water toward the heat transfer pipe 4. A cleaning gun 22 is provided. Then, the inside of the heat transfer tube 4 is cleaned by pumping a cleaning bullet (not shown) previously inserted into the inlet portion of the heat transfer tube 4 by the cleaning gun 22. Also, two work benches 18
Divides the cleaning range of each workbench into, for example, the left side and the right side as shown in FIG. 2, so as not to interfere with each other during the cleaning work. Further, an auxiliary fixing device 25 including an air cylinder 23 and a clamp mechanism 24 is provided on the lower surface of each workbench 18, and the claw portion 24a of the clamp mechanism 24 is inserted into the heat transfer tube 4.
The working unit M _H can be fixed on the tube sheet 1 by expanding the claw portion 24a. Then, if the auxiliary fixing device 25 is operated and the fixing device 15 is released and then the driving device 10 is driven, the guide rails 8 for guiding the lifting table instead of the lifting table 9, the columns 5, the upper part and the lower part. The frame composed of the base plates 6, 7 and the like moves up and down, and then the fixing device 15 is operated to release the auxiliary fixing device 25, thereby moving the automatic cleaning device M up and down along the tube sheet 1. Can be made.

FIG. 3 shows the cleaning gun 22 in detail. The cleaning gun 22 is roughly divided into an injection unit 22A and a holding unit 22B. The holding unit 22B is composed of a cylinder device 26 provided at the tip of the SCARA arm 21, and a first support base 27 and a second support base 28 provided on the cylinder device 26. Inside the first support base 27, A spring 29 is contracted, and a spherical bearing 30 is provided in the second support base 28.
The injection unit 22A includes the first and second support bases 2 so that the injection port 31 faces the inlet of the heat transfer tube 4.
The injection port 31 is supported by 7, 28 and is formed in a tapered shape so as to guide the injection unit 22A into the heat transfer tube 4. Also,
A seal ring 32 made of soft rubber is attached to the base of the injection port 31. Then, the lift 9
And the work table 18 are moved, and further the SCARA arm 21 is rotated to position the cleaning gun 22 toward a predetermined heat transfer tube 4,
By moving the cylinder device 26 toward the tube sheet 1 as shown in FIG. 4 and inserting the cleaning gun 22 into the inlet portion of the heat transfer tube 4, the SCARA arm 21 and the like bend and the axis of the cleaning gun 22 and the heat transfer tube Even if the axis of 4 is displaced by Δd as shown in FIG. 3, the upper spring 29a of the first support base 27 extends and the lower spring 29b contracts, and the spherical bearing 30 of the second support base 28 has a small angle Δθ. Since it only rotates, the injection unit 22A
Swings downward, and the cleaning gun 22 is smoothly inserted into the heat transfer tube 4. Also, the seal ring at the base of the injection port 31
Since 32 is in close contact with the inlet end of the heat transfer tube 4, even if the pressure water is jetted, the pressure water does not leak to the outside from the inlet end of the heat transfer tube, and the efficiency of the cleaning work is not reduced.

FIG. 5 shows the rotating part of the SCARA arm 21,
The base end of the SCARA arm 21 through which the pressure water flows is connected to the rotary joint 34 of the swivel joint 33. Further, at the base end portion 21a of the SCARA arm extending in the horizontal direction, the driving gear 35 for transmitting the drive force to the SCARA arm 21 and the SCARA arm 21 are provided.
A radial bearing 36 for rotatably holding is provided. Further, to the swivel joint 33, a hose 37 for supplying pressure water from an external pressure water source is connected,
As a result, a pressure water supply line to the cleaning gun 22 as shown by an arrow in the figure is formed. Since the SCARA arm 21 and the hose 37 are connected via the swivel joint 33 in this way, the hose 37 is not twisted even if the SCARA arm 21 rotates, and damage to the hose due to the twist can be prevented.
Further, since it is not necessary to use a heavy pressure resistant hose at the bent portion connecting the base end of the SCARA arm 21 and the hose 37, it is possible to reduce the weight by the weight of the hose.

Next, a procedure for cleaning the heat transfer tube 4 of the condenser using the automatic cleaning device M configured as described above will be described.

