本发明涉及用于挠性喷枪的引导装置，该挠性喷枪用于进入难以进入的部位，例如装备在特别是核类型的热电站中的蒸汽发生器的内部。The invention relates to a guiding device for a flexible lance for accessing difficult-to-access places, such as the interior of steam generators equipped in thermal power plants, in particular of the nuclear type.
装备热电站的蒸汽发生器且更具体地是装备核电站的蒸汽发生器一般包括被称为旋风分离器的部分，该部分允许蒸汽的过度产生。该发生器部分以圆柱形的金属壳体的形式呈现，该壳体配备有两个直径小于40cm且径向对置的开口，即手孔。该壳体还在其底部上配备有用于产生蒸汽的竖直金属管，这些竖直金属管按照方格成行成列地设置。由于该布置，与手孔的排列平行的管的排列形成管行，并且与该方向垂直的管的排列形成管列。Steam generators equipping thermal power plants, and more specifically nuclear power plants, generally include a section called a cyclone, which allows an overproduction of steam. The generator part takes the form of a cylindrical metal casing equipped with two diametrically opposite openings, ie hand holes, of a diameter less than 40 cm. The housing is also equipped on its bottom with vertical metal pipes for generating steam arranged in rows and columns according to a grid. Due to this arrangement, an arrangement of tubes parallel to the arrangement of the hand holes forms a tube row, and an arrangement of tubes perpendicular to this direction forms a tube column.
在蒸汽发生器工作时，存在于发生器的壳体内的水被带到高温和高压，目的是产生蒸汽。旋风分离器的金属管和其它金属部分则经受极端条件，这些极端条件引起不可避免的腐蚀。在没有介入的情况下，与该腐蚀相关的沉积物聚积在旋风分离器的壳体的底部内并且会最终使得该设备不能使用。为此原因，该类型设备应定期地被检查并被清洗掉这些沉积物。该检查和该清洗一般借助喷枪进行，该喷枪或是配备有检查照相机，或者配备有高压水喷嘴。为了到达蒸汽发生器的确定部位，通常是使用喷枪引导装置来引导这些喷枪通过狭窄的开口，这些开口是手孔。During operation of the steam generator, the water present in the housing of the generator is brought to high temperature and pressure for the purpose of generating steam. The metal pipes and other metal parts of the cyclones are then subjected to extreme conditions which cause unavoidable corrosion. Without intervention, deposits associated with this corrosion accumulate in the bottom of the cyclone housing and can eventually render the equipment unusable. For this reason, equipment of this type should be regularly checked and cleaned of these deposits. This inspection and this cleaning are generally carried out by means of a spray gun which is either equipped with an inspection camera or with high-pressure water nozzles. To reach defined locations of the steam generator, lance guides are usually used to guide the lances through narrow openings, which are hand holes.
该类型的装置应该可以在蒸汽发生器的圆形壳体内移动，以使通常挠性的喷枪可以被展开用于检查并且在需要时清洗构成旋风分离器的管的基部。A device of this type should be movable within the circular housing of the steam generator so that the usually flexible lance can be deployed for inspection and if necessary cleaning the base of the tubes constituting the cyclone.
为了实现蒸汽发生器的旋风分离器的壳体的这些检查或清洗操作，公知的是使用用于喷枪的引导装置，例如在专利EP0526120中所述的装置。In order to achieve these inspection or cleaning operations of the casing of the cyclone separator of the steam generator, it is known to use guide devices for the spray guns, such as those described in patent EP0526120.
专利EP0526120公开了一种喷枪引导装置，该装置可以在导轨上自由移动，该装置包括喷枪的驱动和引导系统以及用于对装置在导轨上的定位进行控制的机构。在使用这种装置之前，将导轨沿着与存在于旋风分离器的壁内的两个手孔相关联的直径放置在旋风分离器内。将配备有或是检查喷枪、或者清洗喷枪的装置放置在该导轨上。然后，使该装置通过控制机构沿着导轨移动到待检查/清洗的部位，以便通过驱动和引导机构将喷枪展开在该部位。于是使用该喷枪来检查/清洗两列管之间的空间。Patent EP0526120 discloses a spray gun guiding device which can move freely on a guide rail, the device comprising a driving and guiding system of the spray gun and a mechanism for controlling the positioning of the device on the guide rail. Before using this device, the rails are placed inside the cyclone along the diameter associated with the two hand holes present in the wall of the cyclone. A device equipped with either an inspection lance or a cleaning lance is placed on this rail. Then, the device is moved to the position to be inspected/cleaned along the guide rail by the control mechanism, so that the spray gun is deployed at the position by the driving and guiding mechanism. The gun is then used to inspect/clean the space between the two columns of tubes.
