CN103322851B - A kind of condenser on-line in-parallel cleaning robot of thermal power plant - Google Patents
A kind of condenser on-line in-parallel cleaning robot of thermal power plant Download PDFInfo
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- CN103322851B CN103322851B CN201310210049.5A CN201310210049A CN103322851B CN 103322851 B CN103322851 B CN 103322851B CN 201310210049 A CN201310210049 A CN 201310210049A CN 103322851 B CN103322851 B CN 103322851B
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Abstract
The invention discloses a kind of thermal power plant's condenser online cleaning robot in parallel, is predominantly arranged on the jointed robot arm mechanism in parallel on crossbeam, the crossbeam both ends inside condenser and is respectively fixedly disposed on the outer wall of condenser both sides, it is characterised in that：Two groups of mechanical arm mechanisms are arranged in parallel on the crossbeam, two groups of mechanical arm mechanisms are symmetrically disposed on crossbeam both sides, and the mechanical arm mechanism is multistage jointed robot tool arm configuration；By setting cross flange among crossbeam, and cross flange or so port is connected with left and right crossbeam respectively, so that two sets of parallel manipulator arm mechanisms are arranged in parallel using its vertically disposed two-port, so as to improve the cleaning efficiency of on-line cleaning robot.
Description
Technical field
The present invention relates to a kind of thermal power plant's condenser online cleaning robot in parallel, the high fire of especially a kind of cleaning efficiency
Plant condenser on-line cleaning robot.
Background technology
Condenser is one of the main auxiliary equipment in thermal power plant, is responsible for the vital task of cooling turbine discharge,
The quality of its working performance has important influence to the generating efficiency of power plant, gross coal consumption rate.Condenser is by thousands of copper pipes
Composition, copper pipe walk steam outside, and cooling water is walked in copper pipe, and when condenser is run, cooling water is come in from the latter half of front water chamber, is led to
Supercooling water pipe（Heat exchanger tube）Into rear hydroecium, turn back upwards, then front water chamber, most heel row are flowed to through top half cooling water pipe
Go out.Because there is the presence of heat exchange, the salt in cooling water constantly separates out during laser heating, or unclean due to cooling water
Only, substantial amounts of incrustation scale can be formed and be attached on tube wall, cause vacuum decay in condenser, gross coal consumption rate rises, generates electricity into
This increase, therefore reduce the efficiency of turbine LP rotors.Therefore, no matter collateral security thermal power plant efficiency and output in terms of examine
Consider, or from preventing corrosion of the condenser tubes, and then from the aspect of preventing that gyp, burn into from putting salt, should all remove condensing in time
Device incrustation.
The On Line Foul Removing Technology of plant condenser is mainly cleaned using on-line cleaning robot at present, by being arranged on condensing
Mechanical arm mechanism inside device on crossbeam, is realized the high-pressure cleaning device action set on their terminal, is filled using high-pressure wash
The high-pressure water jet put carries out on-line cleaning to thermal power plant's condenser copper tube, and generating set does not have to shut down when cleaning condenser, greatly
The big maintenance cost for saving power plant, improves the operational efficiency in power plant, saves coal consumption, saves the energy, and cleans thoroughly,
Pollution-free, this method is a kind of presently preferred cleaning way.
But found in actually using, thermal power plant's condenser end of now widely used 300MW, 600MW, 1000MW
Section is generally the rectangular cross-sectional of 6m × 3m, so as to carried out clearly to condenser inside copper pipe using on-line cleaning robot
, it is necessary to which the region of cleaning is bigger when washing, and existing single joint formula robot can not cover the region for entirely needing to clean,
Cause its work efficiency relatively low.The present invention considers to add one group of cleaning robot for this, but with the increase loaded on crossbeam, it is right
The structure of the carrying relatively large load amount of crossbeam is improved necessary.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of thermal power plant's condenser on-line cleaning robot, pass through parallel connection
The on-line cleaning robot of the multi-stage mechanical arm configuration of setting, realizes high-efficiency washing, additionally by increase cross flange and crossbeam
Between bonding strength, so as to improve the bearing capacity of crossbeam.
