CN106643278B - The mechanism that is movably walking of tubular heat exchanger cleaning robot - Google Patents
The mechanism that is movably walking of tubular heat exchanger cleaning robot Download PDFInfo
- Publication number
- CN106643278B CN106643278B CN201611246301.8A CN201611246301A CN106643278B CN 106643278 B CN106643278 B CN 106643278B CN 201611246301 A CN201611246301 A CN 201611246301A CN 106643278 B CN106643278 B CN 106643278B
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- Prior art keywords
- straight line
- line driving
- driving mechanism
- support unit
- longitudinal
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G9/00—Cleaning by flushing or washing, e.g. with chemical solvents
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/04—Feeding and driving arrangements, e.g. power operation
- F28G15/06—Automatic reversing devices
Abstract
The invention discloses a kind of mechanisms that is movably walking of tubular heat exchanger cleaning robot, it is related to industrial heat exchange device cleaning technique field, including lower supporting plate, the first support unit being arranged on lower supporting plate, lower supporting plate is connect with longitudinal movement straight line driving mechanism one end, the longitudinal movement straight line driving mechanism other end is connect with intermediate plate, intermediate plate is connect with transverse shifting straight line driving mechanism one end, the transverse shifting straight line driving mechanism other end is connect with upper backup pad, and the second support unit is provided on upper backup pad；First support unit and the second support unit are made of two or more support leg respectively, and each support leg is both provided with telescoping mechanism, can realize the expanding-contracting action of support leg；The mechanism that is movably walking can realize mobile all around under the cooperation of the first support unit, the second support unit, longitudinal movement straight line driving mechanism and transverse shifting straight line driving mechanism, the present invention has simple in structure, it is easy to safeguard, adaptable, the good feature of stability.
Description
Technical field
The present invention relates to industrial heat exchange device cleaning technique field, more particularly to a kind of shifting of tubular heat exchanger cleaning robot
Dynamic walking mechanism.
Background technology
Evaporation, heat exchange are widely applied during the industry productions such as sugaring, chemical industry, food, pharmacy, papermaking, power generation
Equipment, existing China's heat exchanger industry keep average annual 10 ~ 15% or so speed to increase, and 2015, China's heat exchanger industry size was prominent
It is 88,000,000,000 yuan broken, it is expected to reach 150,000,000,000 yuan to the year two thousand twenty China heat exchanger industry size.
Heat exchanger is the heat-exchange system using water as carrier mostly, since certain salts crystallize analysis from water when the temperature rises
Go out, be attached to heat exchange pipe surface, forms incrustation scale.Polyphosphoric acid salt buffer is added in cooling water, when the pH value of water is higher
It may also lead to incrustation scale precipitation.The incrustation scale that initial stage is formed is more open, but with the generation of dirty layer, and heat transfer condition deteriorates, in incrustation scale
The crystallization water gradually lose, dirty layer is hardened, and be firmly adhered to heat exchange pipe surface.Fortune of the industrial heat exchanger through a period of time
After turning, on heat-transfer area having incrustation forms, and seriously affects heat exchanger effectiveness, it is necessary to periodic cleaning dirt, the method for snaking
Have：High pressure water cleaning, chemical cleaning, ultrasonic cleaning.Using in the enterprise of heat exchanger, 75% is clear using high pressure water in China at present
It washes, 25% enterprise uses chemical cleaning and ultrasonic cleaning.
Chemical cleaning-chemical cleaning refers to carrying out soda acid processing to incrustation, so that it is become loose, then again mechanically
It is removed.External mainstream developed country generally uses the method heat exchanging device of chemical cleaning to be cleaned, since foreign countries produce
Technique is more domestic advanced, and the more domestic chemical unit of incrustation is less, and cleaning frequency is low, but medicament used in chemical method exists
It is serious to metal erosion, it is difficult to recycle, discharge causes environmental pollution, the problems such as use cost is high, so not obtaining at home
It is widely applied.
It is the giant descaling method to grow up the 1980s manually to disclose pipeline cleaning, removes chemical cleaning mistake from
The trouble for boiling tank of journey simultaneously saves a large amount of chemical agent, and with cleaning, at low cost, speed is fast, peace and quiet rate is high, it is clear not damage
Washing, it is free from environmental pollution the features such as.At present at home substantially instead of chemical cleaning method and other machinery descaling method.Using height
Pressure water cleaning generally carries out the cleaning of tubular heat exchanger incrustation using the mode for manually disclosing pipe, manual operation high-pressure water jet
Cleaning hydraulic giant, cleaning pressure is generally 60 ~ 100MPa, and labor intensity is big, and working environment is severe, and it is hidden to there is greatly safety
Suffer from, industrial injury safety accident often occurs.
