CN101430176B - Intelligent movable cleaning robot for condenser - Google Patents
Intelligent movable cleaning robot for condenser Download PDFInfo
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- CN101430176B CN101430176B CN2008101437049A CN200810143704A CN101430176B CN 101430176 B CN101430176 B CN 101430176B CN 2008101437049 A CN2008101437049 A CN 2008101437049A CN 200810143704 A CN200810143704 A CN 200810143704A CN 101430176 B CN101430176 B CN 101430176B
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Abstract
The invention discloses a condenser intelligent moving and cleaning robot, which can be used in the field of large scale cleaning equipment and comprises a track running mechanism, a cleaning mechanism, and an electric control mechanism. A spray gun is connected on a spray gun running rest of a cleaning arm. The spray gun is provided with a underwater TV camera and connected with a cleaning media source by a communicating tube. The cleaning arm is connected with a cleaning arm running bracket component by a drive shaft. The drive shaft of the cleaning arm is connected with an electric push rod. The cleaning arm running bracket component is arranged on a pivoting support which is arranged on the track running mechanism by the running bracket component. The right front end of the top of the spray gun, the front end and the back end of a mounting plate of the pivoting support and the front position and the back position of a track support are provided with sonar sensors. The robot has few joints, simple structure, convenient processing and assembling, can automatically move in a water chamber of the condenser to finish the precise position and efficient cleaning of copper pipes of the condenser, has wide application range and high degree of automation.
Description
Technical field
The invention belongs to large-scale cleaning equipment field, refer in particular to a kind of condenser intelligent movable cleaning robot, it mainly is applicable to the efficient cleaning of the large condenser of industries such as electric power, chemical industry, pharmacy, also can be applied to the cleaning of main equipments such as boats and ships, aircraft.
Background technology
Condenser is the most important cooler in firepower, atomic power plant, the good and bad heat exchange efficiency that directly influences the power plant of its switching performance, its inside mainly is made up of ten hundreds of copper pipes, in the thermodynamic cycle of steam turbine of thermal power plant device, play low-temperature receiver, reduce steam turbine exhaust pressure and exhaust temperature, improve the thermal efficiency of cycle of Turbo-generator Set.
At present, the condenser of the application in industrial circle generally adopts water-cooled and mode such as air-cooled, wherein adopt water-cooled mostly, and the cooling water majority is directly to take from natural water sources such as river, river, lake, sea, owing to cooling water is clean, follow reason such as chemical reaction during heat exchange, cause the condenser copper tube inwall to gather to be unfavorable for the dirt that conducts heat.The existence of dirt can cause a series of harm: 1, sharply reduced condenser heat transfer coefficient, cause condenser vacuum to reduce, the Steam Turbine delivery temperature is raise, power output reduces, thereby has reduced the efficient of steam turbine generator; 2, increase the resistance to water-flow of cooling circulating water system, reduced the flow of cooling water, increased the energy consumption of water circulating pump; 3, cause condenser copper tube to stop up, have a strong impact on the equipment operation; 4, condenser copper tube generation local corrosion even break and bore a hole.
Methods such as general main employing artificial flushing at present, glueballs cleaning, Chemical cleaning and Cleaning by High Pressure Water Jet.1, shuts down artificial, mechanical system cleaning.When overhaul of steam turbine, disclose brush and remove dirt thereby under the compressor emergency shutdown condition, condenser copper tube beaten by the workman.This method labor strength is big, and can only clean when compressor emergency shutdown, has a strong impact on production safety efficient.2, glueballs on-line cleaning.Rubber ball cleaning system is made up of Rubber ball pump, ball collector, ball screen, distributor, valve and corresponding pipeline.The near sponge glueballs of density and water passes through Rubber ball pump, enters the condenser hydroecium from ball collector with recirculated cooling water.The glueballs diameter because of being the elastomer of porous softness, is easy to be brought into copper pipe by current, and is compressed to avette than the big 1-2mm of bore.In traveling process,, itself and tube wall contact the dirt of erasing on the tube wall because of having a whole circle endless belt.After glueballs flows out the mouth of pipe, rely on self elastic force bullet to fall the dirt on surface, and restore to the original state, flow in the ball screen and then with recirculated water and send into condenser by Rubber ball pump.Clean the purpose that reaches scale removal so repeatedly.This method can realize on-line cleaning, can remove particle, microorganism and the corrosion dirt of pipe side, but has low, the easy cramming of the glueballs rate of recovery, shortcoming such as can not know fully for the crystallisation fouling that is formed by chemical reaction.3, Chemical cleaning.Chemical cleaning is the method that makes dirt dissolve, peel off and be eliminated with medicaments such as acid, alkali.According to unlike material condenser needs, need with suitable cleansing medium, corrosion inhibiter and activator, the regulation clean range and system in, follow certain cleaning quality control criterion, adopt certain cleaning (comprising the circulation dosing) that condenser is cleaned.Advantages such as but this method has on-line implement, scavenging period weak point, dirt rate height, labour intensity is low, technology is simple.Yet also there is the corrosion condenser copper tube in it, shortens the copper pipe life-span, easily causes device damage, causes personal injury and cleaning quality accident, contaminated environment, does not meet shortcoming such as environmental friendly principle.Therefore, this method often can only be as effective means of supplementing out economy of machinery cleaning.4, Cleaning by High Pressure Water Jet.So-called high-pressure water jet, be that ordinary tap water is pressurized to hundreds of and even thousands of atmospheric pressures by high-pressure pump, then by special nozzle, with the current forward or the tangential impact surface to be cleaned of one energy of high speed ejection, thereby foulant is peeled off, finished washing and cleaning operation.This method has cleans that cost is low, speed fast, clean rate, does not damage and be cleaned thing, applied range, advantage such as free from environmental pollution.The Technolgy of High Pressure Water jet Cleaning still needs artificial the participation then, and its work under bad environment, labour intensity are big.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical problem that prior art exists, the invention provides a kind of simple in structure, applied widely, automaticity is high, can finish the condenser intelligent movable cleaning robot of efficient cleaning automatically.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of condenser intelligent movable cleaning robot, comprise creeper undercarriage, wiper mechanism and electrical control mechanism, it is characterized in that: the bottom of described wiper mechanism and electrical control mechanism are installed on the creeper undercarriage, described wiper mechanism comprises spray gun (3), Underwater Camera (2), the cleaning arm assembly, pivoting support (16), be communicated with flexible pipe (23), and cleansing medium source (21), described cleaning arm assembly comprises runing rest assembly (12), spray gun runing rest (29), rotary screw (28), cleaning arm driving shaft (27) screw rod driving device (4) and balance weight mechanism (7);
Pivoting support (16) is installed on the creeper undercarriage by running bracket component (17), runing rest assembly (12) is arranged on the pivoting support (16), described cleaning arm driving shaft (27) is connected with the upper end of runing rest assembly (12) makes spray gun runing rest (29) to rotate under the support of runing rest assembly (12), the inside of one end of described spray gun runing rest is provided with rotary screw (28), and the inside of the other end is provided with balance weight mechanism (7);
Spray gun (3) is installed on spray gun runing rest (29) and the rotary screw (28) by spray gun bearing (30), Underwater Camera (2) is installed on the spray gun (3), nozzle (52) is installed in the spray gun (3), spray gun (3) links to each other with rubber hose (32) in the balance weight mechanism (7) by water under high pressure hard tube (31), rubber hose (32) links to each other with connection flexible pipe (23) by water inlet pipe (13), and connection flexible pipe (23) goes out water solenoid valve (22) by water under high pressure and is communicated with cleansing medium source (21);
One end of spray gun runing rest (29) and rotary screw (28) links to each other with screw rod driving device (4), the other end of spray gun runing rest (29) and rotary screw (28) links to each other with cleaning arm driving shaft (27), and the transmission mechanism that cleaning arm driving shaft (27) is formed by gear (33) and tooth bar (10) links to each other with electric pushrod (8).