该类型的装置尽管允许对存在于蒸汽发生器内的管的基部进行检查和清洗，然而具有一定数量的缺点。Devices of this type, although allowing inspection and cleaning of the bases of the tubes present inside the steam generator, nevertheless have a certain number of disadvantages.
事实上，这种装置的安置是复杂的，因为需要安装导轨。另外，该装置只允许沿着管的列进行检查/清洗，因为喷枪只能垂直于导轨被展开，并且根据待检查或待清洗的旋风分离器的结构，构成旋风分离器的管的某些区域是不能进入的。In fact, the placement of such devices is complicated by the need for mounting rails. In addition, the device only allows inspection/cleaning along the columns of tubes, since the lances can only be deployed perpendicular to the rails, and depending on the configuration of the cyclones to be inspected or cleaned, certain areas of the tubes that make up the cyclone is inaccessible.
文献US2010/0011522公开了一种检查和清洗装置，该装置特别是包括挠性喷枪的驱动和引导系统以及用于在界定蒸汽发生器的壳体的圆柱形壁的内面上保持并移动的机构。该保持和移动机构优选地包括两对轮，该两对轮包括永久磁铁元件，一对轮独立于另一对轮被电动化。Document US 2010/0011522 discloses an inspection and cleaning device comprising in particular a drive and guidance system of a flexible lance and means for holding and moving on the inner face of the cylindrical wall delimiting the housing of the steam generator. The holding and moving mechanism preferably comprises two pairs of wheels comprising permanent magnet elements, one pair of wheels being motorized independently of the other pair of wheels.
使用包括永久磁铁元件的轮对保持在金属壁例如装备核电站的蒸汽发生器的壳体的金属壁上是理想的。而且，这种保持和移动机构允许装置进入壳体的整个内部轮廓，并且因此将喷枪展开在任何待检查或待清洗的部位，无论其在壳体内的位置如何，而这无需使用附加设备例如导轨。It is desirable to use a wheel set comprising permanent magnet elements held to a metal wall such as the metal wall of a casing of a steam generator equipped with a nuclear power plant. Moreover, this holding and moving mechanism allows the device to access the entire inner contour of the housing and thus deploy the gun at any point to be inspected or cleaned, regardless of its position within the housing, without the use of additional equipment such as rails .
然而，由文献US2010/0011522所公开的检查和清洗装置具有一定数量的缺点。However, the inspection and cleaning device disclosed by document US 2010/0011522 has a certain number of disadvantages.
本发明旨在克服上述缺点。The present invention aims to overcome the aforementioned disadvantages.
以本发明为基础的技术课题因此在于，提供一种允许对具有难以进入部位的封闭壳体例如装备热电站的蒸汽发生器的内部进行检查和清洗的装置。该装置还应允许完全检查这种壳体而无需例如导轨那样的重型设备。The technical problem underlying the present invention is therefore to provide a device that allows inspection and cleaning of the interior of closed housings with difficult-to-access points, such as steam generators equipped with thermal power plants. The arrangement should also allow complete inspection of such housings without the need for heavy equipment such as guide rails.
为此，本发明涉及一种用于挠性喷枪的引导装置，所述挠性喷枪用于检查和/或清洗具有难以进入部位的封闭壳体，所述引导装置以滑架的形式呈现并包括：To this end, the invention relates to a guide device for a flexible lance for inspection and/or cleaning of closed casings with difficult-to-access locations, said guide device being in the form of a carriage and comprising :
挠性喷枪的驱动和引导系统，其以铰接的方式安装在所述装置上；A drive and guidance system for the flexible lance mounted on said device in an articulated manner;
所述装置的定位控制机构；a positioning control mechanism of the device;
供电和控制插座，其用于通过挠性电缆与控制和供电装置连接；Power supply and control sockets for connection to control and power supply devices via flexible cables;
用于在界定壳体的壁的内面上保持并移动的保持和移动机构，该保持和移动机构包括至少两个彼此独立的电动轮，该至少两个轮包括永久磁铁元件，holding and moving mechanism for holding and moving on the inner face of the wall delimiting the housing, the holding and moving mechanism comprising at least two motorized wheels independent of each other, the at least two wheels comprising permanent magnet elements,
所述装置的特征在于，所述装置沿着纵向轴线延伸并包括：The device is characterized in that the device extends along a longitudinal axis and comprises:
中央主体，其包括轮以及轮的驱动系统；a central body comprising the wheels and the drive system for the wheels;
后部，其包括供电和控制插座；以及the rear, which includes power and control sockets; and
前部，其包括喷枪的驱动和引导系统，该前部围绕平行于所述装置的轮的旋转轴线的横向轴线以电动和枢转的方式安装在所述装置的主体上，该前部还围绕所述装置的纵向轴线以电动和枢转的方式安装在主体上。a front part, comprising the drive and guidance system of the spray gun, which is electrically and pivotally mounted on the body of the device about a transverse axis parallel to the axis of rotation of the wheels of the device, which also surrounds The longitudinal axis of the device is electrically and pivotally mounted on the main body.