Mechanical Cleaning by High Pressure Water Jet, current technology is not mature enough, and the Cleaning by High Pressure Water Jet of mechanization had in recent years
It is developed, but is cleaned by the method that database control devices work using rectangular co-ordinate or polar coordinate method,
Under severe working environment, equipment failure rate is high, job insecurity, and maintenance is cumbersome, and cultural technical merit is required to operator
Height, single device can not achieve multiple gun operation, and equipment does not adapt to the work of various specifications heat exchanger, need special customized.Machine
The key that tool cleans automatically is how to make cleaning robot accurately and efficiently in working region movement, positioning, in the prior art
Long guideway move mode is mostly used, volume is big, inconvenient for operation.
Invention content
To solve the above-mentioned problems, the present invention provides the mechanism that is movably walking of tubular heat exchanger cleaning robot, this hairs
It is bright to adopt the following technical scheme that realization：
A kind of mechanism that is movably walking of tubular heat exchanger cleaning robot, it is characterised in that：Including lower supporting plate, setting exists
The first support unit on the lower supporting plate, the lower supporting plate is connect with longitudinal movement straight line driving mechanism one end, described
The longitudinal movement straight line driving mechanism other end is connect with intermediate plate, and the intermediate plate connects with transverse shifting straight line driving mechanism one end
It connects, the transverse shifting straight line driving mechanism other end is connect with upper backup pad, and the second support is provided on the upper backup pad
Unit；
First support unit and the second support unit are made of a plurality of support leg respectively, and each support leg is all arranged
There is telescoping mechanism, can realize the expanding-contracting action of support leg；
The mechanism that is movably walking can be in first support unit, the second support unit, longitudinal movement linear drives
Along the center line connecting direction of adjacent three tubulations in tubular heat exchanger under the cooperation of mechanism and transverse shifting straight line driving mechanism
It is mobile.
Preferably, the support leg includes telescoping mechanism, and the support tube on the telescoping mechanism, the telescopic machine is arranged
The telescopic rod of structure penetrates the support tube and is connect with spring one end, and the spring other end is connect with telescopic head, by controlling institute
The action of stretching or retraction of the telescopic head can be realized by stating telescoping mechanism.
Further, the telescoping mechanism is cylinder, and the spring is compression spring.
Preferably, it is additionally provided with fixing and locking mechanism between first support unit and the lower supporting plate, being used for will
The mechanism that is movably walking is fixed on the tubulation of tubular heat exchanger.
Preferably, the longitudinal straight line parallel with the longitudinal movement straight line driving mechanism is additionally provided on the lower supporting plate
Guide rail, is provided on the intermediate plate and the matched longitudinal straight-line guide rail slide block of longitudinal the linear guide, the longitudinal direction straight line
In longitudinal the linear guide, the intermediate plate can do longitudinal round-trip along longitudinal the linear guide for guide rail slide block setting
Movement；
The lateral the linear guide parallel with the transverse shifting straight line driving mechanism is additionally provided on the intermediate plate, it is described
It is provided on upper backup pad and the lateral matched lateral straight-line guide rail slide block of the linear guide, the transverse direction straight-line guide rail slide block
In the lateral the linear guide, the upper backup pad can do traverse along the lateral the linear guide for setting.
Preferably, the longitudinal movement straight line driving mechanism and the transverse shifting straight line driving mechanism are cylinder.
Further, same in longitudinal the linear guide is constituted with the lateral the linear guide angle and tubular heat exchanger
The angle that the tubulation central junction line of the transversely arranged tubulation central junction line of a line and same row longitudinal arrangement is constituted is equal.
Preferably, described fixing and locking mechanism one end is connect with the lower supporting plate, and the other end and first support are single
Fixing supporting legs connection in member, the fixing supporting legs are connect using hinge with the support plate, and the fixed locking is passed through
The stretching or contraction of mechanism can change the angle that the fixing supporting legs are formed with the support plate.
Preferably, the fixing and locking mechanism is cylinder.
