CN115096128A - Tiltable horizontal driving device and method for rectangular coordinate online cleaning robot - Google Patents

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

A tiltable horizontal drive device and method for a Cartesian coordinate online cleaning robot

technical field

The invention relates to the technical field of power plant condensers, in particular to a tiltable horizontal drive device and method for an on-line cleaning robot with Cartesian coordinates.

Background technique

The condenser is the main auxiliary equipment of the power plant, which acts as a cold source in the thermodynamic cycle. The working performance of the condenser directly affects the thermal economy of the system. The heat exchange tubes inside the condenser will form scale due to various natural reasons. Scale has a detrimental effect on power plant operation. Only a 0.2mm thick fouling layer will cause the standard coal consumption of the power plant to increase by 2g to 4g/kwh. Worldwide, there has been a lack of effective online cleaning methods for condenser fouling. Robotic on-line cleaning of power plant condensers is an emerging technology emerging in recent years, which can effectively achieve on-line cleaning of power plant condensers. At present, the most common configuration of the online cleaning robot for condensers in power plants is the Cartesian coordinate robot.

The working environment of the power plant condenser online cleaning robot is extremely harsh. Not only does the robot need to work underwater all the year round, but the water quality also has problems such as acidity, high salt, high sediment, biomass impurities/household garbage, etc. In order to effectively improve the reliability of this kind of robot, the use of external drive technology is an effective means. For the Cartesian coordinate type power plant condenser online cleaning robot, its horizontal coordinate movement usually needs to be driven by a vertically arranged external drive shaft. Restricted by the structure of the condenser water chamber and the installation of the tube sheet, it is difficult for the horizontal guide rail of the Cartesian coordinate on-line cleaning machine to be absolutely parallel to the abscissa and ordinate of the heat exchange tube hole layout of the condenser tube sheet during the factory installation and commissioning process. It must be able to be adjusted according to the actual situation at the condenser installation site. When adjusting, the horizontal guide rail and the vertical drive shaft can no longer maintain the drive shaft at an angle of 90°, so it is required that the drive mechanism can be adjusted with the inclination adjustment of the horizontal guide rail, and can also transmit effectively. It is necessary to adjust the inclination of the horizontal guide rail and maintain effective transmission, which puts forward new requirements for the horizontal transmission design of the Cartesian coordinate type power plant condenser online cleaning robot.

Therefore, a device that can meet the above requirements needs to be proposed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem that the horizontal drive of the on-line cleaning robot for the condenser of the power plant with Cartesian coordinates needs to face the problem that the horizontal inclination can be adjusted. The invention can ensure that the external transmission shaft can still effectively realize the transmission when the inclination angle of the horizontal guide rail of the on-line cleaning robot of the rectangular coordinate type power plant condenser is changed.

The technical scheme provided by the present invention is:

A tiltable horizontal drive device of a Cartesian coordinate online cleaning robot includes a vertical drive mechanism, a torque tilt transmission mechanism, a rack transmission mechanism and a casing, wherein:

The vertical drive mechanism includes a vertically distributed outer drive shaft and a spherical slider set on it, and the slider rotates synchronously with the outer drive shaft;

The torque tilt transmission mechanism includes a rotary transmission casing that is covered outside the slider, the outer drive shaft transmits its torque to the transmission casing; the transmission casing is movably connected with the casing; the rack drives The mechanism includes a rack driven by a transmission casing and a movable section of a horizontal guide rail for fixing the rack.

Preferably, the cross-sectional shape of the outer drive shaft is a circle with trimmed edges, and a center position of the spherical slider is provided with a circular hole with trimmed edges adapted to the outer drive shaft;

The inner wall surface of the transmission casing is adapted to the sliding block, and the inclination angle of the transmission casing relative to the sliding block is ±10°.

Preferably, the transmission housing includes an inner spherical gear and an inner spherical gland, and the gear and the gland are fixedly connected by screws;

The sliding block is provided with a pin hole for inserting a transmission pin, and the transmission pin is connected with the transmission housing through one end thereof.

Preferably, the pin holes are set to four and are evenly distributed on the side of the slider.

Preferably, the upper and lower ends of the transmission housing are provided with sliding bearings, and the sliding bearings are movably connected with the casing.

Preferably, the casing includes a casing case, a casing cover covered thereon, and a casing fixing flange, and the outer sides of the sliding bearings are respectively crimped with the casing cover and the casing; the casing is fixed The flange fixes the casing on a horizontal guide rail fixing section through fixing bolts; the gear is fixed on the horizontal guide rail fixing section.

The present invention also provides a technical solution:

A horizontal driving method of a Cartesian coordinate robot is driven by using the tiltable horizontal driving device as described above.

The advantages of the present invention compared with the prior art are:

The device provided by the invention can effectively solve the problem of on-site adjustment of the horizontal guide rail of the rectangular coordinate type external drive condenser online cleaning robot, and allows the horizontal guide rail of the online cleaning machine to be directly adjusted to be parallel to the tube bundle on the condenser tube plate, The on-site level adjustment of the robot can be completed, which greatly saves on-site adjustment time and ensures the adjustment effect.