包括喷枪的驱动和引导系统的前部的这种安装允许最大控制喷枪的展开角度。事实上，该部分的围绕横向轴线并围绕纵向轴线的移动允许前部沿着包含在朝壳体内部转动的半球内的方向上的受控移动以及因此喷枪的展开。This installation, including the front part of the drive and guidance system of the spray gun, allows maximum control over the angle of deployment of the spray gun. In fact, the movement of this part about the transverse axis and about the longitudinal axis allows a controlled movement of the front part and thus a deployment of the lance in a direction contained in a hemisphere turning towards the inside of the housing.
优选地，电动轮中的至少两个围绕大致平行且彼此相对偏移的旋转轴线转动。Preferably at least two of the motorized wheels rotate about axes of rotation which are substantially parallel and offset relative to each other.
装置的电动轮的轴线的这种偏移允许通过存在于待检查/清洗的壳体壁上的障碍物例如竖直焊缝。事实上，遇到这种情况时，该两个驱动轮中的仅一个同时被锁定。This offset of the axis of the electric wheel of the device allows the passage of obstacles, such as vertical welds, present on the walls of the housing to be inspected/cleaned. In fact, when this situation is encountered, only one of the two drive wheels is locked at the same time.
优选地，所述装置还包括至少一个支承部件，该支承部件与电动轮互补。Preferably, the device further comprises at least one support member complementary to the motorized wheel.
该部件允许支承点并允许将装置附加保持在壳体壁上，因此确保喷枪展开的最佳稳定性。This part allows a point of support and additional holding of the device on the housing wall, thus ensuring optimum stability of the deployment of the lance.
优选地，喷枪的驱动系统包括配备有销的驱动轮，该驱动轮由电动机驱动，该电动机由控制装置供电并控制，这些销用于与设置在喷枪内的孔啮合，喷枪具有扁平形状，滚轮用于确保在喷枪的下游的引导。Preferably, the drive system of the spray gun comprises a drive wheel equipped with pins driven by an electric motor powered and controlled by the control means, the pins for engaging holes provided in the spray gun, the spray gun having a flat shape, rollers For ensuring guidance downstream of the spray gun.
这种喷枪驱动系统允许对喷枪进行持久的、连续的且受控的驱动，这对用于安装在不允许技术人员介入的难以进入的壳体内的装置来说是重大的特性。利用滚轮保持喷枪同时提供对喷枪的保持和引导。Such a spray gun drive system allows for permanent, continuous and controlled drive of the spray gun, which is a significant feature for devices intended to be installed in difficult-to-access housings that do not allow the intervention of a technician. Utilizing the rollers to hold the spray gun provides both holding and guiding of the spray gun.
优选地，所述装置的后部围绕大致平行于滑架的轮的旋转轴线的横向轴线以枢转的方式安装在所述装置的主体上。Preferably, the rear portion of the device is pivotally mounted on the body of the device about a transverse axis substantially parallel to the axis of rotation of the wheels of the carriage.
这样将后部安装在主体上允许该后部的移动，以使所述装置可以更好地与壳体壁的曲率吻合。Mounting the rear portion on the body in this way allows movement of the rear portion so that the device can better conform to the curvature of the housing wall.
优选地，控制机构包括至少一个定位照相机和至少一个照明系统，该至少一个照明系统与该至少一个定位照相机相连。Preferably, the control mechanism comprises at least one positioning camera and at least one lighting system connected to the at least one positioning camera.
这种照相机允许直接且直观地控制所述装置在壳体壁上的定位。与该照相机连接的照明系统的使用允许解决在该类型壳体内的光线缺乏。Such a camera allows direct and intuitive control of the positioning of the device on the housing wall. The use of a lighting system connected to the camera allows to solve the lack of light in this type of housing.