The present invention has the advantages that compared with prior art：
1, adaptable, it can be in the tank face accurate movement of the tubular heat exchanger of various specifications；
2, simple in structure, it is easy to safeguard, small, light-weight, stability is good, and positioning accuracy is high；
3, each movement can rely on tubulation calibration and positioning automatically automatically, be missed without being accumulated present in legacy system
Difference improves the functional reliability of equipment.
Description of the drawings
Fig. 1 is lower supporting plate provided in an embodiment of the present invention and intermediate plate structure schematic diagram；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is upper backup pad structural schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the vertical view of Fig. 4；
Fig. 6 is support leg structure schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiment of the present invention being usually described and illustrated herein in the accompanying drawings
Detailed description is not intended to limit the range of claimed invention, but is merely representative of the selected embodiment of the present invention.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
As shown in Fig. 1 ~ 6, a kind of mechanism that is movably walking of tubular heat exchanger cleaning robot, including lower supporting plate 1, setting
The first support unit 2 on lower supporting plate 1, lower supporting plate 1 are connect with 3 one end of longitudinal movement straight line driving mechanism, Zong Xiangyi
Dynamic 3 other end of straight line driving mechanism is connect with intermediate plate 8, and intermediate plate 8 is connect with 4 one end of transverse shifting straight line driving mechanism, horizontal
It is connect to mobile 4 other end of straight line driving mechanism with upper backup pad 5, the second support unit 6 is provided on upper backup pad 5；First
Support unit 2 and the second support unit 6 are made of a plurality of support leg respectively, and each support leg is both provided with telescoping mechanism, energy
Enough realize the expanding-contracting action of support leg；The mechanism that is movably walking can be in the first support unit 2, the second support unit 6, longitudinal movement
Along in adjacent three tubulations in tubular heat exchanger under the cooperation of straight line driving mechanism 3 and transverse shifting straight line driving mechanism 4
It moves in heart line direction.
Wherein, as shown in fig. 6, support leg includes telescoping mechanism 20, the support tube 22 being arranged on telescoping mechanism, telescopic machine
The telescopic rod 21 of structure penetrates support tube 22 and is connect with 23 one end of spring, and 23 other end of spring is connect with telescopic head 24, passes through control
Telescoping mechanism 20 can realize the action of stretching or the retraction of telescopic head 24.Telescoping mechanism 20 is cylinder, and spring 23 is compression spring.The
It is additionally provided with fixing and locking mechanism 7 between one support unit 2 and lower supporting plate 1, mechanism is fixed on tubulation for that will be movably walking
On the tubulation of heat exchanger.The longitudinal the linear guide 9 parallel with longitudinal movement straight line driving mechanism 3 is additionally provided on lower supporting plate 1,
It is provided on intermediate plate 8 and is arranged with the matched longitudinal straight-line guide rail slide block 91 of longitudinal the linear guide, longitudinal straight-line guide rail slide block 91
9 in longitudinal the linear guide, intermediate plate 8 can do longitudinal back and forth movement along longitudinal the linear guide 9；It is also set up on intermediate plate 8
There is the lateral the linear guide 10 parallel with transverse shifting straight line driving mechanism 4, is provided on upper backup pad 5 and lateral the linear guide
Matched transverse direction straight-line guide rail slide block 11, lateral straight-line guide rail slide block 11 are arranged in lateral the linear guide 10,5 energy of upper backup pad
It is enough to do traverse along lateral the linear guide 10.Vertically move straight line driving mechanism 3 and transverse shifting straight line driving
Structure 4 is cylinder.It is laterally arranged with a line in angle and tubular heat exchanger that longitudinal the linear guide 9 is constituted with lateral the linear guide 10
The angle that the tubulation central junction line of row and the tubulation central junction line of same row longitudinal arrangement are constituted is equal.Fixed locking machine
7 one end of structure is connect with lower supporting plate 1, and the other end is connect with the fixing supporting legs in the first support unit 2, and fixing supporting legs use
Hinge is connect with support plate 1, can change fixing supporting legs and 1 shape of support plate by the stretching or contraction of fixing and locking mechanism 7
At angle.Fixing and locking mechanism 7 is cylinder.