Described creeper undercarriage comprises support chassis (34), driving wheel (35), driven pulley (36), support roller (37), thrust wheel (38), crawler belt (41), creeper undercarriage frame (39) and tensioning apparatus (40), support chassis (34) and tensioning apparatus (40) are installed on the creeper undercarriage frame (39), driving wheel (35), driven pulley (36), support roller (37), thrust wheel (38) links to each other with crawler belt (41) respectively, driven pulley (36) links to each other with tensioning apparatus (40), driving wheel (35), tensioning apparatus (40), support roller (37) and thrust wheel (38) link to each other with creeper undercarriage frame (39) respectively, and driving wheel (35) is connected with travel driving unit (19).
Described controlling organization comprises industrial control computer (14) and Programmable Logic Controller (43), screw rod driving device (4) links to each other by lead sheave (42) Programmable Logic Controller (43) interior with being installed in control cabinet, electric pushrod drive unit (9) and travel driving unit (19) respectively be installed in control cabinet in Programmable Logic Controller (43) link to each other, Programmable Logic Controller (43) communicates to connect with industrial control computer (14).
The positive front end in described spray gun (3) top is equiped with first sonar sensor (25), the gripper shoe front and back end of pivoting support has been installed the second and the 3rd sonar sensor (51) respectively, the front and back position of creeper undercarriage frame (39) be equiped with respectively the 4th and fifth sound receive sensor (49), described first, second, third, fourth and fifth sound receive sensor (25,51,49) interior with being installed in control cabinet Programmable Logic Controller (43) links to each other.
Described cleansing medium source (21) comprises water under high pressure medium source and chemical cleaning media source, described chemical cleaning media source is chemical agent reservoir (44), chemical agent reservoir (44) is divided into three parts, is mounted with acidic chemical medicament, alkali electroless medicament and corrosion inhibitor respectively; The water under high pressure medium source is a Rinsing Area.
Described balance weight mechanism (7) is a hollow form, and the signal line of controlling organization and rubber hose (32) are installed in the balance weight mechanism (7).
Adopt waterproof material to carry out hermetically sealed to described wiper mechanism, creeper undercarriage and electrical control mechanism.
Be provided with guide groove plate in the described balance weight mechanism, described guide roller is arranged in the guide groove plate, described rubber hose is walked around guide roller, one termination water inlet pipe of described rubber hose, the described spray gun of another termination, described spray gun is made up of nozzle slide and nozzle, and described nozzle is arranged in this nozzle slide, is provided with stage clip in the space between described nozzle and the nozzle slide.
As improvement, the inwall of the outer wall of described nozzle or nozzle slide is provided with groove, is provided with sealing ring in this groove, and horn shape is adopted in the outer end of described nozzle.
Described rubber hose is installed between 2 guide rollers that are connected as a single entity, the diameter that is spaced apart a rubber hose between these 2 guide rollers.
Described cleansing medium source control system has comprised the industrial control computer workstation computer outer with being positioned at hydroecium that is installed in the control cabinet, industrial control computer links to each other with workstation computer by wireless network card, and workstation computer links to each other with the Programmable Logic Controller that is installed in chemical agent reservoir and Rinsing Area.