优选地，照相机被定位在所述装置的一侧，用于朝下转动以便确定所述装置的高度。Preferably, a camera is positioned on one side of the device for turning downwards to determine the height of the device.
这种照相机允许直观控制与壳体底部相对的所述装置的位置。操作员因此可以更好地控制所述装置的移动。Such a camera allows intuitive control of the position of the device relative to the bottom of the housing. The operator thus has better control over the movement of the device.
优选地，至少一个照相机被定位在所述装置的主体的前面上，以便控制挠性喷枪的驱动和引导系统的定向。Preferably at least one camera is positioned on the front of the body of the device in order to control the orientation of the drive and guidance system of the flexible lance.
这种对喷枪的驱动和引导系统的定向的直观控制允许使喷枪沿着受控方向展开，以便因此到达待检查或待清洗的部位。This intuitive control of the orientation of the drive and guidance system of the lance allows the lance to be deployed in a controlled direction in order thus to reach the site to be inspected or cleaned.
优选地，所述装置的前部配备有控制照相机，该控制照相机朝喷枪的出口方向转动。Preferably, the front of the device is equipped with a control camera that turns towards the outlet of the spray gun.
这种直观控制允许在喷枪展开期间跟随喷枪，以便因此可以将喷枪准确地放置在待检查或待清洗的部位。This intuitive control allows the spray gun to be followed during its deployment, so that it can thus be placed exactly on the spot to be inspected or cleaned.
本发明还涉及一种用于检查具有难以进入部位的封闭壳体的组件，所述组件包括根据本发明的装置和矩形截面的挠性喷枪，该喷枪在其自由端部包括检查照相机，当喷枪是水平时，该检查照相机的光学传感器的视觉轴线以约45°朝下定向。The invention also relates to an assembly for inspecting closed housings with difficult-to-access locations, said assembly comprising a device according to the invention and a flexible lance of rectangular section comprising an inspection camera at its free end, when the lance When horizontal, the visual axis of the optical sensor of the inspection camera is oriented downwards at approximately 45°.
这种组件对于对具有难以进入部位的封闭壳体例如核电站的蒸汽发生器的壳体进行检查是理想的。另外，这种喷枪设备允许实现对发生器的壳体底部且特别是管的基部的精确检查。Such an assembly is ideal for inspections of closed enclosures with difficult-to-access locations, such as the enclosures of steam generators in nuclear power plants. In addition, such a spray gun device allows to achieve an accurate inspection of the bottom of the housing of the generator and in particular of the base of the tubes.
优选地，喷枪包含用于将视频数据朝控制和供电装置的方向传输的元件以及用于取出迁移物体的微型工具供给导管。Preferably, the spray gun contains elements for the transmission of video data towards the control and power supply means and a microtool supply duct for extracting the migrating objects.
本发明还涉及一种用于检查具有难以进入部位的封闭壳体的组件，所述组件包括根据本发明的装置和用于高压力清洗的挠性且矩形截面的喷枪，该喷枪包括多个加压液体供给导管和下游端部，该下游端部配备有多个排出口，该多个排出口相对于喷枪的轴线对称地设置。The invention also relates to an assembly for inspecting closed housings with difficult-to-access locations, said assembly comprising a device according to the invention and a flexible and rectangular-section lance for high-pressure cleaning comprising a plurality of A hydraulic fluid supply conduit and a downstream end equipped with a plurality of discharge ports arranged symmetrically with respect to the axis of the spray gun.
这种组件对于对具有难以进入部位的封闭壳体例如核电站的蒸汽发生器的壳体进行清洗是理想的。此外，这种喷枪设备允许以稳定的方式使用该装置来清洗存在于壳体底部的腐蚀沉积物，因为高压力液体的排出口的对称性允许平衡由高压力液体对喷枪产生的力。Such an assembly is ideal for cleaning closed enclosures with difficult-to-access locations, such as the enclosures of steam generators in nuclear power plants. Furthermore, this lance arrangement allows to use the device in a stable manner to clean corrosion deposits present at the bottom of the housing, since the symmetry of the discharge of the high-pressure liquid allows balancing the forces generated by the high-pressure liquid on the lance.
总之，参照示意性附图借助以下说明将很好地了解本发明，这些附图以并非限定性的示例示出该喷枪引导装置的实施方式。In conclusion, the invention will be better understood with the aid of the following description with reference to the schematic drawings, which show an embodiment of the spray gun guide by way of non-limitative example.