When mobile, the telescoping mechanism 20 of three upper support legs of the second support unit 6 of composition is shunk, and drive is inserted in tubulation
Telescopic head 24 withdrawn out of tubulation, three lower support legs of the weight of entire mechanism all by forming the first support unit 2 at this time
It bears, then control transverse shifting straight line driving mechanism 4 or vertically moves the action of straight line driving mechanism 3, realize upper backup pad 5
Relative to the vertical or horizontal movement of lower supporting plate 1, after upper backup pad 5 moves in place, three of the second support unit 6 of composition
The telescoping mechanism 20 of upper support leg stretches out, and telescopic head 24 is driven to be inserted into tubulation, under then form the first support unit 2 three
The telescoping mechanism 20 of support leg is shunk, and drives the telescopic head 24 being inserted in tubulation to be withdrawn out of tubulation, at this time the weight of entire mechanism
Amount is all born by three upper support legs for forming the second support unit 6, and transverse shifting straight line driving mechanism 4 or longitudinal is then controlled
The action of mobile straight line driving mechanism 3 is realized vertical or horizontal movement of the lower supporting plate 1 relative to upper backup pad 5, is supported instantly
After the movement in place of plate 1, the telescoping mechanism 20 for forming three lower support legs of the first support unit 2 stretches out, and telescopic head 24 is driven to insert
Enter in tubulation, cycle realizes mobile purpose repeatedly.It is mobile to complete before being cleaned, constitute fixing and locking mechanism 7
Cylinder stretch out so that the angle that fixing supporting legs and support plate 1 are formed is inserted into telescopic head 24 in tubulation by lateral
Power and so that support leg and tubulation the tube wall increase being entirely inserted into tubulation is rubbed, to the fixed locking purpose of implementation mechanism.
The present invention has the advantages that compared with prior art：
1, adaptable, it can be in the tank face accurate movement of the tubular heat exchanger of various specifications；
2, simple in structure, it is easy to safeguard, small, light-weight, stability is good, and positioning accuracy is high；
3, each movement can rely on tubulation calibration and positioning automatically automatically, be missed without being accumulated present in legacy system
Difference improves the functional reliability of equipment.
Claims (9)
1. a kind of mechanism that is movably walking of tubular heat exchanger cleaning robot, it is characterised in that：Including lower supporting plate（1）, setting
In the lower supporting plate（1）On the first support unit（2）, the lower supporting plate（1）With longitudinal movement straight line driving mechanism（3）
One end connects, the longitudinal movement straight line driving mechanism（3）The other end and intermediate plate（8）Connection, the intermediate plate（8）With transverse direction
Mobile straight line driving mechanism（4）One end connects, the transverse shifting straight line driving mechanism（4）The other end and upper backup pad（5）Even
It connects, the upper backup pad（5）On be provided with the second support unit（6）；
First support unit（2）With the second support unit（6）It is made of respectively a plurality of support leg, each support leg is all set
It is equipped with telescoping mechanism, can realize the expanding-contracting action of support leg；
The mechanism that is movably walking can be in first support unit（2）, the second support unit（6）, longitudinal movement straight line drive
Motivation structure（3）With transverse shifting straight line driving mechanism（4）Cooperation under along adjacent three tubulations in tubular heat exchanger center
It moves in line direction.
2. the mechanism according to claim 1 that is movably walking, it is characterised in that：The support leg includes telescoping mechanism（20）,
Support tube on the telescoping mechanism is set（22）, the telescopic rod of the telescoping mechanism（21）Penetrate the support tube（22）With
Spring（23）One end connects, the spring（23）The other end and telescopic head（24）Connection, by controlling the telescoping mechanism（20）
It can realize the telescopic head（24）Stretching or retraction action.
3. the mechanism according to claim 2 that is movably walking, it is characterised in that：The telescoping mechanism（20）It is described for cylinder
Spring（23）For compression spring.
4. the mechanism according to claim 1 that is movably walking, it is characterised in that：First support unit（2）Under described
Support plate（1）Between be additionally provided with fixing and locking mechanism（7）, for the mechanism that is movably walking to be fixed on tubular heat exchanger
On tubulation.
5. the mechanism according to claim 1 that is movably walking, it is characterised in that：
The lower supporting plate（1）On be additionally provided with and the longitudinal movement straight line driving mechanism（3）Parallel longitudinal the linear guide
（9）, the intermediate plate（8）On be provided with and the matched longitudinal straight-line guide rail slide block of longitudinal the linear guide（91）, described vertical
To straight-line guide rail slide block（91）Setting is in longitudinal the linear guide（9）On, the intermediate plate（8）It can be straight along the longitudinal direction
Line guide rail（9）Do longitudinal back and forth movement；
The intermediate plate（8）On be additionally provided with and the transverse shifting straight line driving mechanism（4）Parallel lateral the linear guide
（10）, the upper backup pad（5）On be provided with and the matched lateral straight-line guide rail slide block of the lateral the linear guide（11）, described
Lateral straight-line guide rail slide block（11）Setting is in the lateral the linear guide（10）On, the upper backup pad（5）It can be along described
Lateral the linear guide（10）Do traverse.