The beneficial effect that the present invention had has:
1, the present invention is simple in structure, automaticity is high, design by creeper undercarriage, cleaning robot can independently move in condenser water box, do not need to install and fix guide rail, applicability is wider, utilizes visual servo navigation system and sonar sensor just can realize robot autonomous moving and the accurate location of condenser pipe;
2, robot of the present invention is equiped with the visual servo navigation system, can guarantee that robot can locate the position of condenser copper tube to be cleaned quickly and accurately in the hydroecium environment, promptly copper pipe mouth of pipe center is discerned, detected to the pore of copper pipe automatically, so that the spray gun of intelligent movable cleaning robot is accurately aimed at the pore center, condenser pipe is effectively cleaned;
3, the gripper shoe front and back end of robot revolute supporting of the present invention and the front and back position of track frame all are provided with sonar sensor, robot body is autonomous when mobile in hydroecium, can measure distance automatically with front and back hydroecium wall and clean wall, make the robot creeper undercarriage cleaning surface can with the clean wall keeping parallelism, can guarantee again can not bump with front and back hydroecium wall; Also be equiped with sonar sensor on the spray gun, when spray gun and tube wall face out of plumb, can calculate the angle that pivoting support need rotate by sonar data;
4, robot control system of the present invention adopts the upper and lower computer distributed control mode.Host computer is positioned at work station, and its core is the work station industrial control computer, and slave computer is made up of the Programmable Logic Controller of control purging system and the industrial control computer that is installed in the control cabinet.Setting of control parameter and condition monitoring that host computer is responsible for gathering the condenser duty parameter, is calculated sealing factor, water under high pressure pressure, flow, detergent concentration, scavenging period and cycle, slave computer, host computer is communicated by letter with the industrial control computer in the robot body control cabinet by wireless network card and is sent control command, host computer is also communicated by letter with the Programmable Logic Controller of purging system by the corresponding interface and is sent cleaning command, has realized the remote monitoring and the distant operation of intelligent movable cleaning robot;
5, robot of the present invention supports Cleaning by High Pressure Water Jet and two kinds of cleaning ways of Chemical cleaning simultaneously, adopts Cleaning by High Pressure Water Jet, to remove the laxity dirt; Adopt Chemical cleaning, to remove crystallisation fouling.The two combination can be removed the dirt in the condenser quickly and efficiently, improves cleaning efficiency;
6, the cleaning arm of robot of the present invention has designed balance weight mechanism, and balance weight mechanism is a hollow form, and it can not only guarantee that robot keeps barycentre steadiness in the cleaning arm motion process, and inside also is equiped with cleans the rubber hose and the mechanism of leaking water.
7, adopt the tubular construction of walking of rubber hose and guide roller and guide groove plate, can realize the free folding and unfolding of rubber hose and do not twine.
8, be provided with stage clip between the nozzle of spray gun and the nozzle slide, nozzle stretches out when making water spray, and nozzle is regained when not spraying water, automatically retractable, clear effect.
9, horn shape is arranged in the nozzle outer end, can make high-pressure water shot also form a circle and outwards spray in the back like this, makes to clean the zone and enlarge, and realizes the thorough cleaning around the tube wall.
10, be provided with sealing ring between nozzle and the nozzle slide, can prevent effectively that current are revealed in the water spray process, strengthened cleaning performance.
11, adopt the two-conductor line wheel construction, it is arbitrarily angled to make that mechanical arm rotates to, and can make rubber hose can not drop, and still can realize draw-in and draw-off function, guarantees that intertwinement does not appear in rubber hose.
Description of drawings
Fig. 1 is a main TV structure schematic diagram of the present invention;
Fig. 2 is a side-looking structural representation of the present invention;
Fig. 3 is the general structure schematic diagram of water under high pressure water spray device of the present invention;
Fig. 4 is the spray gun structure schematic diagram (being the enlarged drawing of spray gun among Fig. 3) of water under high pressure water spray device of the present invention.
Label declaration:
1, copper pipe; 2, Underwater Camera; 3, spray gun; 4, screw rod driving device; 5, spray gun mechanism 6, cleaning arm mechanism; 7, balance weight mechanism; 8, electric pushrod; 9, electric pushrod drive unit; 10, tooth bar; 11, gear guide holder; 12, runing rest assembly; 13, water inlet pipe mouth; 14, industrial control computer; 15, electric control box; 16, pivoting support; 17, running bracket component; 18, creeper undercarriage; 19, travel driving unit; 20, pivoting support drive unit; 21, cleansing medium source; 22, water under high pressure goes out water solenoid valve; 23, be communicated with flexible pipe; 24, workstation computer; 25, first sonar sensor; 26, high-pressure hydraulic pump; 27, cleaning arm driving shaft; 28, rotary screw; 29 spray gun runing rests; 30, spray gun bearing; 31, water under high pressure hard tube; 32, rubber hose; 33, gear; 34, crawler belt support chassis; 35, driving wheel; 36, driven pulley; 37, support roller; 38, thrust wheel; 39, creeper undercarriage frame; 40, tensioning apparatus; 41, crawler belt; 42, lead sheave; 43, Programmable Logic Controller; 44, chemical agent reservoir; 45, corrosion inhibiter magnetic valve; 46, add sour magnetic valve; 47, add the alkali magnetic valve; 48, directive wheel; 49, the 4th and fifth sound receive sensor; 50, clean wall; 51, the second and the 3rd sonar sensor; 52, nozzle; 64, guide groove plate; 66, steel pipe; 68, travelling nut; 70, steel emits; 71, expand groove; 72, nozzle slide; 73, stage clip; 75, sealing ring.
The invention will be further described below in conjunction with accompanying drawing.
Embodiment 1:
As depicted in figs. 1 and 2, a kind of condenser intelligent movable cleaning robot, comprise creeper undercarriage, wiper mechanism and electrical control mechanism, it is characterized in that: the bottom of described wiper mechanism and electrical control mechanism are installed on the creeper undercarriage, described wiper mechanism comprises spray gun 3, Underwater Camera 2, cleaning arm assembly, pivoting support 16, is communicated with flexible pipe 23 and cleansing medium source 21, and described cleaning arm assembly comprises runing rest assembly 12, spray gun runing rest 29, rotary screw 28, cleaning arm driving shaft 27 screw rod driving device 4 and balance weight mechanism 7;
One end of spray gun runing rest 29 and rotary screw 28 links to each other with screw rod driving device 4, the other end of spray gun runing rest 29 and rotary screw 28 links to each other with cleaning arm driving shaft 27, and the transmission mechanism that cleaning arm driving shaft 27 is formed by gear 33 and tooth bar 10 links to each other with electric pushrod 8.
Described creeper undercarriage comprises support chassis 34, driving wheel 35, driven pulley 36, support roller 37, thrust wheel 38, crawler belt 41, creeper undercarriage frame 39 and tensioning apparatus 40, support chassis 34 and tensioning apparatus 40 are installed on the creeper undercarriage frame 39, driving wheel 35, driven pulley 36, support roller 37, thrust wheel 38 link to each other with crawler belt 41 respectively, driven pulley 36 links to each other with tensioning apparatus 40, driving wheel 35, tensioning apparatus 40, support roller 37 and thrust wheel 38 link to each other with creeper undercarriage frame 39 respectively, and driving wheel 35 is connected with travel driving unit 19.