图1是旋风分离器的内部的部分分解视图，根据本发明的装置在其内工作；Figure 1 is a partially exploded view of the interior of a cyclone within which the device according to the invention operates;
图2是该装置的仰视图；Fig. 2 is the bottom view of this device;
图3是轮的电动化系统的比例放大的仰视图；Fig. 3 is the bottom view of the enlarged scale of the motorization system of the wheel;
图4是该装置的侧视图；Fig. 4 is the side view of this device;
图5是喷枪的驱动和引导系统的比例放大的侧视图；Figure 5 is a side view on an enlarged scale of the drive and guidance system of the spray gun;
图6是该装置的立体图。Figure 6 is a perspective view of the device.
图1部分地示出装备核电站的蒸汽发生器的旋风分离器的内部，用于挠性喷枪3的引导装置2在旋风分离器内工作。这种旋风分离器以圆柱形的金属壳体1的形式呈现，该壳体1配备有两个直径小于40cm且径向对置的开口4，即手孔。该壳体具有圆柱形壁5，该圆柱形壁5的内面是金属的。该壳体还在其底部6上配备有用于产生蒸汽的竖直金属管7，这些竖直金属管7按照方格(quadrillage)成行成列地设置。与手孔的排列平行的竖直金属管7的排列形成管行8，并且与该方向垂直的管的排列形成管列9。Figure 1 partially shows the interior of a cyclone separator of a steam generator equipped with a nuclear power plant, in which a guide device 2 for a flexible lance 3 operates. This cyclone separator takes the form of a cylindrical metal casing 1 equipped with two diametrically opposite openings 4 , ie hand holes, less than 40 cm in diameter. The housing has a cylindrical wall 5 whose inner face is metallic. The housing is also equipped on its bottom 6 with vertical metal tubes 7 for generating steam, arranged in rows and columns in a quadrillage. An arrangement of vertical metal tubes 7 parallel to the arrangement of the hand holes forms a tube row 8 and an arrangement of tubes perpendicular to this direction forms a tube column 9 .
引导装置2以滑架的形式呈现，该滑架由三部分构成，即被称为头部10的前部、被称为中央主体11的中央部、以及后部16，后部16包括供电和控制插座。这种布置允许在现场将装置装备有在其后部16上接通的用于供电和控制的挠性电缆17和挠性喷枪3，该挠性喷枪3从引导装置2的下方上通过，以便在引导装置2的头部10上出来。The guiding device 2 is presented in the form of a carriage consisting of three parts, namely a front part called head 10, a central part called central body 11, and a rear part 16 comprising the power supply and control socket. This arrangement allows to equip the device on site with a flexible cable 17 for power and control connected on its rear 16 and a flexible lance 3 which passes under the guiding device 2 in order to Comes out on the head 10 of the guiding device 2 .
图2示出该引导装置2的仰视图，该引导装置2具有加长形式。在该图中，后部16具有大致等边三角形形状的凸出部，该凸出部的后顶部被截断。在后部16的该截断部18上配置有一个开口，该开口用于收纳挠性电缆17的连接器。后部16围绕横向轴线以枢转的方式安装在引导装置2的中央主体11上。该安装可以如图3所示围绕部件20进行铰接。Figure 2 shows a bottom view of the guiding device 2, which has an elongated form. In this figure, the rear portion 16 has a substantially equilateral triangular-shaped bulge, the rear top of which is truncated. An opening for accommodating a connector of the flexible cable 17 is arranged on the cutout portion 18 of the rear portion 16 . The rear portion 16 is pivotally mounted on the central body 11 of the guiding device 2 about a transverse axis. The mount may be hinged around part 20 as shown in FIG. 3 .
引导装置2的中央主体11具有大致扁平直角平行六面体的形状。中央主体11在其下面上具有两个电动轮12、13，该两个电动轮12、13围绕大致平行且彼此相对偏移的横向旋转轴线设置。该两个电动轮12、13在其周围包括永久磁铁元件21。这些电动轮12、13如图3所示通过两个独立的电动机14、15被电动化。该两个电动轮12、13的这种独立电动化允许在引导装置2移动时控制轨迹。The central body 11 of the guide device 2 has the shape of a substantially flat rectangular parallelepiped. The central body 11 has on its underside two motorized wheels 12 , 13 arranged about transverse rotation axes which are substantially parallel and offset relative to each other. The two electric wheels 12, 13 comprise permanent magnet elements 21 around them. These motorized wheels 12 , 13 are motorized by two independent electric motors 14 , 15 as shown in FIG. 3 . This independent motorization of the two motorized wheels 12 , 13 allows controlling the trajectory when the guiding device 2 is moving.
