CN115096128A - Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot - Google Patents
Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot Download PDFInfo
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- CN115096128A CN115096128A CN202210773694.7A CN202210773694A CN115096128A CN 115096128 A CN115096128 A CN 115096128A CN 202210773694 A CN202210773694 A CN 202210773694A CN 115096128 A CN115096128 A CN 115096128A
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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
- F28G15/00—Details
- F28G15/04—Feeding and driving arrangements, e.g. power operation
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a tiltable horizontal driving device of a rectangular coordinate online cleaning robot, which comprises a vertical driving mechanism, a torque tilt transmission mechanism, a rack transmission mechanism and a casing, wherein: the vertical driving mechanism comprises an outer driving shaft which is vertically distributed and a spherical sliding block arranged on the outer driving shaft, and the sliding block and the outer driving shaft synchronously rotate; the torque inclination transmission mechanism comprises a rotary transmission shell covered outside the sliding block, and the external driving shaft transmits the torque of the external driving shaft to the transmission shell; the transmission shell is movably connected with the casing; the rack transmission mechanism comprises a rack driven by the transmission shell and a movable section of a horizontal guide rail for fixing the rack. The condenser is high in practicability and functionality, and can be widely applied to the technical field of condensers of power plants.
Description
Technical Field
The invention relates to the technical field of power plant condensers, in particular to a tiltable horizontal driving device and method of a rectangular coordinate online cleaning robot.
Background
The condenser is the main auxiliary assembly of power plant, plays the cold source effect in the thermodynamic cycle, and the heat economy nature of system is directly influenced to condenser performance. The heat exchange tubes inside the condenser can form scale due to various natural reasons. Scale has a detrimental effect on plant operation. The scale layer with the thickness of only 0.2mm can cause the coal consumption of the power plant standard to rise by 2 g-4 g/kwh. Worldwide, an effective online cleaning means for the dirt of the condenser is always lacked. The robot online cleaning of the condenser in the power plant is a new emerging technology which is emerging in recent years, and can effectively realize the online cleaning of the condenser in the power plant. The most common configuration of the current power plant condenser online cleaning robot is a rectangular coordinate robot.
The working environment of the online cleaning robot for the condenser in the power plant is extremely severe, the robot is required to work underwater all the year round, and the water quality has the problems of acidity, high salt, high silt, biomass impurity/domestic garbage and the like. In order to effectively improve the reliability of the robot, an external driving technology is an effective means. For a rectangular coordinate type online cleaning robot for a condenser of a power plant, the motion of a horizontal coordinate of the robot is generally driven by adopting a vertically arranged external driving shaft. The horizontal guide rail of the rectangular coordinate online cleaning machine is difficult to be absolutely parallel to the horizontal and vertical coordinates of the layout of the heat exchange tube holes of the condenser tube plates in the factory installation and debugging process and must be adjusted according to actual conditions on the condenser installation site. The horizontal guide rail and the vertical drive shaft can not keep a drive shaft at an angle of 90 degrees any more during adjustment, so that the drive mechanism is required to be capable of adjusting along with the inclination adjustment of the horizontal guide rail and also capable of effectively transmitting power. The inclination angle of the horizontal guide rail is adjustable, and effective transmission can be kept, so that new requirements are provided for the horizontal transmission design of the on-line cleaning robot for the condenser of the rectangular coordinate type power plant.
Therefore, a device capable of satisfying the above-mentioned needs has yet to be proposed.
Disclosure of Invention
The invention aims to solve the problem that the horizontal transmission of a rectangular coordinate type power plant condenser online cleaning robot needs to face the adjustable horizontal inclination angle. The invention can ensure that the external transmission shaft can still effectively realize transmission when the inclination angle of the horizontal guide rail of the on-line cleaning robot for the condenser of the rectangular coordinate power plant is changed.
The technical scheme provided by the invention is as follows:
a tiltable horizontal driving device of a rectangular coordinate online cleaning robot comprises a vertical driving mechanism, a torque tilt transmission mechanism, a rack transmission mechanism and a casing, wherein:
the vertical driving mechanism comprises an outer driving shaft which is vertically distributed and a spherical sliding block arranged on the outer driving shaft, and the sliding block and the outer driving shaft synchronously rotate;
the torque inclination transmission mechanism comprises a rotary transmission shell covered outside the sliding block, and the external driving shaft transmits the torque of the external driving shaft to the transmission shell; the transmission shell is movably connected with the casing; the rack transmission mechanism comprises a rack driven by a transmission shell and a horizontal guide rail movable section for fixing the rack.
Preferably, the cross section of the outer driving shaft is in a shape of a trimming circle, and a trimming circular hole matched with the outer driving shaft is formed in the center of the spherical sliding block;
the inner wall surface of the transmission shell is matched with the sliding block, and the inclination angle of the transmission shell relative to the sliding block is +/-10 degrees.
