CN103322851A - Condenser on-line in-parallel cleaning robot of thermal power plant - Google Patents
Condenser on-line in-parallel cleaning robot of thermal power plant Download PDFInfo
- Publication number
- CN103322851A CN103322851A CN2013102100495A CN201310210049A CN103322851A CN 103322851 A CN103322851 A CN 103322851A CN 2013102100495 A CN2013102100495 A CN 2013102100495A CN 201310210049 A CN201310210049 A CN 201310210049A CN 103322851 A CN103322851 A CN 103322851A
- Authority
- CN
- China
- Prior art keywords
- condenser
- crossbeam
- cleaning robot
- power plant
- cross flange
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a condenser on-line in-parallel cleaning robot of a thermal power plant. The condenser on-line in-parallel cleaning robot mainly comprises in-parallel articulated type mechanical arm mechanisms arranged on a cross beam inside a condenser, wherein two end portions of the cross beam are fixedly arranged on outer walls of two sides of the condenser respectively. The condenser on-line in-parallel cleaning robot is characterized in that two groups of mechanical arm mechanisms are arranged on the cross beam in parallel, are symmetrically arranged on two sides of the cross beam and are of multistage articulated type mechanical arm structures. A cross-shaped flange is arranged in the middle of the cross beam to enable a left port and a right port of the cross-shaped flange to be connected with a left cross beam and a right cross beam respectively, accordingly the two sets of in-parallel mechanical arm structures are arranged in parallel through two vertically-arranged ports, and the cleaning efficiency of the on-line cleaning robot is improved.
Description
Technical field
The present invention relates to a kind of thermal power plant condenser online cleaning robot in parallel, the condenser on-line cleaning robot of thermal power plant that especially a kind of cleaning efficiency is high.
Background technology
Condenser is one of the main auxiliary equipment in thermal power plant, is undertaking the vital task of cooling off turbine discharge, and the quality of its service behaviour is to generating efficiency, the gross coal consumption rate important influence of power plant.Condenser is made up of thousands of copper pipes, and copper pipe is walked steam outward, walks cooling water in the copper pipe, during the condenser operation, cooling water is come in from the latter half of front water chamber, enters the back hydroecium by cooling water pipe (heat exchanger tube), upwards turn back, flow to front water chamber through the first half cooling water pipe again, discharge at last.Because the existence of heat exchange is arranged, salt in the cooling water is constantly being separated out in the heating process continuously, or because cooling water unholiness, meeting forms a large amount of incrustation scales and is attached on the tube wall, cause vacuum decline in the condenser, gross coal consumption rate rises, and cost of electricity-generating increases, and therefore reduces the efficient of steam turbine power generation unit.Therefore, no matter the efficient of collateral security thermal power plant and the aspect of exerting oneself are considered, still from preventing the condenser tube corrosion, and then prevent that gyp, burn into from putting the salt aspect and considering, all should in time remove condenser incrustation.
The online scale removal of plant condenser at present mainly utilizes the on-line cleaning robot to clean; dependence is arranged on the mechanical arm mechanism on the inner crossbeam of condenser; realization is arranged on the high-pressure cleaning device action on its terminal; adopt the high-pressure water jet of high-pressure cleaning device that thermal power plant's condenser copper tube is carried out on-line cleaning; generating set need not be shut down when cleaning condenser; saved the maintenance cost in power plant greatly; improve the operational efficiency in power plant; save coal consumption; energy savings; and clean thoroughly, pollution-free, this method is a kind of cleaning way preferably at present.
But find in actual the use, thermal power plant's condenser end cross-sectional of present widely used 300MW, 600MW, 1000MW generally is the rectangle cross section of 6m * 3m, thereby when utilizing the on-line cleaning robot that condenser inside copper pipe is cleaned, need the zone of cleaning bigger, and existing single prosthetic robot can't cover the whole zone that needs cleaning, causes its operating efficiency lower.The present invention considers to set up one group of cleaning robot for this reason, but along with the increase of load on the crossbeam, necessary than the architecture advances of heavy load amount to the carrying of crossbeam.