支承部件22也设置在引导装置的中央主体11的下面上并且相对于电动轮12、13偏移，以便实现附加支承点。该支承部件22允许在引导装置2沿着壳体1的圆柱形壁5移动时以及在挠性喷枪3展开时改善引导装置2的稳定性。引导装置2还在其中央主体11上包括定位照相机23，这些定位照相机23设置在中央主体11的侧向侧。这些定位照相机23中的每个可以配备有照明系统。该照明系统可以如图4所示由设置在这些定位照相机23的周围上的电致发光二极管24构成。A bearing part 22 is also arranged on the underside of the central body 11 of the guide device and is offset relative to the motorized wheels 12, 13 in order to achieve an additional bearing point. This support part 22 allows to improve the stability of the guide device 2 when it is moved along the cylindrical wall 5 of the housing 1 and when the flexible lance 3 is deployed. The guiding device 2 also comprises on its central body 11 positioning cameras 23 arranged on the lateral sides of the central body 11 . Each of these positioning cameras 23 may be equipped with a lighting system. The lighting system can consist of electroluminescent diodes 24 arranged around the positioning cameras 23 as shown in FIG. 4 .
引导装置2的中央主体11还如图3所示配备有在引导装置2的头部10和引导装置2的中央主体11之间的电动化系统。该电动化系统允许将头部10围绕大致平行于电动轮12、13的旋转轴线的横向轴线以枢转的方式安装在引导装置2的中央主体11上。这种配置允许头部10以大致等于45°的角度进行受控枢转。电动化系统优选地包括定位电动机25和齿轮组件26。The central body 11 of the guiding device 2 is also equipped, as shown in FIG. 3 , with a motorization system between the head 10 of the guiding device 2 and the central body 11 of the guiding device 2 . This motorization system allows the head 10 to be mounted pivotally on the central body 11 of the guiding device 2 about a transverse axis substantially parallel to the axis of rotation of the motorized wheels 12 , 13 . This configuration allows controlled pivoting of the head 10 at an angle substantially equal to 45°. The motorization system preferably includes a positioning motor 25 and a gear assembly 26 .
为了控制装置1的位置，中央主体11可以在其前面上包括定位照相机27。该定位照相机27可以如图2所示与照明系统组合，该照相系统例如包括电致发光二极管28。In order to control the position of the device 1 , the central body 11 may comprise a positioning camera 27 on its front face. This positioning camera 27 can be combined, as shown in FIG. 2 , with a lighting system comprising, for example, electroluminescent diodes 28 .
引导装置2的头部10还借助中间部件29以枢转的方式围绕引导装置2的纵向轴线被安装。该安装通过由定位电动机30和齿轮31构成的组件被电动化，并允许头部10以大致等于90°的角度进行受控枢转运动。The head 10 of the guide device 2 is also pivotally mounted about the longitudinal axis of the guide device 2 by means of an intermediate part 29 . This mounting is motorized by means of an assembly consisting of a positioning motor 30 and a gear 31 and allows a controlled pivotal movement of the head 10 at an angle substantially equal to 90°.
头部10包括平行六面体的第一部32，突出部33从该第一部32延伸。该突出部33与头部10的第一部32成大致等于110°的角度。The head 10 comprises a first parallelepiped portion 32 from which a protrusion 33 extends. This protrusion 33 forms an angle substantially equal to 110° with the first portion 32 of the head 10 .
头部10还包括挠性喷枪3的驱动和引导系统。该驱动和引导系统包括通道34，该通道34配设在两个部分32、33内用于引导挠性喷枪3通过引导装置2的头部10。该驱动和引导系统还包括电动机35，该电动机35安装在第一部32上。该电动机35通过图2和图5所示的齿轮系统36驱动配备有销38的驱动轮37，该驱动轮37设置在通道34内。这些销38用于当挠性喷枪3被插入在头部10的通道34内时与挠性喷枪3啮合。挠性喷枪的该引导可以由未图示的滚轮完成。The head 10 also comprises the drive and guidance system of the flexible lance 3 . This drive and guide system comprises a channel 34 provided in the two parts 32 , 33 for guiding the flexible lance 3 through the head 10 of the guide device 2 . The drive and guidance system also includes an electric motor 35 mounted on the first part 32 . This electric motor 35 drives, via a gear system 36 shown in FIGS. 2 and 5 , a drive wheel 37 equipped with pins 38 , which is arranged in the channel 34 . These pins 38 are intended to engage the flexible lance 3 when it is inserted in the channel 34 of the head 10 . This guidance of the flexible lance can be done by rollers not shown.