Preferably, the transmission housing comprises an inner spherical gear and an inner spherical gland, and the gear is fixedly connected with the gland through a screw;
the sliding block is provided with a pin hole for inserting a transmission pin, and the transmission pin is connected with the transmission shell through one end of the transmission pin.
Preferably, the number of the pin holes is four, and the pin holes are uniformly distributed at the side positions of the sliding block.
Preferably, the upper end and the lower end of the transmission shell are both provided with sliding bearings in a penetrating manner, and the sliding bearings are movably connected with the casing.
Preferably, the casing comprises a casing box, a casing cover covering the casing box and a casing fixing flange, and the outer side of the sliding bearing is respectively in compression joint with the casing cover and the casing box; the casing fixing flange fixes the casing on a horizontal guide rail fixing section through a fixing bolt; the gear is fixed on the horizontal guide rail fixing section.
The invention also provides a technical scheme that:
a method for driving the rectangular coordinate robot horizontally adopts the tiltable horizontal driving device to drive.
Compared with the prior art, the invention has the advantages that:
the device provided by the invention can effectively solve the field adjustment problem of the horizontal guide rail of the rectangular coordinate type external drive condenser online cleaning robot, allows the horizontal guide rail of the online cleaning robot to be directly adjusted to be parallel to the tube bundle on the condenser tube plate, can complete the field horizontal adjustment of the robot, greatly saves the field adjustment time, and can ensure the adjustment effect.
Drawings
FIG. 1 is a first side view of a first embodiment of the present invention;
FIG. 2 is a second side view of the first embodiment of the present invention;
FIG. 3 is a side view three of the first embodiment of the present invention;
fig. 4 is a usage state diagram of the second embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to figures 1-4.
The tiltable horizontal driving device of the rectangular coordinate type online cleaning robot can effectively solve the problem of on-site adjustment of a horizontal guide rail of the rectangular coordinate type external driving condenser online cleaning robot, and greatly shortens the adjustment time of the on-site rectangular coordinate type external driving condenser online cleaning robot.
Example one
With reference to fig. 1-3, a tiltable horizontal driving device of a rectangular coordinate online cleaning robot comprises a vertical driving mechanism, a torque tilt transmission mechanism, a rack transmission mechanism and a casing, wherein:
the vertical driving mechanism comprises an outer driving shaft 6 which is vertically distributed and a spherical sliding block 5 which is arranged on the outer driving shaft, and the sliding block 5 and the outer driving shaft 6 synchronously rotate;
the torque inclination transmission mechanism comprises a rotary transmission shell covered outside the sliding block 5, and an outer driving shaft 6 transmits the torque of the rotary transmission shell to the transmission shell; the transmission shell is movably connected with the casing; the rack gear mechanism includes a rack 20 carried by a gear housing and a movable section 24 of horizontal guide for fixing the rack 20.
By arranging the outer drive shaft 6 in such a way that it passes through the slide 5, it is ensured that the slide 5 can move up and down along the outer drive shaft 6, and when the outer drive shaft 6 rotates, the slide 5 rotates with the outer drive shaft 6.
The section of the outer driving shaft 6 is in a shape of a trimming circle, and a trimming circular hole matched with the outer driving shaft 6 is formed in the center of the spherical sliding block 5;
the inner wall surface of the transmission shell is matched with the slide block 5, and the inclination angle of the transmission shell relative to the slide block 5 is +/-10 degrees.
Through the form that the shape of the inner wall surface of the transmission shell is matched with that of the sliding block 5, the effect of ensuring that the transmission shell rotates in an inclined mode relative to the sliding block 5 is achieved.
The transmission shell comprises an inner spherical gear 4 and an inner spherical gland 9, and the gear 4 is fixedly connected with the gland 9 through a screw;
the slide block 5 is provided with a pin hole for inserting a transmission pin 8, and the transmission pin 8 is connected with the transmission shell through one end of the transmission pin.
When the transmission housing is tilted, torque from the outer drive shaft 6 is transmitted through the slide 5 to the transmission pin 8 and, in turn, to the tiltable transmission housing.
The number of the pin holes is four, and the pin holes are uniformly distributed at the side positions of the sliding block 5.
The upper end and the lower end of the transmission shell are respectively provided with a sliding bearing 7 in a penetrating way, and the sliding bearings 7 are movably connected with the casing.
The casing comprises a casing box 3, a casing cover 10 covering the casing box and a casing fixing flange 1, and the outer side of the sliding bearing 7 is respectively in compression joint with the casing cover 10 and the casing box 3; the casing fixing flange 1 fixes the casing on a horizontal guide rail fixing section 13 through a fixing bolt 2; the gear 4 is fixed on the horizontal guide rail fixing section 13.