6. be movably walking mechanism according to claim 1 or 5, it is characterised in that：The longitudinal movement straight line driving mechanism
（3）With the transverse shifting straight line driving mechanism（4）For cylinder.
7. the mechanism according to claim 5 that is movably walking, it is characterised in that：The longitudinal direction the linear guide（9）With the cross
To the linear guide（10）With the transversely arranged tubulation central junction line of a line and same in the angle and tubular heat exchanger that are constituted
The angle that the tubulation central junction line of row longitudinal arrangement is constituted is equal.
8. the mechanism according to claim 4 that is movably walking, it is characterised in that：The fixing and locking mechanism（7）One end and institute
State lower supporting plate（1）Connection, the other end and first support unit（2）In fixing supporting legs connection, the fixed support
Leg is using hinge and the lower supporting plate（1）Connection, passes through the fixing and locking mechanism（7）Stretching or contraction can change institute
State fixing supporting legs and the lower supporting plate（1）The angle of formation.
9. the mechanism that is movably walking according to claim 4 or 8, it is characterised in that：The fixing and locking mechanism（7）For gas
Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246301.8A CN106643278B (en) | 2016-12-29 | 2016-12-29 | The mechanism that is movably walking of tubular heat exchanger cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246301.8A CN106643278B (en) | 2016-12-29 | 2016-12-29 | The mechanism that is movably walking of tubular heat exchanger cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106643278A CN106643278A (en) | 2017-05-10 |
| CN106643278B true CN106643278B (en) | 2018-09-07 |
Family
ID=58836957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611246301.8A Active CN106643278B (en) | 2016-12-29 | 2016-12-29 | The mechanism that is movably walking of tubular heat exchanger cleaning robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106643278B (en) |
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| US5117897A (en) * | 1989-02-15 | 1992-06-02 | Barras-Provence | Vehicle for inspecting and maintaining steam generator tubes or the like |
| JPH11300666A (en) * | 1998-04-21 | 1999-11-02 | Hitachi Zosen Corp | Method of operating working robot for heat exchanger |
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| CN101672600A (en) * | 2009-08-25 | 2010-03-17 | 沈阳仪表科学研究院 | Automatic cleaning device of indirect air cooler for power station |
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| CN206430631U (en) * | 2016-12-29 | 2017-08-22 | 广西恩康机械设备有限公司 | The travel mechanism of tubular heat exchanger cleaning device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060279081A1 (en) * | 2005-06-10 | 2006-12-14 | Ben-Why Liao | Universal connector |
| US9851164B2 (en) * | 2014-03-13 | 2017-12-26 | Corestar International Corporation | Laser centering of robotic arm |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191213699A (en) * | 1912-06-11 | 1913-05-22 | Edwin Robert Walker | Improvements in Apparatus for Scraping and Cleaning Boiler Tubes. |
| JPS63318402A (en) * | 1987-06-19 | 1988-12-27 | 東京電力株式会社 | Robot for work |
| US5117897A (en) * | 1989-02-15 | 1992-06-02 | Barras-Provence | Vehicle for inspecting and maintaining steam generator tubes or the like |
| JPH11300666A (en) * | 1998-04-21 | 1999-11-02 | Hitachi Zosen Corp | Method of operating working robot for heat exchanger |
| CN200948597Y (en) * | 2006-09-25 | 2007-09-19 | 湖南大学 | Submerged intelligent cleaning robot for large-scale condensing plant |
| CN201497422U (en) * | 2009-07-29 | 2010-06-02 | 江苏科能电力机械有限公司 | Walk device on wash equipment of air cooling condenser |
| CN101672600A (en) * | 2009-08-25 | 2010-03-17 | 沈阳仪表科学研究院 | Automatic cleaning device of indirect air cooler for power station |
| CN104654898A (en) * | 2014-03-31 | 2015-05-27 | 柳州联盟通管设备制造有限公司 | Washing machine for heat exchange tubes |
| CN206430631U (en) * | 2016-12-29 | 2017-08-22 | 广西恩康机械设备有限公司 | The travel mechanism of tubular heat exchanger cleaning device |
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| CN106643278A (en) | 2017-05-10 |
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