Summary of the invention
Technical problem to be solved by this invention provides condenser on-line cleaning robot of a kind of thermal power plant, on-line cleaning robot by the multi-stage mechanical arm configuration that is arranged in parallel, realize efficient the cleaning, pass through to increase the bonding strength between cross flange and crossbeam in addition, thereby improve the bearing capacity of crossbeam.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of thermal power plant condenser is at the line parallel cleaning robot, be mainly two prosthetic robots that are arranged on the inner crossbeam of condenser, described crossbeam both ends are fixedly installed on respectively on the outer wall of condenser both sides, its innovative point is: be arranged in parallel two groups of robot arm mechanisms on the described crossbeam, described two groups of mechanical arm mechanisms are symmetricly set in the crossbeam both sides, and described mechanical arm mechanism is multistage articulated type tool arm configuration;
Further, described crossbeam is made up of left crossbeam, right crossbeam and the cross flange that is arranged between the two, and described left and right crossbeam links to each other with the horizontal port of cross flange respectively, and the vertical port of described cross flange has the mechanical arm mechanism that is arranged in parallel to link to each other respectively;
Further, two horizontal ports are provided with the reinforcement slim-lined construction in the described cross flange, and described reinforcement slim-lined construction and cross flange are structure as a whole; Described left and right crossbeam is provided with the groove consistent with reinforcement slim-lined construction structure with cross flange cooperative end part; Reinforcement slim-lined construction on the described cross flange places the groove of cross flange corresponding position;
Further, the terminal end with the contact of cross flange of described reinforcement slim-lined construction is connected with cross flange arc transition;
Further, for arc transition is connected, and this arc radius is slightly larger than the arc radius of reinforcement slim-lined construction end between the groove outermost end of described crossbeam corresponding position and beam-end;
Further, described reinforcement slim-lined construction is positioned at the horizontal port core of cross flange, and described groove is positioned at the core of respective girders end, and described crossbeam is coaxial with cross flange horizontal axis;
Further, described multi-stage mechanical arm mechanism mainly comprises one-level arm, secondary arm, three grades of arms and high-pressure cleaning device, described high-pressure cleaning device is arranged on the terminal of three grades of arms, be provided with the one-level transmission mechanism between described one-level arm and secondary arm, be provided with the secondary transmission mechanism between described secondary arm and three grades of arms;
Further, described three grades of arm terminals are provided with two groups or two groups of above high-pressure cleaning devices;
The invention has the advantages that: by the cross flange is set in the middle of crossbeam, and make cross flange left and right sides port be connected with left and right crossbeam respectively, thereby utilize its vertically disposed two-port to be arranged in parallel two cover mechanical arm mechanisms, simultaneously mechanical arm mechanism is designed to multistage articulated type mechanical arm mechanism, thereby improves the cleaning efficiency of on-line cleaning robot.
Description of drawings
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is a kind of thermal power plant of the present invention condenser on-line cleaning robot construction schematic diagram.
Fig. 2 is condenser on-line cleaning robot of a kind of thermal power plant of the present invention cross flange arrangement schematic diagram.
Fig. 3 is the groove structure schematic diagram of left beam-end in the condenser on-line cleaning robot of a kind of thermal power plant of the present invention.
Fig. 4 be condenser on-line cleaning robot of a kind of thermal power plant of the present invention cross flange with crossbeam between the structural representation that is connected.
The specific embodiment
A kind of thermal power plant condenser shown in Figure 1 comprises condenser 1, crossbeam 2, mechanical arm mechanism 3, left crossbeam 4, right crossbeam 5, cross flange 6, one-level arm 7, secondary arm 8, three grades of arms 9, high-pressure cleaning device 10, one-level transmission mechanism 11, secondary transmission mechanism 12, reinforcement slim-lined construction 13, groove 14 at the line parallel cleaning robot.