Described controlling organization comprises industrial control computer 14 and Programmable Logic Controller 43, screw rod driving device 4 links to each other with Programmable Logic Controller 43 in being installed in control cabinet by lead sheave 42, electric pushrod drive unit 9 and travel driving unit 19 respectively be installed in control cabinet in Programmable Logic Controller 43 link to each other, Programmable Logic Controller 43 communicates to connect with industrial control computer (14).
The positive front end in described spray gun 3 tops is equiped with first sonar sensor 25, the gripper shoe front and back end of pivoting support has been installed the second and the 3rd sonar sensor 51 respectively, the front and back position of creeper undercarriage frame 39 be equiped with respectively the 4th and fifth sound receive sensor 49, described first, second, third, fourth and fifth sound receive sensor (25,51,49) be installed in control cabinet in Programmable Logic Controller 43 link to each other.
Described cleansing medium source 21 comprises water under high pressure medium source and chemical cleaning media source, described chemical cleaning media source is a chemical agent reservoir 44, chemical agent reservoir 44 is divided into three parts, is mounted with acidic chemical medicament, alkali electroless medicament and corrosion inhibitor respectively; The water under high pressure medium source is a Rinsing Area.
Described balance weight mechanism 7 is a hollow form, and the signal line of controlling organization and rubber hose 32 are installed in the balance weight mechanism 7.
Adopt waterproof material to carry out hermetically sealed to described wiper mechanism, creeper undercarriage and electrical control mechanism.
As Fig. 3 and Fig. 4, water injector is walked tubular construction and is made up of water inlet pipe 13, rubber hose 32, guide groove plate 64, directive wheel 48 and steel pipe 66.Wherein water inlet pipe 13 is arranged on the running bracket component 17, end is connected with rubber hose 32, rubber hose 32 is passed in the middle of the directive wheel 48, the other end is connected with steel pipe 66, directive wheel 48 is made up of two interconnected wheels, there is the spacing of a pipe sizes centre, and two wheels all are fixed between the guide groove plate 64, can do rectilinear motion in guide groove plate 64.The other end of steel pipe emits 70 to be connected with the steel of spray gun 3.Steel emits 70 to be fixed on the travelling nut 68, and travelling nut 68 can be done with the rotation of rotary screw 28 and slide up and down.Rotary screw 28 is arranged in the gun stand 29.
When rotary screw 28 clockwise rotates, travelling nut 68 drive steel pipes 66 along rotary screw 28 to lower slider, under the thrust of steel pipe 66, the right side that rubber hose is answered also can and then move down, so directive wheel 48 can move downward in guide groove plate 64, rubber hose 32 right side parts just can move to the left, and water pipe is inwardly received.Otherwise when rotary screw 28 rotated counterclockwise, rubber hose 32 left part just can move to the right, and water pipe is outwards put, and realized the folding and unfolding in the water pipe motion like this.
Simultaneously, because mechanical arm will be rotated motion, two directive wheels 48 are interconnected, can avoid like this revolving and turn 90 degrees the back guider during to the upper end at mechanical arm, rubber hose 32 can not fall down, and still can realize draw-in and draw-off function, guarantees that intertwinement does not appear in rubber hose 32.
As shown in Figure 4, spray gun of the present invention mechanism forms by expanding groove 71, nozzle slide 72, stage clip 73, nozzle 52 and sealing ring 75.One side of expanding groove emits 70 to be connected with steel, the other end is connected with nozzle slide 72, nozzle 52 is arranged in the nozzle slide 72, is placed with stage clip 73 between nozzle 52 and the nozzle slide 72, has all placed circular seal ring 75. in the gap of expanding groove 71 and nozzle slide 72 joints and nozzle slide and nozzle 52
When water under high pressure is opened, because nozzle 52 bears the pressure of water under high pressure, have driving force forward, this tries hard to recommend the displacement forward that moving nozzle 52 produces with respect to nozzle slide 72, thereby enters scavenging duct inside, make stage clip 73 produce deformation simultaneously, when water under high pressure closed, the deformation of stage clip 73 just can produce a pulling force, and nozzle 52 is retracted in the nozzle slide 72, the nozzle withdrawal, the self extending of realization nozzle.
Simultaneously, when water under high pressure was opened, sealing ring 75 can expand automatically, and space between nozzle slide and the expansion groove 71 and the gap between nozzle slide 72 and the nozzle 52 are blocked, and prevented that water under high pressure from leaking.In the design of nozzle 52, adopt abducent horn-likely, can make high-pressure water shot also form a circle and outwards spray in the back like this, make and clean the zone and enlarge, realize the thorough cleaning around the tube wall.
