CN203349701U - Hydraulic positioning device of online cleaning robot for condenser - Google Patents
Hydraulic positioning device of online cleaning robot for condenser Download PDFInfo
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- CN203349701U CN203349701U CN 201320308047 CN201320308047U CN203349701U CN 203349701 U CN203349701 U CN 203349701U CN 201320308047 CN201320308047 CN 201320308047 CN 201320308047 U CN201320308047 U CN 201320308047U CN 203349701 U CN203349701 U CN 203349701U
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- condenser
- mechanical arm
- hydraulic
- moving mechanism
- location device
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Abstract
The utility model discloses a hydraulic positioning device of an online cleaning robot for a condenser. The hydraulic positioning device of the online cleaning robot for the condenser is characterized by comprising a vertical moving mechanism, a horizontal moving mechanism and a flange plate. The horizontal moving mechanism is fixedly connected right over the vertical moving mechanism; a nozzle device is arranged on the terminal end of the horizontal moving mechanism; the flange plate is arranged on the upper end of the vertical moving mechanism; the upper end surface of the flange plate is provided with an assembling hole, through which the flange plate is assembled with the bottom of the condenser; a connection between the flange plate and the bottom of the condenser is adjusted by the vertical moving mechanism; a nozzle arranged on the terminal end of the horizontal moving mechanism is positioned by the horizontal moving mechanism on the vertical moving mechanism; and a mechanical arm is controlled by the horizontal moving mechanism to send the nozzle into a copper pipe and then filth in the copper pipe of the condenser is cleaned by high pressure water jet flow from the nozzle. A movement of hydraulic pillars is achieved by hydraulic drive, so that a problem that cleaning work is suspended due to leakage in an underwater condition is solved and a problem that shutdown maintenance of a servo motor drive due to the leakage is thoroughly solved.
Description
Technical field
The utility model relates to a kind of hydraulic location device, especially a kind of need not shut down can be in real time to the hydraulic location device of condenser copper tube on-line cleaning.
Background technology
Condenser, as one of the capital equipment in thermal power plant, is mainly being undertaken the vital task of cooling steam turbine exhaust, and the quality of its service behaviour has important impact to generating efficiency, the gross coal consumption rate of power plant.In the course of work, existence due to heat exchange, by the salinity in the cooling water of condenser copper tube, in the laser heating process, constantly separate out, form incrustation scale and be attached on inner tubal wall, and because the existence of incrustation scale has a strong impact on the heat exchange efficiency of condenser, cause vacuum decline, gross coal consumption rate in condenser to rise, indirectly caused the cost of electricity-generating increase, also can cause corrosion of the condenser tubes simultaneously, and the fouling of boiler is produced to certain impact.
For removing in time condenser incrustation; at present the scale removal mode of plant condenser is divided into off-line and online two kinds: 1. off-line cleans the main manual cleaning that adopts; shut down and manually scrub; but along with unit capacity increases and takes hydronic unit to increase; it is general and serious that condenser fouling is tending towards, and makes the artificial difficulty of scrubbing change, simultaneously due to stop cleaning; affect the normal operation of condenser, increase expends.2. on-line cleaning has two kinds of modes usually: the first is cleaned for throw in glueballs in condenser, though adopt this mode can play the effect of scale removal, can not effectively remove descale fully during actual the use, and the glueballs injected volume be larger, but the rate of recovery is but very low, causes operating cost higher.The second is to clean with chemical agent, adopts this mode to need the frequent hydrochloric acid cleaning scale removal of using, and can cause like this Copper Tube Corrosion of condenser, the service life of reducing unit.
Deficiency for current thermal power plant condenser off-line and on-line cleaning technology, the domestic thermal power plant's steam condenser using high pressure water jet on-line cleaning Robotics of having developed again, be specially a binary joint type underwater robot, by the accurate location of mechanical arm, guiding high-pressure water jet shower nozzle is cleaned the condenser copper tube inwall.In 2 joints of dependence mechanical arm, servomotor and decelerator are housed, utilize slave computer to control 2 servomotors and rotate the coordinate that corresponding angle changes the mechanical arm hand, move it pre-set position to realize the location to the high-pressure water jet shower nozzle.But, due to the long-term work under water of this robot, the rotary sealing of joint can not be guaranteed, leaks and can affect the running of servomotor, causes the interruption of cleaning.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of condenser on-line cleaning robot hydraulic location device, by utilizing hydraulic technique, realizes driving, and replaces servomotor, thereby fundamentally solve, reveals up and down the problem that the cleaning that causes is interrupted.