First, an operator enters the water chamber 3 through the manhole 38 of the condenser and inserts a cleaning bullet (not shown) into the inlet of each heat transfer tube 4. Next, the automatic cleaning device M is carried into the water chamber 3 through the manhole 38 separately for the lifting unit M _V and the working unit M _H , and assembled in the water chamber 3. Further, the tube sheet 1 is divided into a plurality of cleaning areas, and the heat transfer tubes 4 to be cleaned are divided into some groups. This is because when the automatic cleaning device M is moved up and down, left and right many times along the tube sheet 1, the clamping mechanism 14, 24 of the fixing device 15 and the auxiliary fixing device 25 is released for a long time. This is because the risk of the cleaning device M falling from the tube sheet 1 increases and the stability of the work is lacking, so that the cleaning area of the automatic cleaning device M is subdivided to reduce the number of movements of the cleaning device. For example, as shown in FIG.
When divided into six areas F to F, two automatic cleaning devices M are carried into the water chamber 3 and one of the cleaning devices A to C
And the other devices also receive wash zones D-F. When the cleaning of the heat transfer tubes 4 in the area A is completed, the lifting table 9, fixing device 15, auxiliary fixing device 25, etc. of the automatic cleaning device M are operated to move the cleaning device to the area B. In the same manner, the area B is moved to the area C.
By doing so, the number of movements of the two automatic cleaning devices M for the areas A to C and the areas D to F is 2 respectively.
This can be done only once, and the release time of the clamp mechanisms 14 and 24 due to the movement of the automatic cleaning device M can be shortened, and the stability of the cleaning work can be improved.

Further, FIG. 7 is intended to explain the operating method of the automatic cleaning apparatus M, when the heat transfer tubes 4 are arranged with _{n 1, n 2, n 3} ... i n i, as shown in FIG. 7 (A) Running rail 17 and SCARA arm 21
The angle of is fixed at θ ₁ and the cleaning gun 22 is aligned with the n ₁ row, and then the workbench 18 is moved in the left-right direction to sequentially clean the heat transfer tubes 4 in the n ₁ row. When the washing of the n _1-th row is completed, the SCARA arm 21 is rotated to change the angle between the traveling rail 17 and the SCARA arm 21 to θ ₂ , and the washing gun 22 is aligned with the n ₂ -th row to similarly wash the n ₂ -th row. In this way, the heat transfer tubes 4 scattered within the length of the arm of the SCARA arm 21 need only be operated by operating the workbench 18 and the SCARA arm 21, and a lifting table (not shown) needlessly be used. It is not necessary to move the traveling rail 17 up and down by operating it, and the heat transfer tube 4 can be efficiently cleaned in a short time. Further, as shown in FIG. 7 (B), the traveling rail 17
And SCARA arm 21 angle is fixed at θ ₄ and cleaning gun 22 is n ₁
After aligning with the rows, the workbench 18 is moved to the left and right to wash n ₁ rows, and then an elevator (not shown) is operated to move the traveling rail 17 downward to move the washing gun 22 to the n ₂ rows. The cleaning may be sequentially performed by repeating the operation of cleaning the n ₂ rows. in this way,
The heat transfer tubes 4 can be efficiently cleaned by appropriately selecting the operation method of the automatic cleaning device M according to the shape of the tube sheet 1, the arrangement of the heat transfer tubes 4, and the like.

Next, a method of controlling the automatic cleaning device M will be described. In FIG. 8, reference numeral 39 indicates a control device for operating the automatic cleaning device M. The control device 39 controls a CPU 40 for controlling the operation of the cleaning device and an external storage device connected to the CPU 40.
41, a data input device 42, a CRT 43 and an input / output device 44. Since the arrangement position of the heat transfer tubes 4 of the condenser differs depending on the power plant, and in many cases even at the same power plant, it differs from unit to unit.
Data such as the number of heat transfer tubes is stored in an easily removable storage medium such as a floppy disk, the storage medium of the condenser to be cleaned is set in the data input device 42, and the data is input through the CPU 40. Stored in the external storage device 41. Instead of the external storage device 41, the internal storage device RO
M may be used, and the input data can be confirmed on the CRT43 at any time. The stored data is taken out at any time, processed by the CPU 40, and output from the input / output device 44 as an operation command to the operation unit 45 of the automatic cleaning device. The operating unit 45 is shown as a representative of the drive unit 10, the air cylinder 13, etc., and the servo motor 46, the encoder 47, and the pneumatic equipment 48 of the operating unit 45 perform predetermined operations in accordance with the above operation command. Further, when the sensors 49 are operated by the operation of the operation unit 45, the detection signal is immediately fed back to the input / output device 44, and the control device 39 outputs the next operation command.

