Working robot for heat exchanger and method of operating it

Details Working robot for heat exchanger and method of operating it Working robot for heat exchanger and method of operating it

B - Operations, Transporting

23

H

B23H 7/10 (2006.01) B08B 9/04 (2006.01) B25J 11/00 (2006.01) F28G 1/02 (2006.01) F28G 1/16 (2006.01) F28G 15/02 (2006.01) F28G 15/04 (2006.01)

Patent

CA 2294125

A robot body (21) is carried into the water chamber (2A) of a condenser (1) and disposed on a tube sheet (4) through which a number of narrow tubes (3) open. Inner nozzles (23) are inserted into narrow tubes (3) from working devices (24) installed on the front ends of four combined-use arms (22A through 22D) to position and fix the robot body (21). And the arm turning motors (25) and arm extending and contracting.cylinder devices (26) of the combined-use arms (22A through 22D) are driven to move the robot body (21). Further, a cleaning brush (12) and a flaw detection probe (13) are inserted into a narrow tube (3) from each working device (24) and moved along the narrow tube (3) by means of cleaning water, whereby cleaning and inspection are performed. With three of the combined-use arms (22A through 22D) fixed to the narrow tubes (3), the inner nozzle (23) is extracted from the narrow tube (3) and the working device is moved to the next narrow tube (3).

La présente invention concerne un robot de service pour échangeur de chaleur comprenant un corps principal (21) de robot qui est supporté dans la chambre d'eau (2a) d'un condenseur (1) et qui est placé sur une plaque tubulaire (4) à travers laquelle passent plusieurs tubes minces (3). Une buse interne (23) est insérée dans les tubes minces (3) à partir d'un dispositif de service (24) situé à l'extrémité de quatre bras multifonctionnels (22a à 22d) afin de placer le corps principal (21) de robot en position fixe ; un moteur de rotation de bras (25) et un cylindre de téléscopage de bras (26) situés sur les bras multifonctionnels (22a à 22d) sont entraînés de façon qu'ils déplacent le corps principal (21) de robot ; une brosse de nettoyage (12) et une sonde de détection de défauts (24) sont insérées à partir du dispositif de service (24) et déplacées le long des tubes minces (3) par une eau de nettoyage afin de procéder au nettoyage et à l'inspection ; et la buse interne (23) est extraite des tubes minces (3) alors que trois des bras multifonctionnels (22a à 22d) restent fixés aux tubes de façon que le dispositif de service peut se déplacer vers les tubes minces (3) suivants.

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