In the present embodiment, clean the upper end of arm axle spray gun runing rest 29 and rotary screw 28 have been installed, spray gun 3 is installed on spray gun runing rest 29 and the rotary screw 28 by spray gun bearing 30,29 fixations of spray gun runing rest, make spray gun 3 vertical with the cleaning arm plane, screw rod driving device 4 adopts direct current generator, is used for driving screw mandrel 28 rotations, spray gun can be slided up and down along cleaning arm, and sliding scale arrives between the cleaning arm driving shaft 27 for the cleaning arm top.The sliding process of spray gun: screw rod driving device 4 receives control signal and drives screw mandrel 28 rotations, rotary screw 28 and spray gun bearing 30 have constituted worm drive by screw rod and nut, spray gun slides up and down along rotary screw by spray gun bearing 30, its sliding distance feeds back to Programmable Logic Controller PLC43 by the rotary angle signal of direct current generator photoelectric encoder test again, constitutes closed-loop control system.The wireless Underwater Camera 2 of a band light source has been installed at the top of spray gun, Underwater Camera 2 immobilizes with the relative position of the nozzle of spray gun 3 front ends, be mainly used under water to the pore feature of condenser copper tube 1 and the identification of position, image pick-up card passes to industrial control computer 14 by wireless transmitter with copper pipe 1 image information that Underwater Camera 2 collects, and computer converts anglec of rotation control command to by the image processing meeting copper pipe mouth of pipe centre coordinate that identification is good and sends to Programmable Logic Controller 43.Telescopic nozzle 52 has been installed in the spray gun 3, nozzle links to each other with the nozzle slide by stage clip, and the nozzle slide links to each other with spray gun, and the hydraulic pressure of water under high pressure forces nozzle 52 to stretch out spray gun and extend into the copper pipe pore during cleaning, after cleaning finished, stage clip forced nozzle 52 to be recovered in the spray gun 3 again.The positive front end in the top of spray gun 3 is equipped with sonar sensor 25, sonar sensor 25 sends the range information of nozzle and catch tank to Programmable Logic Controller 43, calculates the nozzle of sening as an envoy to needs rotation perpendicular to condenser copper tube cleaning plane rotation supporting 16 angle by Programmable Logic Controller 43 in conjunction with sonar sensor 49 range informations that are installed on the creeper undercarriage frame.Clean the lower end of arm axle and designed balance weight mechanism 7, balance weight mechanism is a hollow form, guide groove plate and directive wheel 48 have been installed in the inside, rubber hose 32 links to each other with the hard water pipe, cleansing medium flows in the spray gun by rubber hose 32 and hard water pipe 31, guide groove plate has guaranteed that hard water pipe 31 can only be made up and down linear slide with spray gun and can run-off the straight, and rubber hose 32 is freely curled with sliding up and down of spray gun by directive wheel 48 can not drag bob.Cleaning arm is connected on the cleaning arm driving shaft 27 by flange, the cleaning arm driving shaft is through copper sheathing, sealing ring, gland, gear 33 is connected with electric pushrod 8, electric pushrod drive unit 9 adopts the direct current constant velocity motors, the direct current constant velocity motors links to each other with Programmable Logic Controller 43 in the control cabinet by driver, Programmable Logic Controller 43 drives electric pushrod 8 moving linearlies according to the control command control direct current constant velocity motors of industrial control computer 14, by the tooth bar 10 of electric pushrod and being connected of gear 33, can convert the rectilinear motion of electric pushrod to cleaning arm rotatablely move, achieve 360 ° of rotations.Cleaning arm driving shaft 27 links to each other with runing rest assembly 12, runing rest assembly 12 and control cabinet 15 are installed on the pivoting support 16, pivoting support 16 is installed on the creeper undercarriage by running bracket component 17, thereby pivoting support drive unit 20 drives the position relation that the cleaning arm plane is regulated in 360 ° of pivoting support rotations and condenser copper tube cleans the plane.A sonar sensor 51 has respectively been installed in the gripper shoe front and back end of pivoting support 16, two sonar sensors 51 were given Programmable Logic Controller 43 in the control cabinet with the distance value of robot body and front and back hydroecium wall when robot moved, controller generation interrupt signal stops to move of robot when reaching a certain setting value (adjustable), has avoided the collision of robot body and front and back hydroecium wall.Creeper undercarriage comprises support chassis 34, driving wheel 35, driven pulley 36, support roller 37, thrust wheel 38, crawler belt 41, creeper undercarriage frame 39 and tensioning apparatus 40, support chassis 34 is fixed on the creeper undercarriage frame 39, driving wheel 35 is installed on the creeper undercarriage frame 39, crawler belt 41 is set around on driving wheel 35 and the driven pulley 36, tensioning apparatus 40 is installed on the creeper undercarriage frame 39 and with driven pulley 36 and is connected, stretch according to the matching relationship of crawler belt 41 with creeper undercarriage frame 39, guarantee that crawler belt has certain force of strain, creeper undercarriage frame 39 tops are provided with support roller 37, being used for supporting top crawler belt 41 does not make it recessed next, creeper undercarriage frame 39 belows are equiped with row's thrust wheel 38, and thrust wheel 38 both had been responsible for the weight support that whole creeper undercarriage is installed in all devices on the support chassis 34 in addition.Adopt the advantage of crawler belt 41 structures: can bring certain reaction force to robot during Cleaning by High Pressure Water Jet, might cause robot car body to depart from the predeterminated level track, the structure of crawler belt 41 is owing to can increase with the frictional force on ground head it off, driving wheel 35 has been installed travel driving unit 19, travel driving unit 19 is a dc brushless motor, dc brushless motor links to each other with Programmable Logic Controller 43 in the control cabinet by driver, creeper undercarriage adopts two-wheeled differential driving mode, left and right sidesing driving wheel is respectively by the dc brushless motor drive, Programmable Logic Controller 43 is according to the dc brushless motor of the control command control left and right sidesing driving wheel of industrial control computer 14, crawler belt 41 is rotated by two drive wheel, its anglec of rotation feeds back to Programmable Logic Controller 43 by photoelectric encoder through driver, constitutes closed-loop control system.Respectively be installed on a sonar sensor 49 (model: SRF05) be mainly used in the distance of testing with clean wall 50 in the front and back of creeper undercarriage creeper undercarriage frame 39, avoid robot in advancing, to collide with clean wall 50, when robot car body apart from clean wall 50 during less than a certain setting value (adjustable), corresponding sonar sensor 49 sends interruptive command to Programmable Logic Controller 43, have no progeny in Programmable Logic Controller 43 responses, stop the anglec of rotation that calculates robot then by the preset distance value that moves of robot, make the distance of robot body and clean wall 50 adjust to setting value at last, to range finding separately when the sonar sensor 49 of creeper undercarriage creeper undercarriage frame 39 front and back and pass to PLC from information, PLC calculates the angle that creeper undercarriage need rotate with reference to bigger distance value when the measured value of two sonar sensors 49 is inequality, adjusts the robot location and makes it clean plane and cleaning wall 50 keeping parallelism positions.The cleansing medium source comprises water under high pressure medium source and chemical cleaning media source, the high-pressure hydraulic pump 26 of water under high pressure medium source, be mainly used in continuous generation required water under high pressure when adopting the Cleaning by High Pressure Water Jet mode, hydraulic pressure is 20-40Mpa (deciding according to concrete cleaning requirement), by pressure sensor (model: PPM241Z) measure.Chemical agent reservoir 44 links to each other with connection flexible pipe 23 with high-pressure hydraulic pump 26, being communicated with flexible pipe 23 links to each other with rubber hose 32 by water inlet pipe 13, in the Chemical cleaning mode, stored acid solution in the chemical agent reservoir 44, three kinds of chemical agents of alkali lye and corrosion inhibiter, need three measuring tanks, liquid level sensor (model: the JW-0.85/2.5 measuring pump) all is installed in each measuring tank, when the liquid level of measuring tank during less than a certain setting value, send interrupt requests by corresponding liquid level sensor to the PLC of control purging system, after the PLC respective interrupt, send the control command adding medicine to the corresponding measuring pump motor and reach predetermined value up to liquid level.As shown in Figure 3, in the present embodiment, controlling organization adopts distributed control mode, is made up of a host computer and Duo Tai slave computer, host computer is a work station industrial control computer 24, and slave computer is divided into the industrial control computer 14 of controlling robot and the Programmable Logic Controller of controlling purging system.Cleaning robot is installed in the scene, the industrial control computer 14 of control robot is arranged in the control cabinet, Underwater Camera passes to industrial control computer 14 with the condenser copper tube image, 14 pairs of images of industrial control computer are handled and are identified copper pipe mouth of pipe center and convert thereof into anglec of rotation parameter then, last industrial control computer 14 sends the Electric Machine Control parameter to Programmable Logic Controller 43, is controlled the motion of creeper undercarriage and wiper mechanism again by it.The control command that the Programmable Logic Controller reception host computer of control purging system sends is controlled Chemical cleaning and Cleaning by High Pressure Water Jet respectively.Host computer is positioned at the operating room, its core is industrial control computer IPC, the control parameter of being responsible for gathering the condenser duty parameter, calculating sealing factor, water under high pressure pressure, flow, detergent concentration, scavenging period and cycle, slave computer is provided with and condition monitoring, has functions such as dynamic demonstration, history data store, report printing.Work station industrial control computer 24 communicates by the industrial control computer in wireless network card and the control cabinet 14, also communicates by the Programmable Logic Controller of PC/MPI cable with the control purging system.