Description of drawings

Fig. 1 is the side view one of the first embodiment of the present invention;

Fig. 2 is the side view 2 of Embodiment 1 of the present invention;

Fig. 3 is the side view three of the first embodiment of the present invention;

FIG. 4 is a use state diagram of Embodiment 2 of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with accompanying drawings 1-4.

The invention provides a tiltable horizontal drive device for a rectangular coordinate on-line cleaning robot, which can effectively solve the problem of on-site adjustment of the horizontal guide rail of the rectangular coordinate type external drive condenser on-line cleaning robot, and greatly shorten the on-site rectangular coordinate type external drive condenser. The online steam cleaning robot adjusts the time.

Example 1

In conjunction with accompanying drawings 1-3, a tiltable horizontal drive device of a Cartesian coordinate online cleaning robot includes a vertical drive mechanism, a torque tilt transmission mechanism, a rack transmission mechanism and a casing, wherein:

The vertical drive mechanism includes a vertically distributed outer drive shaft 6 and a spherical slider 5 arranged on it, and the slider 5 rotates synchronously with the outer drive shaft 6;

The torque tilt transmission mechanism includes a rotary transmission casing that is covered outside the slider 5, and the outer drive shaft 6 transmits its torque to the transmission casing; the transmission casing is movably connected with the casing; the rack transmission mechanism includes a transmission casing through the transmission casing. The driven rack 20 and the movable section 24 of the horizontal guide rail for fixing the rack 20 .

By arranging the outer drive shaft 6 to pass through the slider 5 , the slider 5 can move up and down along the outer drive shaft 6 . When the outer drive shaft 6 rotates, the slider 5 rotates with the outer drive shaft 6 .

The cross-sectional shape of the outer drive shaft 6 is a circle with a trimmed edge, and the center position of the spherical slider 5 is provided with a trimmed circular hole adapted to the outer drive shaft 6;

The inner wall surface of the transmission casing is adapted to the sliding block 5, and the inclination angle of the transmission casing relative to the sliding block 5 is ±10°.

By setting the shape of the inner wall surface of the transmission casing and the sliding block 5 to match each other, the effect of ensuring that the transmission casing rotates with respect to the sliding block 5 at any inclination is achieved.

The transmission housing includes an inner spherical gear 4 and an inner spherical pressure cover 9, and the gear 4 and the pressure cover 9 are fixedly connected by screws;

The sliding block 5 is provided with a pin hole for inserting the transmission pin 8, and the transmission pin 8 is connected to the transmission housing through one end thereof.

When the transmission housing is tilted, the torque from the outer drive shaft 6 is transmitted to the transmission pin 8 through the slider 5, and then to the tiltable transmission housing.

The pin holes are set to four and are evenly distributed on the side of the slider 5 .

The upper and lower ends of the transmission housing are provided with sliding bearings 7, and the sliding bearings 7 are movably connected with the casing.

The casing includes a casing case 3, a casing cover 10 covered on it, and a casing fixing flange 1. The outer sides of the sliding bearing 7 are respectively crimped with the casing cover 10 and the casing casing 3; the casing fixing flange 1 The casing is fixed on a horizontal guide rail fixing section 13 by fixing bolts 2 ; the gear 4 is fixed on the horizontal guide rail fixing section 13 .

When the outer drive shaft 6 rotates, the slider 5 in the casing is driven to rotate, and then the drive pin 8 is driven to drive the entire tiltable drive housing (including 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, and the movement of the rack 11 drags the movable section 12 of the horizontal guide rail to move horizontally, and the horizontal drive of the Cartesian coordinate robot is completed.

Embodiment 2

With reference to FIG. 4 , in this embodiment, the device proposed in the first embodiment is used to realize the horizontal driving method of the rectangular coordinate underwater robot.

The horizontal guide rail (including the movable section 24 and the fixed section 21 ) of the Cartesian coordinate type externally driven condenser online cleaning robot is supported on the robot frame 22 .

The external drive motor 16 drives the external drive shaft 17, passes through the condenser water chamber shell 15, and transmits the horizontal driving power to the Cartesian coordinate robot. The external drive shaft 17 transmits the power to the tiltable horizontal drive device 18 fixed on the fixed section 21 of the horizontal guide rail, that is, the device of the present invention. Therefore, no matter how the horizontal guide rail adjusts the inclination angle of the device (in the direction of the arrow in FIG. 2 ), the tiltable horizontal drive device 18 can drive the rack 20 , and the rack 20 drives the movable section 24 of the horizontal guide rail to complete the horizontal drive.

The adjustment of the horizontal guide rail can be done by adjusting the height of the right vertical support 23, and the horizontal guide rail will change the inclination angle with the left vertical support 19 as the fulcrum.

The present invention and its embodiments have been described above, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, and without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, all should belong to the protection scope of the present invention.

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.

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