因此，当挠性喷枪3被安装在引导装置2上时，挠性喷枪3通过通道34被插入在引导装置2的头部10内。如图1所示，挠性喷枪3在由通道34和滚轮引导的头部10的突出部33的上面上出来。挠性喷枪3的展开则可以通过使配备有销38的驱动轮37旋转来实现，这些销38驱动挠性喷枪3。Thus, when the flexible lance 3 is mounted on the guide device 2 , the flexible lance 3 is inserted through the channel 34 in the head 10 of the guide device 2 . As shown in FIG. 1 , the flexible lance 3 emerges above the protrusion 33 of the head 10 guided by a channel 34 and rollers. The deployment of the flexible lance 3 can then be achieved by rotating a drive wheel 37 equipped with pins 38 which drive the flexible lance 3 .
为了精确控制挠性喷枪3的展开，头部10在其突出部33上具有控制照相机39。该控制照相机39还可以配备有例如具有电致发光二极管的照相系统。In order to precisely control the deployment of the flexible lance 3 , the head 10 has a control camera 39 on its protrusion 33 . The control camera 39 can also be equipped with a camera system, for example with electroluminescent diodes.
可以装备引导装置2的挠性喷枪3是矩形截面的挠性喷枪，该挠性喷枪在其整个长度上穿设有孔。这些孔用于当挠性喷枪3通过驱动轮37被啮合时与头部10的带有销38的驱动轮37协作。根据在壳体内进行的操作的类型，即检查或者清洗，装备引导装置2的挠性喷枪3以不同方式被配置。The flexible lance 3 which may be equipped with the guide means 2 is a flexible lance of rectangular section perforated throughout its length. These holes are intended to cooperate with the drive wheel 37 with the pin 38 of the head 10 when the flexible lance 3 is engaged by means of the drive wheel 37 . Depending on the type of operation performed inside the housing, ie inspection or cleaning, the flexible lance 3 equipped with the guiding device 2 is configured in different ways.
为了进行壳体1的检查，挠性喷枪3的自由端部配备有光学传感器，并且挠性喷枪3包含用于将视频数据朝控制和供电装置的方向传输的元件。挠性喷枪3还包括用于取出迁移物体的微型工具供给导管。For the inspection of the casing 1 , the free end of the flexible lance 3 is equipped with an optical sensor, and the flexible lance 3 contains elements for transmitting video data in the direction of the control and power supply. The flexible lance 3 also includes a microtool supply conduit for extracting the migrating objects.
为了进行清洗，挠性喷枪3包括多个加压液体供给导管，并且其下游端部配备有多个排出口，该多个排出口相对于挠性喷枪3的轴线对称地设置。这种对称布置允许将挠性喷枪保持就位，由来自各口的液体喷射压力施加的力由对称口的液体喷射补偿。For cleaning, the flexible lance 3 comprises a plurality of pressurized liquid supply ducts and its downstream end is equipped with a plurality of discharge openings arranged symmetrically with respect to the axis of the flexible lance 3 . This symmetrical arrangement allows the flexible lance to be held in place, the force exerted by the liquid injection pressure from each port being compensated by the liquid injection from the symmetrical ports.
当热电站的蒸汽发生器的旋风分离器的壳体1应被检查或者被清洗时，按以下方式进行。将用于供电和控制的挠性电缆17事先接通在引导装置2上，并且将根据需要配备有检查照相机或者高压力喷枪的挠性喷枪3导入到设置在引导装置2的头部10内的通道34内。如图1所示，将所实现的引导装置2的设备从两个手孔中的一个导入到壳体1内。于是将该装置放置在旋风分离器的壳体1的圆柱形壁5的内面上。该装置借助其电动轮12、13和其支承部件22保持在大致竖直的圆柱形壁5的内面上。When the housing 1 of the cyclone separator of the steam generator of the thermal power station is to be inspected or cleaned, the procedure is as follows. The flexible cable 17 for power supply and control is connected on the guide device 2 in advance, and the flexible spray gun 3 equipped with an inspection camera or a high-pressure spray gun is introduced into the head 10 of the guide device 2 as required. Inside channel 34. As shown in FIG. 1 , the implemented device of the guiding device 2 is introduced into the housing 1 through one of the two hand openings. The device is then placed on the inner face of the cylindrical wall 5 of the housing 1 of the cyclone. The device is held by means of its motorized wheels 12 , 13 and its support part 22 on the inner face of the substantially vertical cylindrical wall 5 .