Condenser on-line cleaning robot of thermal power plant of the present invention, be mainly the mechanical arm mechanism 3 that is arranged on the condenser 1 inner crossbeam 2, these crossbeam 2 both ends are fixedly installed on respectively on the condenser 1 both sides outer wall, for improving cleaning efficiency, two groups of mechanical arm mechanisms 3 have been arranged in parallel at crossbeam 2, its this two groups of mechanical arm mechanisms 3 are symmetricly set in crossbeam 2 both sides, and are multistage tool arm configuration with this mechanical arm mechanism 3;
When concrete structure is arranged, crossbeam 2 is divided into left crossbeam 4, right crossbeam 5 and is arranged between the two cross flange 6 three parts, make left and right crossbeam link to each other with the horizontal port of cross flange 6 respectively, have two mechanical arm mechanisms 3 that are arranged in parallel to link to each other respectively cross flange 6 remaining vertical ports.In addition, the multi-stage mechanical arm mechanism is designed to tertiary structure, mainly comprise one-level arm 7, secondary arm 8, three grades of arms 9 and high-pressure cleaning device 10, high-pressure cleaning device 10 is arranged on the terminal of three grades of arms 9, simultaneously be provided with one-level transmission mechanism 11 at one-level arm 7 and 8 on secondary arm, be provided with secondary transmission mechanism 12 at secondary arm 8 and three grades of 9 on arms, and three grades of arm 9 terminals are provided with high-pressure cleaning device 10 more than two groups or two groups, thereby improve cleaning efficiency greatly.
For strengthening the bonding strength of cross flange 6 and crossbeam, two horizontal ports are provided with reinforcement slim-lined construction 13 in cross flange 6, as shown in Figure 2, and reinforcement slim-lined construction 13 is structure as a whole with cross flange 6, in addition for guaranteeing to connect its bonding strength, its terminal end that contacts with the cross flange is designed to arc transition, reduces stress and concentrate; Be provided with the groove 14 consistent with reinforcement slim-lined construction 13 in left and right crossbeam and cross flange 6 cooperative end part, as shown in Figure 3, and be arc transition between groove 14 outermost ends and beam-end, and this arc radius is slightly larger than the transition arc radius of reinforcement slim-lined construction end; During assembling, as shown in Figure 4, make reinforcement slim-lined construction 13 on the cross flange 6 place the groove 14 of cross flange corresponding position, further strengthened the bonding strength between cross flange and crossbeam.
For making cross flange 6 easy to assembly with the crossbeam location, make it be positioned at the horizontal port core of cross flange 13 designs of reinforcement slim-lined construction on the cross flange 6, groove 14 designs are positioned at the core of respective girders end, and crossbeam is coaxial with cross flange horizontal axis, thereby makes reinforcement slim-lined construction 13 place groove 14 smoothly.
By in condenser 1, arranging two on-line cleaning robots, can cover and need the zone cleaned at present general 300MW, 600MW, the 1000MW thermal power plant condenser, simultaneously because two artificial symmetric arrangement up and down of on-line cleaning machine, and form stable cross structure with left crossbeam 4 and right crossbeam 5, solved the fixation problem of on-line cleaning robot in condenser.During in addition owing to condenser 1 operation, cooling water is come in from the latter half of front water chamber, enter the back hydroecium by cooling water pipe, upwards turn back, flow to front water chamber through the first half cooling water pipe again, discharge at last, the symmetric arrangement up and down of this on-line cleaning robot also can not influence cooling-water flow in the condenser.
Claims (8)
1. thermal power plant's condenser is at the line parallel cleaning robot, be mainly two cleaning robot robot mechanisms in parallel that are arranged on the inner crossbeam of condenser, described crossbeam both ends are fixedly installed on respectively on the outer wall of condenser both sides, it is characterized in that: be arranged in parallel two groups of mechanical arm mechanisms on the described crossbeam, described two groups of mechanical arm mechanisms are symmetricly set in the crossbeam both sides, and described robot mechanism is multistage prosthetic robot structure.