Condenser cleaning system comprises Cleaning by High Pressure Water Jet subsystem and Chemical cleaning subsystem on function.This system's basic functional principle is: during the condenser operation, purging system is monitored the dirt degree of condenser in real time.When sealing factor during greater than a certain setting value, promptly start Cleaning by High Pressure Water Jet, Cleaning by High Pressure Water Jet can effectively be removed laxity in the pipe, but then can not remove fully crystallisation fouling in managing, therefore, if sealing factor does not reach requirement yet, then start Chemical cleaning after the Cleaning by High Pressure Water Jet, clear fully until crystallisation fouling.
1, Cleaning by High Pressure Water Jet subsystem
(1) PLC system
The PLC system is made up of Siemens's module, comprises CPU module (S7-226), digital quantity input/output module (SM223), analog quantity input module (SM231), analog output module (SM232).The PLC system is used for obtaining water under high pressure force value and control various magnetic valves, frequency converter (Siemens frequency converter MicroMaster430) and high-pressure hydraulic pump motor thereof; For display status information and fault message, installed LCDs in addition.
(2) positioning control of spray gun 3
In order to guarantee the efficient cleaning of condenser, the accurate location of 3 pairs of condenser copper tubes 1 of spray gun is the core of this purging system work.The visual servo control system of spray gun has adopted Underwater Camera,, and is equipped with photoelectric encoder and forms closed-loop control system as the joint driver part with d.c. motor.Position fixing process is: Underwater Camera sends to receiver with taken image by wireless launcher, deliver to industrial computer by receiver through image pick-up card again, the position coordinate parameters of after industrial computer is handled image the mouth of pipe of condenser being arranged is delivered to the Programmable Logic Controller of control motor, Programmable Logic Controller is according to the nozzle position coordinate parameters, finish the driving control of cleaning arm, finally make nozzle positive alignment copper pipe mouth of pipe center to be cleaned; In addition, in order to reduce mechanical oscillation, the mode of electric braking has all been taked in the control of all drive units, these have guaranteed the accurate positioning control of spray gun.
(3) water under high pressure cleaning control
The cleaning pressure value that pressure sensor is measured is input to PLC analog quantity input module, starts the high-pressure hydraulic pump motor by PLC, and regulates frequency converter, makes water under high pressure pressure reach setting value.Treat that the spray gun location finishes, spray gun is aimed at the condenser copper tube center, water under high pressure goes out the water solenoid valve action, water under high pressure links to each other with rubber hose by being communicated with flexible pipe, arrive spray gun through the hard water pipe again, the pressure of water under high pressure forces the nozzle in the spray gun to stretch out spray gun and extend in the pore condenser copper tube is carried out Cleaning by High Pressure Water Jet.After cleaning finishes, the nozzle retraction, water under high pressure water outlet closed electromagnetic valve carries out the cleaning of next root copper pipe again.
(4) communication
PLC communicates by PC/MPI adapter and industrial computer; Underwater Camera adds image pick-up card again by wireless transmitting-receiving equipments and communicates by letter with industrial computer.
2, Chemical cleaning subsystem
Mainly comprise add corrosion inhibiter, add acid, step such as neutralization displacement, its control procedure is as follows:
(1) adds corrosion inhibiter
Before adding acid, add corrosion inhibiter earlier, can reduce the corrosion rate of condenser.Corrosion inhibiter dosage is relevant with concentration of hydrochloric acid, controls by corrosion inhibiter magnetic valve 45 (model: 40 types pass through magnetic valve).
(2) add acid
PLC starts each relevant magnetic valve 46 and dosing measuring pump according to the concentration of hydrochloric acid value parameter of setting.The adjusting that adds dose realizes by the measuring pump motor variable-frequency speed-regulating.In cleaning process, keep the pH value of cooling water inlet constant (pH value sensor model number: GW24-WQ201), to keep the concentration of acid.Host computer monitors sealing factor, when sealing factor is reduced to a certain setting value (adjustable) and coolant outlet turbidity, when hardness enlarges markedly, stops to add acid.
(3) neutralization displacement
Acid solution after the Chemical cleaning is displaced system by blowoff valve,, start alkali measuring pump 47 and add the alkali neutralization, and cooling water pH value is transferred to more than 7, move after 20～30 hours, promptly finish Chemical cleaning when cooling water turbidity＜20mg/L (adjustable).
In sum, the online efficient cleaning task of condenser all must could be coordinated to finish by the transmission system of this robot, various sensor and many PLC and visual servo mechanism under the accurate control of electric control system.