这样设置，该装置可以由操作员通过电子装置来控制，该电子装置理想的是信息化的电子装置，例如设有通过用于供电和控制的挠性电缆17接通在该装置上的采集卡的计算机。操作员则通过该电子机构同时访问设置在该装置上的控制机构即定位照相机23、27和控制照相机39并对该装置的不同电动化机构即电动机14、15、35和定位电动机25、30进行控制。理想地，对该装置的不同电动化机构的控制借助控制杆进行。Set in this way, the device can be controlled by the operator through an electronic device, which is ideally an information-based electronic device, such as an acquisition card that is connected to the device through a flexible cable 17 for power supply and control computer. The operator accesses the control mechanism provided on the device at the same time through the electronic mechanism, that is, the positioning cameras 23, 27 and the control camera 39, and performs different motorization mechanisms of the device, that is, the motors 14, 15, 35 and the positioning motors 25, 30. control. Ideally, the control of the different motorization mechanisms of the device takes place by means of a joystick.
操作员则可以使用设置在引导装置2的中央主体11上的定位照相机23、27和控制照相机39来确定与壳体1相对的引导装置2的位置。一旦确定了引导装置2的位置，操作员就可以独立地控制该装置的两个电动轮12、13，以使该装置移动到圆柱形壁5的内面上的需要的部位。该装置就位，操作员启动头部10的两个定位电动机25、30，以便获得为到达待检查或待清洗的部位所需要的展开角度。然后将挠性喷枪3展开到期望的长度。为此，通过设置在装置的头部上的电动机35使带有销38的驱动轮37旋转。达到挠性喷枪3展开所需要的长度，操作员根据所选择的设备，使用设置在喷枪上用于检查/清洗喷枪展开所在的部位的照相机，或是使用用于清洗该相同部位的高压力喷枪。The operator can then use the positioning cameras 23 , 27 and the control camera 39 provided on the central body 11 of the guiding device 2 to determine the position of the guiding device 2 relative to the housing 1 . Once the position of the guiding device 2 has been determined, the operator can independently control the two motorized wheels 12 , 13 of the device in order to move the device to the desired location on the inner face of the cylindrical wall 5 . With the device in place, the operator activates the two positioning motors 25, 30 of the head 10 in order to obtain the deployment angle required to reach the site to be inspected or cleaned. The flexible lance 3 is then deployed to the desired length. To this end, a drive wheel 37 with a pin 38 is rotated by an electric motor 35 arranged on the head of the device. To the length required for deployment of the flexible lance 3, the operator, depending on the equipment chosen, uses a camera mounted on the lance to inspect/clean the area where the lance is deployed, or uses a high pressure lance to clean the same area .
不言而喻，本发明不限于以上作为示例所述的用于挠性喷枪的引导装置的单一实施方式，相反本发明包括所有实施变型例。It goes without saying that the invention is not limited to a single embodiment of the guide device for a flexible lance described above as an example, but that the invention encompasses all implementation variants.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1054360AFR2961003B1 (en) | 2010-06-03 | 2010-06-03 | GUIDING DEVICE FOR FLEXIBLE LANCE |
| FR1054360 | 2010-06-03 | ||
| PCT/FR2011/051241WO2011151591A2 (en) | 2010-06-03 | 2011-05-31 | Device for guiding a flexible lance |
| Publication Number | Publication Date |
|---|---|
| CN103261788A CN103261788A (en) | 2013-08-21 |
| CN103261788Btrue CN103261788B (en) | 2015-07-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180027325.3AExpired - Fee RelatedCN103261788B (en) | 2010-06-03 | 2011-05-31 | Guides for flexible spray guns |
| Country | Link |
|---|---|
| EP (1) | EP2577158B1 (en) |
| CN (1) | CN103261788B (en) |
| ES (1) | ES2569714T3 (en) |
| FR (1) | FR2961003B1 (en) |
| SI (1) | SI2577158T1 (en) |
| WO (1) | WO2011151591A2 (en) |
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| CP01 | Change in the name or title of a patent holder | Address after:Fa Guo Woangweilin Patentee after:Suez, Levi, aussoud, este Address before:Fa Guo Woangweilin Patentee before:Think tank | |
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| TR01 | Transfer of patent right | Effective date of registration:20191015 Address after:Paris France Patentee after:An Desaruan Address before:Fa Guo Woangweilin Patentee before:Suez, Levi, aussoud, este | |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20150708 | |
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