2. a kind of thermal power plant according to claim 1 condenser is at the line parallel cleaning robot, it is characterized in that: described crossbeam is made up of left crossbeam, right crossbeam and the cross flange that is arranged between the two, described left and right crossbeam links to each other with the horizontal port of cross flange respectively, and the vertical port of described cross flange has the mechanical arm mechanism that is arranged in parallel to link to each other respectively.
3. a kind of thermal power plant according to claim 2 condenser is at the line parallel cleaning robot, and it is characterized in that: two horizontal ports are provided with the reinforcement slim-lined construction in the described cross flange, and described reinforcement slim-lined construction and cross flange are structure as a whole; Described left and right crossbeam is provided with the groove consistent with reinforcement slim-lined construction structure with cross flange cooperative end part; Reinforcement slim-lined construction on the described cross flange places the groove of cross flange corresponding position.
4. a kind of thermal power plant according to claim 3 condenser is characterized in that at the line parallel cleaning robot: the terminal end that contacts with the cross flange of described reinforcement slim-lined construction is connected with cross flange arc transition.
5. a kind of thermal power plant according to claim 4 condenser is at the line parallel cleaning robot, it is characterized in that: for arc transition is connected, and this arc radius is slightly larger than the arc radius of reinforcement slim-lined construction end between the groove outermost end of described crossbeam corresponding position and beam-end.
6. a kind of thermal power plant according to claim 4 condenser is at the line parallel cleaning robot, it is characterized in that: described reinforcement slim-lined construction is positioned at the horizontal port core of cross flange, described groove is positioned at the core of respective girders end, and described crossbeam is coaxial with cross flange horizontal axis.
7. a kind of thermal power plant according to claim 1 condenser is at the line parallel cleaning robot, it is characterized in that: described multistage prosthetic robot structure mainly comprises one-level arm, secondary arm, three grades of arms and high-pressure cleaning device, described high-pressure cleaning device is arranged on the terminal of three grades of arms, be provided with the one-level transmission mechanism between described one-level arm and secondary arm, be provided with the secondary transmission mechanism between described secondary arm and three grades of arms.
8. a kind of thermal power plant according to claim 7 condenser is characterized in that at the line parallel cleaning robot: described three grades of arm terminals are provided with two groups or two groups of above high-pressure cleaning devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310210049.5A CN103322851B (en) | 2013-05-30 | 2013-05-30 | A kind of condenser on-line in-parallel cleaning robot of thermal power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310210049.5A CN103322851B (en) | 2013-05-30 | 2013-05-30 | A kind of condenser on-line in-parallel cleaning robot of thermal power plant |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103322851A true CN103322851A (en) | 2013-09-25 |
| CN103322851B CN103322851B (en) | 2018-04-17 |
Family
ID=49191759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310210049.5A Active CN103322851B (en) | 2013-05-30 | 2013-05-30 | A kind of condenser on-line in-parallel cleaning robot of thermal power plant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103322851B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596350A (en) * | 2015-01-09 | 2015-05-06 | 彭伟 | Online rapid pickling device and method for condenser in power plant |
| CN109269344A (en) * | 2018-09-17 | 2019-01-25 | 中国矿业大学 | A kind of in-site chemical cleaning liquid mixing system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2462341Y (en) * | 2001-02-02 | 2001-11-28 | 集贤实业有限公司 | Boiler tube driving structure of semiconductor diffusive stove tube cleaner |