Referring to shown in Figure 4, the concrete course of work is:
1, cleans preceding preparation
(1) initialization
Comprise the initialization of host computer and all slave computers.
(2) mode of selection cleaning
Intelligent movable cleaning robot mainly can be realized Cleaning by High Pressure Water Jet and two kinds of on-line cleaning modes of Chemical cleaning.The general Cleaning by High Pressure Water Jet that adopts to remove the laxity dirt, has only when crystallisation fouling reaches a certain degree (size according to sealing factor is determined), just adopts Chemical cleaning, to remove crystallisation fouling.
2, Cleaning by High Pressure Water Jet mode
(1) after the selection Cleaning by High Pressure Water Jet mode, drive creepers undercarriage by travel driving unit 19 and make robot body move to the right side (from the angle over against cleaning arm) of hydroecium, cleaning arm is upright, and spray gun 3 is as for the cleaning arm top.
(2) position of mobile apparatus human body in hydroecium.In the moving process by robot body front end sonar sensor 51 (from angle over against cleaning arm, the robot body left side is a front end, the right side is the rear end, utilize the rear end sonar sensor when robot retreats) distance of robot measurement body and front end hydroecium wall, stop to move when (adjustable) when reaching a certain setting value, two sonar sensors, the 49 robot measurement bodies in the while moving process on the creeper undercarriage frame 39 and the distance of clean wall 50, when two sonar sensor 49 measured values are inequality, PLC calculates the angle that creeper undercarriage need rotate with reference to bigger distance value, control the position of the drive unit adjustment robot of creeper undercarriage again by the differential driving mode, make it clean plane and clean wall 50 keeping parallelism positions.After robot moved to condenser pipe zone to be cleaned, motor produces brake signal made robot locked and can not produce any skew in this position.The distance value of being measured by the sonar sensor 25 and the track frame sonar sensor 49 of the positive front end in spray gun 3 tops calculates rotation parameter adjustment pivoting support 16, has guaranteed that nozzle is perpendicular to the condenser copper tube cleaning surface
(3) enable Underwater Camera 2, the condenser copper tube image of taking to be cleaned is delivered to industrial control computer 14 through image pick-up card, after handling, 14 pairs of images of industrial control computer calculate the anglec of rotation that copper pipe mouth of pipe coordinate converts electric pushrod drive unit 9 and screw rod driving device 4 again to, adjust the position of cleaning arm and spray gun 3, photoelectric encoder feedback parameter according to electric pushrod drive unit 9 and screw rod driving device 4 constitutes closed-loop control system again, realize the adjustment of angle, nozzle is accurately aimed at the copper pipe mouth of pipe to be cleaned.
(4) open water under high pressure and go out water solenoid valve 22, the pressure of high hydraulic pressure impels nozzle to reach in the copper pipe pore, cleans the condenser copper tube of having aimed at 1; Start simultaneously and clean timer, the scavenging period of a copper pipe of control.Timer timing (adjustable) one arrives, and closes water under high pressure and goes out water solenoid valve 22, and the nozzle retraction cleans the timer zero clearing.
(5) judge whether this cleaning zone also has condenser copper tube not clean.If copper pipe does not clean then goes to step (3) in addition, go out next mouth of pipe centre coordinate by image recognition with copper pipe 1 to be cleaned, adjust the position of cleaning arm and spray gun 3, make the mouth of pipe of nozzle alignment copper pipe, repeating step (3)～(5).
(6) judge and cleaned the zone whether regional left side that finishes is still waiting to clean in the hydroecium.If the zone needs to clean then goes to step (2) in addition, repeating step (2)～(6) are cleaned to following a slice zone to be cleaned in the position of mobile apparatus human body in hydroecium
(7) if condenser does not need the zone cleaned, determine that then this Cleaning by High Pressure Water Jet is finished, carry out and finish cleaning procedure.Close high-pressure hydraulic pump, make the robot cleaning arm recover upright, spray gun is got back to the apical position of cleaning arm, driving creeper undercarriage makes robot move to the desired location on hydroecium right side, the sonar sensor 51 of the gripper shoe rear end of pivoting support works in the moving process, show at last " the Cleaning by High Pressure Water Jet mode finishes ", automatically powered-down.
3, Chemical cleaning mode
(1) after the selection Chemical cleaning mode, driving creeper undercarriage by travel driving unit 19 makes robot body move to the central authorities of hydroecium, two sonar sensors, the 49 robot measurement bodies in the moving process on the creeper undercarriage frame 39 and the distance of clean wall 50, when two sonar sensor 49 measured values are inequality, PLC calculates the angle that creeper undercarriage need rotate with reference to bigger distance value, control the position of the drive unit adjustment robot of creeper undercarriage again by the differential driving mode, make it clean plane and clean wall 50 keeping parallelism positions, according to the anglec of rotation of default rotation parameter control screw rod driving device 4, make spray gun 3 move to the centre position of cleaning arm then.
(2) start water circulating pump, make the water in the hydroecium enter the circulatory system.Add a certain amount of corrosion inhibiter, according to the suitable corrosion inhibiter of situation adding at scene, to reduce the corrosion rate of condenser.Corrosion inhibiter dosage is relevant with concentration of hydrochloric acid, and by 45 controls of corrosion inhibiter magnetic valve, startup simultaneously adds the corrosion inhibiter timer.
(3) add corrosion inhibiter timer time (adjustable) and arrive, begin to add acid.The purging system Programmable Logic Controller starts each relevant magnetic valve 46 and dosing measuring pump according to the concentration of hydrochloric acid value parameter of setting.The adjusting that adds dose realizes by the measuring pump motor variable-frequency speed-regulating.In cleaning process, measure the pH value of cooling water inlet in real time by pH value sensor, this parameter is fed back to add sour magnetic valve 46, constant with the pH value that keeps the cooling water inlet, to keep sour concentration.Host computer monitors the dirt parameter, when the dirt parameter is reduced to a certain setting value (adjustable) and coolant outlet turbidity, when hardness enlarges markedly, stops to add acid.