In order to solve the above technical problems, the technical scheme is that：A kind of thermal power plant's condenser cleaning machine in parallel online
Device people, is predominantly arranged on two prosthetic robots on crossbeam inside condenser, fixation is set respectively at the crossbeam both ends
Put on the outer wall of condenser both sides, its innovative point is：Two groups of robotic arm mechanisms, institute have been arranged in parallel on the crossbeam
State two groups of mechanical arm mechanisms and be symmetrically disposed on crossbeam both sides, and the mechanical arm mechanism is multistage articulated type tool arm configuration；
Further, the crossbeam is made of left crossbeam, right crossbeam and cross flange set between the two, described
Left and right crossbeam is connected with the horizontal port of cross flange respectively, and there is the machine being arranged in parallel in the vertical port of the cross flange respectively
Tool arm mechanism is connected；
Further, two horizontal ports are both provided with reinforcing rib slim-lined construction in the cross flange, and the reinforcing rib is thin
Long structure is structure as a whole with cross flange；The left and right crossbeam is provided with elongated with reinforcing rib with cross flange cooperative end part
The consistent groove of structure structure；Reinforcing rib slim-lined construction on the cross flange is placed in the groove of cross flange corresponding position
In；
Further, end and cross flange arc transition of the reinforcing rib slim-lined construction end with cross flange contact
Connection；
Further, connect between the groove outermost side end of the crossbeam corresponding position and beam-end for arc transition
Connect, and the arc radius is slightly larger than the arc radius of reinforcing rib slim-lined construction end；
Further, the reinforcing rib slim-lined construction is located at the horizontal port core of cross flange, and the groove is positioned at corresponding
The core of beam-end, the crossbeam and cross flange horizontal axis are coaxial；
Further, the multi-stage mechanical arm mechanism mainly includes level-one arm, two level arm, three-level arm and high-pressure wash dress
To put, the high-pressure cleaning device is arranged on the terminal of three-level arm, and primary transmission mechanism is provided between the level-one arm and two level arm,
Secondary drive mechanism is provided between the two level arm and three-level arm；
Further, the three-level arm terminal is provided with two groups or high-pressure cleaning device more than two；
The advantage of the invention is that：By setting cross flange among crossbeam, and cause cross flange or so port point
It is not connected with left and right crossbeam, so as to be arranged in parallel two sets of mechanical arm mechanisms using its vertically disposed two-port, while by machinery
Arm mechanism is designed as multistage jointed robot arm mechanism, so as to improve the cleaning efficiency of on-line cleaning robot.
Brief description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structure diagram of thermal power plant's condenser on-line cleaning robot of the present invention.
Fig. 2 is a kind of thermal power plant's condenser on-line cleaning robot cross flange arrangement schematic diagram of the present invention.
Fig. 3 is the groove structure signal of left beam-end in a kind of thermal power plant's condenser on-line cleaning robot of the present invention
Figure.
Fig. 4 is that the structure connected between a kind of thermal power plant's condenser on-line cleaning robot cross flange and crossbeam of the invention is shown
It is intended to.
Embodiment
A kind of condenser on-line in-parallel cleaning robot of thermal power plant shown in Fig. 1 includes condenser 1, crossbeam 2, mechanical arm machine
Structure 3, left crossbeam 4, right crossbeam 5, cross flange 6, level-one arm 7, two level arm 8, three-level arm 9, high-pressure cleaning device 10, primary transmission
Mechanism 11, secondary drive mechanism 12, reinforcing rib slim-lined construction 13, groove 14.
The condenser on-line cleaning robot of thermal power plant of the present invention, the machine being predominantly arranged on 1 inside crossbeam 2 of condenser
Tool arm mechanism 3,2 both ends of crossbeam are respectively fixedly disposed on 1 both sides outer wall of condenser, to improve cleaning efficiency, in crossbeam 2
On be arranged in parallel two groups of mechanical arm mechanisms 3, its two groups of mechanical arm mechanism 3 is symmetrically disposed on 2 both sides of crossbeam, and by the machinery
Arm mechanism 3 is multistage tool arm configuration；
When concrete structure is arranged, crossbeam 2 is divided for left crossbeam 4, right crossbeam 5 and cross flange 6 set between the two
Three parts so that left and right crossbeam is connected with the horizontal port of cross flange 6 respectively, by the remaining vertical port of cross flange 6
There are two mechanical arm mechanisms 3 being arranged in parallel to be connected respectively.In addition, multi-stage mechanical arm mechanism is designed as tertiary structure, main bag
Level-one arm 7, two level arm 8, three-level arm 9 and high-pressure cleaning device 10 are included, high-pressure cleaning device 10 is arranged on the terminal of three-level arm 9,
Primary transmission mechanism 11 is provided between level-one arm 7 and two level arm 8 at the same time, two level biography is provided between two level arm 8 and three-level arm 9
Motivation structure 12, and 9 terminal of three-level arm is provided with two groups or high-pressure cleaning device 10 more than two, so as to greatly improve clear
Wash efficiency.
For the bonding strength of enhancing cross flange 6 and crossbeam, reinforcement is both provided with two horizontal ports in cross flange 6
Muscle slim-lined construction 13, as shown in Fig. 2, and reinforcing rib slim-lined construction 13 be structure as a whole with cross flange 6, in addition be ensure connection
Its bonding strength, is designed as arc transition by the end of its end and cross flange contact, reduces stress concentration；In left and right horizontal stroke
Beam is provided with the groove 14 consistent with reinforcing rib slim-lined construction 13 with 6 cooperative end part of cross flange, as shown in figure 3, and groove 14
It is arc transition between outermost side end and beam-end, and the arc radius is slightly larger than the transition circle of reinforcing rib slim-lined construction end
Arc radius；During assembling, as shown in Figure 4 so that the reinforcing rib slim-lined construction 13 on cross flange 6 is placed in cross flange relevant position
In the groove 14 at place, the bonding strength between cross flange and crossbeam further enhancing.