When the external driving shaft 6 rotates, the slide block 5 in the casing is driven to rotate, and then the driving pin 8 is driven to drive the whole tiltable driving shell (comprising the gear 4 and the gland 9) to rotate. The gear 4 on the tiltable transmission housing drives the rack 11 to move horizontally. The rack 11 is fixed on the movable section 12 of the horizontal guide rail, the movable section 12 of the horizontal guide rail is dragged by the movement of the rack 11 to move horizontally, and the horizontal driving of the rectangular coordinate robot is completed.
Example two
With reference to fig. 4, in the present embodiment, a horizontal driving method for a cartesian underwater robot is implemented by using the apparatus provided in the first embodiment.
A horizontal guide rail (comprising a movable section 24 and a fixed section 21) of the rectangular coordinate type external drive condenser online cleaning robot is supported on a robot frame 22.
The external driving motor 16 drives the external driving shaft 17, penetrates through the condenser water chamber shell 15, and transmits horizontal driving power to the cartesian robot. The external drive shaft 17 transmits power to the tiltable horizontal drive unit 18 fixed to the fixed section 21 of the horizontal guide rail, i.e. the inventive device. Therefore, no matter how the horizontal guide rail is adjusted in inclination angle (as shown in the arrow direction in fig. 2), the inclinable horizontal driving device 18 can drive the rack 20, and the rack 20 drives the movable section 24 of the horizontal guide rail to complete horizontal driving.
The adjustment of the horizontal guide rail can be achieved by adjusting the height of the right vertical support 23, and the horizontal guide rail can change the inclination angle by taking the left vertical support 19 as a fulcrum.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a rectangular coordinate online cleaning robot inclinable horizontal drive device which characterized in that, includes vertical drive mechanism, moment of torsion slope transmission mechanism, rack gear and receiver, wherein:
the vertical driving mechanism comprises an outer driving shaft which is vertically distributed and a spherical sliding block arranged on the outer driving shaft, and the sliding block and the outer driving shaft synchronously rotate;
the torque inclination transmission mechanism comprises a rotary transmission shell covered outside the sliding block, and the external driving shaft transmits the torque of the external driving shaft to the transmission shell; the transmission shell is movably connected with the casing; the rack transmission mechanism comprises a rack driven by a transmission shell and a horizontal guide rail movable section for fixing the rack.
2. The tiltable horizontal driving device of a rectangular coordinate on-line cleaning robot as claimed in claim 1, wherein the cross-sectional shape of the outer driving shaft is a cut-edge circular shape, and the central position of the spherical sliding block is provided with a cut-edge circular hole matched with the outer driving shaft;
the inner wall surface of the transmission shell is matched with the sliding block, and the inclination angle of the transmission shell relative to the sliding block is +/-10 degrees.
3. The tiltable horizontal driving device of a rectangular coordinate on-line cleaning robot as claimed in claim 2, wherein said transmission housing comprises an inner spherical gear and an inner spherical gland, said gear and gland are fixedly connected by screw;
the sliding block is provided with a pin hole for inserting a transmission pin, and the transmission pin is connected with the transmission shell through one end of the transmission pin.
4. The tiltable horizontal driving apparatus of a rectangular coordinate on-line cleaning robot as claimed in claim 3, wherein said pin holes are four and are uniformly distributed at the side positions of the sliding block.
5. The tiltable horizontal driving device of a rectangular coordinate on-line cleaning robot as claimed in claim 4, wherein sliding bearings are respectively arranged at the upper and lower ends of the transmission housing, and the sliding bearings are movably connected with the casing.
6. The tiltable horizontal driving apparatus of rectangular coordinate on-line cleaning robot as claimed in claim 5, wherein said casing comprises a casing, a casing cover covering thereon and a casing fixing flange, the outer sides of said sliding bearings are respectively pressed with the casing cover and the casing; the casing fixing flange fixes the casing on a horizontal guide rail fixing section through a fixing bolt; the gear is fixed on the horizontal guide rail fixing section.
7. A horizontal driving method of a cartesian robot, characterized in that it is driven by the tiltable horizontal driving apparatus of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210773694.7A CN115096128A (en) | 2022-07-01 | 2022-07-01 | Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210773694.7A CN115096128A (en) | 2022-07-01 | 2022-07-01 | Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115096128A true CN115096128A (en) | 2022-09-23 |
Family
ID=83293919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210773694.7A Pending CN115096128A (en) | 2022-07-01 | 2022-07-01 | Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115096128A (en) |
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2022
- 2022-07-01 CN CN202210773694.7A patent/CN115096128A/en active Pending
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