| US20080317192A1 (en) * | 2007-06-20 | 2008-12-25 | Jason Maxcy Rowell | Inspection, maintenance, and repair apparatuses and methods for nuclear reactors |
| CN201205708Y (en) * | 2008-05-21 | 2009-03-11 | 中国矿业大学 | High pressure water jetting on-line cleaning manipulator for condenser in power plant |
| CN102527563A (en) * | 2012-01-10 | 2012-07-04 | 江苏长虹汽车装备集团有限公司 | Travel driving device for spraying robot |
-
2013
- 2013-05-30 CN CN201310210049.5A patent/CN103322851B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2462341Y (en) * | 2001-02-02 | 2001-11-28 | 集贤实业有限公司 | Boiler tube driving structure of semiconductor diffusive stove tube cleaner |
| US20080317192A1 (en) * | 2007-06-20 | 2008-12-25 | Jason Maxcy Rowell | Inspection, maintenance, and repair apparatuses and methods for nuclear reactors |
| CN201205708Y (en) * | 2008-05-21 | 2009-03-11 | 中国矿业大学 | High pressure water jetting on-line cleaning manipulator for condenser in power plant |
| CN102527563A (en) * | 2012-01-10 | 2012-07-04 | 江苏长虹汽车装备集团有限公司 | Travel driving device for spraying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596350A (en) * | 2015-01-09 | 2015-05-06 | 彭伟 | Online rapid pickling device and method for condenser in power plant |
| CN109269344A (en) * | 2018-09-17 | 2019-01-25 | 中国矿业大学 | A kind of in-site chemical cleaning liquid mixing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103322851B (en) | 2018-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103272805B (en) | Cleaning method of cooling water system in converter valve | |
| CN103322851A (en) | Condenser on-line in-parallel cleaning robot of thermal power plant | |
| CN109827335B (en) | Full-modularized flue type extruded aluminum condensation heat exchanger | |
| CN111591961A (en) | Concentrated sulfuric acid purification equipment and purification process applying same | |
| CN101914778A (en) | Microwave heating device for heating cold-rolling pickling process medium | |
| CN202936488U (en) | Temporary pipe connecting structure for chemical cleaning system of thermal equipment | |
| CN111961799B (en) | Converter flue gas high-temperature cyclone dust removal waste heat boiler integrated device and method | |
| CN212778702U (en) | Integrative device of converter flue gas high temperature whirlwind dust removal exhaust-heat boiler | |
| CN210036349U (en) | Horizontal pipe gas cooler | |
| CN211647500U (en) | Compact three-row steam turbine room structure of 660MW coal-fired generator set | |
| CN201567284U (en) | Stirring rod of glass melting furnace clamping neck horizontal stirrer | |
| CN110017474B (en) | Water washing process after chemical cleaning of boiler | |
| KR102015261B1 (en) | One path chemical cleaning system and one path chemical cleaning method for power plant | |
| CN105318738A (en) | Metallurgical furnace waste heat utilizing device | |
| CN219956170U (en) | High-efficiency heat storage system for flue gas of electric furnace | |
| CN205156643U (en) | Residual heat from flue gas device after pyrite -based sulphuric acid production removes dust | |
| CN211041892U (en) | Waste heat recovery device | |
| CN219200135U (en) | Dual-module plate heat exchanger for sulfur-containing flue gas alkaline cleaning system | |
| CN202884955U (en) | Smoke gas cooler | |
| CN214840712U (en) | Flue gas waste heat recycling system | |
| CN215491205U (en) | Energy-saving steam air preheater | |
| CN218093174U (en) | Blast furnace slag flushing water waste heat power generation condensate water temperature raising device | |
| CN221198132U (en) | High-temperature high-dust-content flue gas waste heat recovery system | |
| CN216977575U (en) | Online cleaning device for steam turbine condenser | |
| CN215233282U (en) | Wet flue gas desulfurization major diameter single tower whirl system of thermal power plant |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180316 Address after: 247100 No. 9 Meilin Road, hi tech Industrial Development Zone, Anhui, Chizhou Applicant after: Anhui Rui five Clean Energy Technology Co Ltd Address before: 247000 Guichi Industrial Park, Anhui, Chizhou Applicant before: Anhui Huasu Robot Science & Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |