JPS6234082Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an improvement of a robot that moves within a steam generator.

Conventionally, in a steam generator, a robot that moves forward and backward or left and right along the tube sheet directly below the tube sheet of the water chamber is connected to the outside of the water tube by a flexible tube that passes through a manhole in the water chamber. However, there was a problem in that only a small wire-shaped inspection probe could be attached to the tube plate surface of the water chamber.

This proposal addresses the above-mentioned problems, and includes a robot body that is installed in a stepwise manner through a plurality of clamps in the lower end of each heat transfer tube opened in an aligned manner in the tube plate of a steam generator, and a a swivel arm attached to the main body so as to be able to swivel in the horizontal direction;
An attachment guide rail having a stopper fixed to the tip of the swing arm, a timing belt and a wire rope extending from the guide rail to the outside of the steam generator via the steam generator manhole, and meshing with the timing belt. A robot characterized by having an attachment that moves up and down using the timing belt and the wire rope as a trajectory by driving a timing roller, and a remote control tool that is detachably attached to the attachment, and its purpose. The place where
To provide an improved robot in which a large and heavy remote control tool can be easily attached to the robot body.

Next, the robot of the present invention will be explained using an embodiment shown in Figs. 1, 2, and 3. 1 is a water chamber of a steam generator, 2 is a tube plate corresponding to the ceiling plate of the water chamber 1, and 3 is a hairpin type. At the lower end of the heat exchanger tube, the lower end 3 of the heat exchanger tube opens into the tube plate 2 in an aligned manner. Also 4
5 indicates the robot body, and 5 indicates four clamps (legs) attached to the robot body 4, two of which are in one set, to enable movement in the vertical direction and in the front, rear, left, and right directions.
In the robot main body 4, two of the same clamps 5 are inserted and fixed into the lower end portion 3 of the heat transfer tube, and the remaining two
When the book is outside the lower end 3 of the heat exchanger tube, the latter two move in the front-rear or left-right direction, and then are inserted into the lower end 3 of the heat exchanger tube and fixed, and then the former two are inserted into the lower end 3 of the heat exchanger tube. After coming out and moving in the front and back or left and right directions, the heat exchanger tube is inserted into the lower end part 3 and fixed, which is repeated, and the tube is moved right under the tube sheet 2 back and forth or left and right along the tube sheet 2. It's starting to make progress. Further, 6 is a swing arm attached to the center of the bottom surface 4a of the robot body 4 so as to be able to rotate through 360 degrees, 7a is a pair of attachment guide rails fixed to both sides of the tip of the swing arm 6, and 7b is the tip. 8 is a timing belt made of fluorine-based synthetic rubber extending from one side of the guide rail 7a to the outside of the water chamber 1 through the manhole 17 of the water chamber 1; 9 is a stopper with a guide rail for attachment fixed to the guide rail 7a; A stainless steel wire rope extends from the other side to the outside of the water chamber 1 via the manhole 17 of the water chamber 1, 12 is a fixed stand detachably fixed to the manhole 17, 11 is a motor mounted on the fixed stand 12, and 10 is a A gear wheel meshing with the timing belt 8 and a roller (not shown) in contact with the wire rope 9 are driven by the motor 11 to eliminate slack between the timing belt 8 and the wire rope 9. It's starting to become easier. Also, 13 is a remote control tool, 14
is an attachment that detachably supports the remote control tool 13, 15 is a motor provided on the attachment 14, 16 is a timing roller driven by the motor 15, and the timing roller 16 meshes with the timing belt 8. Then, when the timing roller 16 is driven by the motor 15,
The attachment 14 is adapted to move up and down along the timing belt 8 and wire rope 9.

Next, the operation of the robot will be explained. First, the attachment 14 is used as a lifting track for the timing belt 8 and the wire rope 9, and the water chamber manhole 17 is
Lifting motor 1 up to the fixed base 12 attached to the
5 and timing roller 16 to lower it. A remote control tool 13 for repairing the heat exchanger tube is manually and removably attached to the attachment 14 that has descended, and then a motor 15 for lifting and lowering the attachment 14 and a timing roller 1 are attached.
6, the timing belt 8 and wire rope 9 are raised as a track, and when the robot body 4 reaches the stopper 7b with a guide rail for the attachment at the tip of the swing arm 6, it comes into contact with this and stops. let In this way, the remote control tool 13 for heat exchanger tube repair has been installed on the robot body 4. In this state, the robot body 4
uses four clamps to walk to the vicinity of the heat exchanger tube to be repaired, and if necessary, rotates the swing arm 6 at a predetermined angle and inserts the remote control tool 13 into the heat exchanger tube that requires repair. This robot body 4
When the robot body 4 walks or the arm 6 turns, the timing belt 8 and the wire rope 9 become tense or loosen as the robot body 4 walks or the arm 6 turns. And the rollers in contact with the wire rope 9 are driven to let out and retract the timing belt 8 and the wire rope 9 to keep them in an appropriate tension state. In addition, since the swing arm 6 attached to the bottom surface 4a of the robot body 4 can rotate 360 degrees by an electric motor or the like, the robot body 4 can be used to move the remote control tool 13 to heat exchanger tubes that require repair around the robot body without having to walk. It can be inserted into at least 4 heat exchanger tubes (0 degrees, 90 degrees, 180 degrees, 270 degrees). The remote control tool 13 also includes a stopper 7b with a guide rail located at the tip of the swing arm 6.
and a timing belt 8 and a wire rope 9 hanging down from the vicinity thereof, means 10 to 12 for preventing the vicinity of their lower ends from loosening, and the timing belt 8
The robot body 4 only needs to be in the working position (there is no need to return to the home position on the manhole) and the remote control tool 13 can be replaced. becomes easier.

As described above, the robot of the present invention includes a robot main body 4 which is mounted so as to be able to move forward through a plurality of clamps in the lower end portion 3 of each heat transfer tube opened in an aligned state in the tube plate 2 of the steam generator, and a swing arm 6 attached to the main body 4 so as to be able to swing in the horizontal direction;
Attachment guide rails 7a and 7b having a stopper fixed to the tip of the swing arm 6
The same timing is achieved by driving the timing belt 8 and wire rope 9 extending from the guide rails 7a and 7b to the outside of the steam generator through the manhole 17 of the steam generator, and the timing roller 16 that meshes with the timing belt 8. It is equipped with an attachment 14 that moves up and down using the belt 8 and the wire rope 9 as a track, and a remote control tool 13 that is detachably attached to the attachment 14.
Timing roller 1 provided on attachment 14
When the attachment 14 is lowered to the manhole 17 position using the timing belt 8 and wire rope 9 as a track, the remote control tool 13 is detachably attached to the attachment 14, and then the timing roller 16 is driven. ,
The attachment 14 is raised to the position of the attachment guide rails 7a, 7b having stoppers using the timing belt 8 and wire rope 9 as a track, and the attachment 14 is brought into contact with the stoppers of the attachment guide rails 7a, 7b and stopped. By doing so, the remote control tool 1
3 is attached to the robot body 4, compared to the robot using the conventional flexible tube.
This has the effect that the large and heavy remote control tool 13 can be easily mounted on the robot body 4.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the robot according to the present invention, FIG. 2 is a bottom view thereof, and FIG. 3 is a side view showing an enlarged part of the robot. DESCRIPTION OF SYMBOLS 1...Water chamber of the steam generator, 2...Tube plate of the steam generator, 3...Lower end of each heat transfer tube, 4...Robot body, 6...Swivel arm, 8...Timing belt, 9... ... Wire rope, 13 ... Remote control tool, 14 ... Attachment, 16 ... Timing roller, 7a, 7b ... Attachment guide rail having stopper.

Claims (1)

[Scope of utility model registration request] A robot body is attached to the lower end of each heat transfer tube opened in an aligned manner in the tube plate of the steam generator so as to be able to move in steps via a plurality of clamps, and a robot body is attached to the robot body so as to be able to rotate in the horizontal direction. a swing arm; an attachment guide rail having a stopper fixed to the tip of the swing arm;
By driving the timing belt and wire rope that extend from the guide rail to the outside of the steam generator via the steam generator manhole, and the timing roller that meshes with the timing belt, the timing belt and wire rope are used as tracks to move up and down. A robot characterized by comprising an attachment and a remote control tool detachably attached to the attachment.