FIG. 9 shows a second embodiment of the automatic cleaning apparatus. The same parts as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted. This automatic cleaning device M ₂ is used when the heat transfer pipes 4 to be cleaned are arranged in an orderly manner as shown in the drawing, and the SCARA arm 21 is directly attached to the elevating table 9 via the pivot pin 50. There is. When the arrangement of the heat transfer tubes 4 is simple, the cleaning gun 22 can be moved onto a predetermined heat transfer tube 4 simply by combining the vertical movement of the lifting table 9 and the rotary movement of the SCARA arm 21, as in the first embodiment. The left and right linear movements of the washing gun by the work table 18 can be sufficiently complemented by the arm length of the SCARA arm 21 and its rotation angle. Therefore, the mechanism of the automatic cleaning device M ₂ is simplified and the total weight can be reduced.

FIG. 10 shows a third embodiment of the automatic cleaning device, and like reference numerals are used in the same manner. This automatic cleaning device M ₃ is used when the arrangement of the heat transfer tubes 4 is very complicated and the arrangement angle of the heat transfer tubes 4 changes in some places, and moves linearly along the arm on the SCARA arm 21. An arm base 51 is provided, and a cleaning gun 22 is provided on the arm base 51. Therefore, the arrangement angle of the heat transfer tubes 4 to be cleaned and the angle θ ₅ of the traveling rail 17 and the SCARA arm 21 are made to coincide with each other, and the arm base 51 is attached to the SCARA arm 21.
If the heat transfer tubes 4 having a predetermined arrangement angle are sequentially cleaned efficiently by moving the heat transfer tubes 4, the heat transfer tubes 4 can be easily dealt with even when the arrangement of the heat transfer tubes 4 is complicated.

FIG. 11 shows an automatic cleaning device according to a fourth embodiment, and like reference numerals are used. This automatic cleaning device M ₄ is provided with two lifts 9 and two traveling rails 17, and each traveling rail 17 is provided with two workbenches equipped with a cleaning gun 22. According to the present embodiment, the total number of the cleaning guns 22 is doubled as compared with the first embodiment, so that the cleaning work time can be halved.

FIG. 12 shows an automatic cleaning device according to a fifth embodiment, and like reference numerals are used. This automatic cleaning device M ₅ is provided with a support rail 52 in place of the support leg 16 of the first embodiment,
The support rail 52 penetrates the column 5 and extends vertically along the tube sheet 1. Further, the support rail 52 is provided with a telescopic mechanism (not shown), and is connected to an elevating unit of the cleaning device via a connecting means (not shown). Then, when the support rail expansion / contraction mechanism is operated and the support rail 52 is fixed in a state of protruding between the ceiling 53 and the floor surface 54 of the water chamber, the support rail 52 is connected to the rail and the automatic cleaning device M is connected. Acting as a support for ₅ , the cleaning device is firmly supported. In addition, the drive unit is installed at the connection between the automatic cleaning device M ₅ and the support rail 52.
If 55 is provided, the cleaning device can be moved up and down along the support rail 52, and the movement of the cleaning device between the cleaning areas as shown in FIG. 6 can be automated and performed safely. it can. Also in this case, the positioning of the automatic cleaning device M _{5 on} the tube plate is performed by the fixing device 5 which is easy and has high accuracy as described above, and the combination of the support rail 52 and the drive device 55 is not used.

In the embodiment described above, the case where the movable device that connects the SCARA arm 21 through the mounting means moves in the vertical direction along the tube sheet 1 has been described. However, as shown in FIG.
The automatic cleaning device M of the embodiment may be rotated by 90 ° and fixed to the tube sheet 1, and the movable device may be moved in the horizontal direction. In this case, the moving direction of the automatic cleaning device M is horizontal as shown in the drawing, and three cleaning devices are carried in and installed in each cleaning region of the D to F areas, and each cleaning device is installed in the D → A area,
By moving to the E → B area and the F → C area, three cleaning devices can be operated at the same time, and the cleaning time can be further shortened.

〔The invention's effect〕

As is clear from the above description, according to the configuration of the present invention, a movement that combines vertical movement along the guide rail with respect to the cleaning gun, horizontal movement along the traveling rail, and circular movement by the SCARA arm. Therefore, even for heat exchangers in which the heat transfer tubes are not evenly arranged, a cleaning gun can be inserted into the openings of the heat transfer tubes to clean them. The cleaning range can be expanded regardless of the arrangement state of the.