(4) acid solution after will cleaning displaces system by blowoff valve, when cooling water turbidity＜20mg/L (adjustable), start alkali measuring pump 47 and add the alkali neutralization, and cooling water pH value is transferred to more than 7, move 20～30 hours after (time is by timer or artificial control), promptly finish Chemical cleaning.
(5) carry out the end cleaning procedure.According to presetting the END instruction parameter, make spray gun get back to the apical position of cleaning arm, driving creeper undercarriage makes robot move to the desired location on hydroecium right side, at this moment the sonar sensor of the gripper shoe rear end of pivoting support works, show at last " the Chemical cleaning mode finishes ", automatically powered-down.
Claims (10)
1. condenser intelligent movable cleaning robot, comprise creeper undercarriage, wiper mechanism and electrical control mechanism, it is characterized in that: the bottom of described wiper mechanism and electrical control mechanism are installed on the creeper undercarriage, described wiper mechanism comprises spray gun (3), Underwater Camera (2), the cleaning arm assembly, pivoting support (16), be communicated with flexible pipe (23), and cleansing medium source (21), described cleaning arm assembly comprises runing rest assembly (12), spray gun runing rest (29), rotary screw (28), cleaning arm driving shaft (27), screw rod driving device (4) and balance weight mechanism (7);
Pivoting support (16) is installed on the creeper undercarriage by running bracket component (17), runing rest assembly (12) is arranged on the pivoting support (16), described cleaning arm driving shaft (27) is connected with the upper end of runing rest assembly (12) makes spray gun runing rest (29) to rotate under the support of runing rest assembly (12), the inside of one end of described spray gun runing rest is provided with rotary screw (28), and the inside of the other end is provided with balance weight mechanism (7);
Spray gun (3) is installed on spray gun runing rest (29) and the rotary screw (28) by spray gun bearing (30), Underwater Camera (2) is installed on the spray gun (3), nozzle (52) is installed in the spray gun (3), spray gun (3) links to each other with rubber hose (32) in the balance weight mechanism (7) by water under high pressure hard tube (31), rubber hose (32) links to each other with connection flexible pipe (23) by water inlet pipe (13), and connection flexible pipe (23) goes out water solenoid valve (22) by water under high pressure and is communicated with the cleansing medium source;
One end of spray gun runing rest (29) and rotary screw (28) links to each other with screw rod driving device (4), the other end of spray gun runing rest (29) and rotary screw (28) links to each other with cleaning arm driving shaft (27), and the transmission mechanism that cleaning arm driving shaft (27) is formed by gear (33) and tooth bar (10) links to each other with electric pushrod (8).
2. condenser intelligent movable cleaning robot according to claim 1, it is characterized in that: described creeper undercarriage comprises support chassis (34), driving wheel (35), driven pulley (36), support roller (37), thrust wheel (38), crawler belt (41), creeper undercarriage frame (39) and tensioning apparatus (40), support chassis (34) and tensioning apparatus (40) are installed on the creeper undercarriage frame (39), driving wheel (35), driven pulley (36), support roller (37), thrust wheel (38) links to each other with crawler belt (41) respectively, driven pulley (36) links to each other with tensioning apparatus (40), driving wheel (35), tensioning apparatus (40), support roller (37) and thrust wheel (38) link to each other with creeper undercarriage frame (39) respectively, and driving wheel (35) is connected with travel driving unit (19).
3. condenser intelligent movable cleaning robot according to claim 1 and 2, it is characterized in that: described controlling organization comprises industrial control computer (14) and Programmable Logic Controller (43), screw rod driving device (4) links to each other by lead sheave (42) Programmable Logic Controller (43) interior with being installed in control cabinet, electric pushrod drive unit (9) and travel driving unit (19) respectively be installed in control cabinet in Programmable Logic Controller (43) link to each other, Programmable Logic Controller (43) communicates to connect with industrial control computer (14).
4. condenser intelligent movable cleaning robot according to claim 3, it is characterized in that: the positive front end in described spray gun (3) top is equiped with first sonar sensor (25), the gripper shoe front and back end of pivoting support has been installed the second and the 3rd sonar sensor (51) respectively, the front and back position of creeper undercarriage frame (39) be equiped with respectively the 4th and fifth sound receive sensor (49), described first, second, third, fourth and fifth sound receive sensor (25,51,49) interior with being installed in control cabinet Programmable Logic Controller (43) links to each other.
5. condenser intelligent movable cleaning robot according to claim 4, it is characterized in that: described cleansing medium source comprises water under high pressure medium source and chemical cleaning media source, described chemical cleaning media source is chemical agent reservoir (44), chemical agent reservoir (44) is divided into three parts, is mounted with acidic chemical medicament, alkali electroless medicament and corrosion inhibitor respectively; The water under high pressure medium source is a Rinsing Area.
6. condenser intelligent movable cleaning robot according to claim 5 is characterized in that: described balance weight mechanism (7) is a hollow form, and the signal line of controlling organization and rubber hose (32) are installed in the balance weight mechanism (7).
7. according to the condenser intelligent movable cleaning robot of claim 6, it is characterized in that: adopt waterproof material to carry out hermetically sealed described wiper mechanism, creeper undercarriage and electrical control mechanism.
8. condenser intelligent movable cleaning robot according to claim 7, it is characterized in that: be provided with guide groove plate in the described balance weight mechanism, described guide roller is arranged in the guide groove plate, described rubber hose is walked around guide roller, one termination water inlet pipe of described rubber hose, the described spray gun of another termination, described spray gun is made up of nozzle slide and nozzle, described nozzle is arranged in this nozzle slide, is provided with stage clip in the space between described nozzle and the nozzle slide.
9. condenser intelligent movable cleaning robot according to claim 8 is characterized in that: the inwall of the outer wall of described nozzle or nozzle slide is provided with groove, is provided with sealing ring in this groove, and horn shape is adopted in the outer end of described nozzle.
10. according to Claim 8 or 9 described condenser intelligent movable cleaning robots, it is characterized in that: described rubber hose is installed between 2 guide rollers that are connected as a single entity, the diameter that is spaced apart a rubber hose between these 2 guide rollers.
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| CN2008101437049A CN101430176B (en) | 2008-11-25 | 2008-11-25 | Intelligent movable cleaning robot for condenser |
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