Make it that it is easy to assembly that cross flange 6 and crossbeam position, the design of reinforcing rib slim-lined construction 13 on cross flange 6 is made
Obtain it and be located at the horizontal port core of cross flange, groove 14 is designed into the core positioned at respective girders end, and crossbeam and cross
Flange horizontal axis is coaxial, so that reinforcing rib slim-lined construction 13 is smoothly placed in groove 14.
By the arrangement Liang Ge on-line cleanings robot in the condenser 1, can cover 300MW, 600MW general at present,
The region cleaned is needed in 1000MW thermal power plants condenser, simultaneously because the artificial arrangement symmetrical above and below of two on-line cleaning machines,
And the cross structure of stabilization is formed with left crossbeam 4 and right crossbeam 5, solve fixation of the on-line cleaning robot in condenser and ask
Topic.When being run additionally, due to condenser 1, cooling water is come in from the latter half of front water chamber, enters rear hydroecium by cooling water pipe,
Turn back upwards, then front water chamber flowed to through top half cooling water pipe, finally discharge, this on-line cleaning robot it is symmetrical above and below
Arrangement does not interfere with the flowing of cooling water in condenser also.
Claims (6)
1. a kind of condenser on-line in-parallel cleaning robot of thermal power plant, two inside condenser on crossbeam are predominantly arranged on simultaneously
Join prosthetic robot, the crossbeam both ends are respectively fixedly disposed on the outer wall of condenser both sides, it is characterised in that：The horizontal stroke
Two groups of mechanical arm mechanisms are arranged in parallel on beam, two groups of mechanical arm mechanisms are symmetrically disposed on crossbeam both sides, and the machinery
Arm mechanism is multistage jointed robot arm mechanism；The crossbeam is by left crossbeam, right crossbeam and cross method set between the two
Orchid composition, the left and right crossbeam is connected with the horizontal port of cross flange respectively, and the vertical port of the cross flange has simultaneously respectively
The mechanical arm mechanism that connection is set is connected；The multistage jointed robot arm mechanism mainly include level-one arm, two level arm, three-level arm and
High-pressure cleaning device, the high-pressure cleaning device are arranged on the terminal of three-level arm, one are provided between the level-one arm and two level arm
Level transmission mechanism, secondary drive mechanism is provided between the two level arm and three-level arm.
A kind of 2. condenser on-line in-parallel cleaning robot of thermal power plant according to claim 1, it is characterised in that：Described ten
Two horizontal ports are both provided with reinforcing rib slim-lined construction in word flange, and the reinforcing rib slim-lined construction is integrated knot with cross flange
Structure；The left and right crossbeam is provided with the groove consistent with reinforcing rib slim-lined construction structure with cross flange cooperative end part；Described ten
Reinforcing rib slim-lined construction on word flange is placed in the groove of cross flange corresponding position.
A kind of 3. condenser on-line in-parallel cleaning robot of thermal power plant according to claim 2, it is characterised in that：It is described to add
Strengthening tendons slim-lined construction end is connected with the end of cross flange contact with cross flange arc transition.
A kind of 4. condenser on-line in-parallel cleaning robot of thermal power plant according to claim 3, it is characterised in that：The horizontal stroke
Connected between the groove outermost side end of beam corresponding position and beam-end for arc transition, and the arc radius is slightly larger than reinforcement
The arc radius of muscle slim-lined construction end.
A kind of 5. condenser on-line in-parallel cleaning robot of thermal power plant according to claim 3, it is characterised in that：It is described to add
Strengthening tendons slim-lined construction is located at the horizontal port core of cross flange, and the groove is located at the core of respective girders end, the crossbeam
It is coaxial with cross flange horizontal axis.
A kind of 6. condenser on-line in-parallel cleaning robot of thermal power plant according to claim 1, it is characterised in that：Described three
Level arm terminal is provided with two groups or high-pressure cleaning device more than two.
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 |
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| 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 |
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| CN103322851A CN103322851A (en) | 2013-09-25 |
| CN103322851B true CN103322851B (en) | 2018-04-17 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596350B (en) * | 2015-01-09 | 2016-08-17 | 徐州比此智能科技有限公司 | A kind of plant condenser online fast acid cleaning device and method |
| CN109269344B (en) * | 2018-09-17 | 2020-03-10 | 中国矿业大学 | Online chemical cleaning liquid preparation system |
| CN111121530A (en) * | 2020-01-06 | 2020-05-08 | 安徽五瑞洁能科技有限公司 | Truss arm condenser online cleaning device |
Citations (3)
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|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7769123B2 (en) * | 2007-06-20 | 2010-08-03 | Ge-Hitachi Nuclear Energy Americas, Llc | Inspection, maintenance, and repair apparatuses and methods for nuclear reactors |
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- 2013-05-30 CN CN201310210049.5A patent/CN103322851B/en active Active
Patent Citations (3)
| 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 |
| 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 |
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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. |
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