[Brief description of drawings]

FIG. 1 is a side view showing a first embodiment of an automatic cleaning apparatus according to the present invention, FIG. 2 is a front view of the first embodiment, and FIG. 3 is a side view showing a cleaning gun used in the present invention. FIG. 5 is a side view showing the operation of the cleaning gun, FIG. 5 is a side view showing the rotating part of the SCARA arm used in the present invention, and FIG. 6 is a schematic front view showing the cleaning procedure using the automatic cleaning device according to the present invention. , 7th
FIG. 8 is a schematic diagram showing an operating method of the automatic cleaning device according to the present invention, FIG. 8 is a block diagram showing a control method of the automatic cleaning device according to the present invention, and FIG. 9 is a second embodiment of the automatic cleaning device according to the present invention. FIG. 10 is a front view showing the third embodiment of the automatic cleaning device according to the present invention, FIG. 11 is a front view showing the fourth embodiment of the automatic cleaning device according to the present invention, and FIG. 12 is the present invention. 13 is a front view showing a fifth embodiment of the automatic cleaning device according to FIG.
The figure is a schematic view showing a modified example of the operating method of the automatic cleaning apparatus according to the present invention. 1 ... Tube plate, 2 ... Heat exchange chamber, 3 ... Water chamber, 4 ... Heat transfer tube, 5 ... Strut, 6 ... Upper base plate, 7 ... Lower base plate, 8 ... Guide rail, 9 ... Elevating platform, 10,19,20,5
5 …… Drive device, 11 …… Upper slide base plate, 12 ……
Lower slide base plate, 13,23 ... Air cylinder, 14,24
...... Clamping mechanism, 15 ...... Fixing device, 16 ...... Support legs, 17
...... Traveling rail, 18 …… Work platform, 21 …… Scalar arm,
22 ... Washing gun, 22A ... Injection unit, 22B ... Holding unit, 25 ... Auxiliary fixing device, 26 ... Cylinder device, 2
7,28 …… Support base, 29 …… Spring, 30 …… Spherical bearing,
31 …… injection port, 32 …… seal ring, 33 …… swivel joint, 34 …… rotary joint, 35 …… drive gear, 36 ……
Radial bearings, 37 ... Hose, 39 ... Control device, 40 ...
CPU, 41 ... External storage device, 42 ... Data input device, 43
...... CRT, 44 …… I / O device, 45 …… actuator, 50 …… Pivot pin, 51 …… Arm base, 52 …… Support rail, M ₁ , M ₂ ,
M ₃ , M ₄ , M ₅ …… Automatic cleaning device, M _V …… Lift unit, M _H …
… Working unit.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koichi Tsuji, 4 stocks, 2 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Toshiba Keihin Office (72) Inventor Koichiro Suenaga 4 stocks, 2 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Company Toshiba Keihin Office (72) Inventor Akira Kato 2-4 shares of Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa Prefecture (72) Inventor Ichiji Kambara 1-1-1 Uchisaiwai-cho, Chiyoda-ku, Tokyo Stock company In Toshiba Head Office (56) Reference JP 54-3602 (JP, A) JP 60-240997 (JP, A) JP 58-165498 (JP, U)

Claims (4)

[Claims] 1. A guide, which is provided along a tube plate of a heat exchanger having a plurality of heat transfer tubes and includes a pair of vertically extending guide rails, and a clamp mechanism is inserted into an opening of the heat transfer tubes. A fixing device for fixing the guide to the tube sheet by means of, an elevating table mounted on the guide and vertically moving along the guide rail, fixed to the elevating table, and extending in the horizontal direction. Running rail, a workbench suspended in the travel rail and movable in the horizontal direction, a scara arm attached to the workbench and rotatable along the tube sheet, and a scala arm provided on the scala arm. An automatic cleaning device comprising a cleaning gun that can be inserted into a heat transfer tube. 2. The automatic cleaning device according to claim 1, wherein the cleaning gun is fixed on a SCARA arm. 3. The washing gun is movably suspended on a SCARA arm.
The automatic cleaning device according to the item. 4. The automatic cleaning device according to claim 1, wherein the cleaning gun is swingably attached to a SCARA arm via a spherical bearing.