For solving the problems of the technologies described above, the technical solution of the utility model is: a kind of condenser on-line cleaning robot hydraulic location device, its innovative point is to comprise: a vertical movement mechanism and horicontal motion mechanism, described horicontal motion mechanism is fixedly connected on directly over vertical movement mechanism, and ejecting device is arranged at the terminal of horicontal motion mechanism; One ring flange, described ring flange is arranged at the vertical movement mechanism upper end, and described ring flange upper surface is provided with the pilot hole with the assembling of condenser bottom;
Further, described vertical movement mechanism is mainly vertically disposed hydraulic prop and hydraulic system, and described hydraulic prop upper end is provided with convex shoulder structure, and described ring flange lower surface is against on the end face of this convex shoulder structure;
Further, described hydraulic prop upper side ring flange position is provided with linear displacement transducer;
Further, two of the employings of the hydraulic prop in described vertical movement mechanism are symmetrical set;
Further, described horicontal motion mechanism mainly is comprised of frame structure, the left mechanical arm mechanism and the right mechanical arm mechanism that are arranged in frame structure, the integrative-structure that described frame structure forms for the hollow structure be arranged side by side by two front and back, described left mechanical arm mechanism and right mechanical arm mechanism stagger respectively and are arranged in one of them in two hollow structures, and described hollow structure upper surface is symmetrically arranged with the guide-track groove of about two trends; Described left mechanical arm mechanism and right mechanical arm mechanism mainly are comprised of the hydraulic pressure push pedal advancement mechanism, mechanical arm and the pulley that are arranged between two guide-track grooves, described mechanical arm is fixedly installed on the front end of hydraulic pressure push pedal advancement mechanism, described pulley is symmetrically distributed in the mechanical arm two ends, and described pulley is placed in the structural guide-track groove of hollow;
Further, described hydraulic pressure push pedal advancement mechanism mainly is comprised of horizontally disposed hydraulic cylinder and the push pedal that is arranged on the vertical setting of hydraulic cylinder front end;
Further, be respectively arranged with a linear displacement transducer on described frame structure front/rear end;
Further, described left mechanical arm mechanism and right mechanical arm mechanism initial position are positioned at the mid portion of place hollow structure;
The utility model has the advantage of: but being connected by vertical movement mechanism regulating flange dish and condenser bottom outer wall, utilization is arranged on the horicontal motion mechanism on vertical movement mechanism, realization is placed in the location of the shower nozzle of horicontal motion mechanism terminal, and control mechanical arm shower nozzle is delivered in copper pipe, dirt to condenser copper tube inside carries out Cleaning by High Pressure Water Jet, during cleaning without the stoppage in transit generating set, improve the operational efficiency in power plant when saving power plant's maintenance cost, and reduced the quality requirements of thermal power plant to condenser recirculated water.Realize action because hydraulic prop adopts hydraulic-driven, thereby do not exist while being in the underwater operation situation, do not reveal the phenomenon that causes cleaning to be interrupted, thoroughly solve and use driven by servomotor to have the problem of revealing shutdown maintenance.
Consider robust motion, hydraulic prop is designed to two symmetrically arranged forms, thereby assurance place horicontal motion mechanism thereon reaches the functional reliability of the high-pressure nozzle open/close control device of relevant a series of high-pressure hose management devices.
In horicontal motion mechanism, adopt two groups of mechanical arm Driven by Hydraulic Cylinder to implement action, and by the gap of the real-time detection and location device of the linear displacement transducer on the frame structure front/rear end that is arranged on the horicontal motion mechanism place and copper pipe, thereby accurately locate.
The accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail.
Fig. 1 is the front view of a kind of condenser on-line cleaning of the utility model robot hydraulic location device.
Fig. 2 is the top view of a kind of condenser on-line cleaning of pump utility model robot hydraulic location device.
The specific embodiment
A kind of condenser on-line cleaning robot hydraulic location device shown in Fig. 1 and Fig. 2 mainly comprises: vertical movement mechanism 1, horicontal motion mechanism 2, ring flange 3, pilot hole 4, hydraulic prop 5, convex shoulder structure 6, linear displacement transducer 7, frame structure 8, left mechanical arm mechanism 9, right mechanical arm mechanism 10, hollow structure 11, guide-track groove 12, hydraulic pressure push pedal advancement mechanism 13, mechanical arm 14, pulley 15, linear displacement transducer 16, hydraulic cylinder 17, push pedal 18.
Condenser on-line cleaning of the present utility model robot hydraulic location device mainly is comprised of vertical movement mechanism 1 and horicontal motion mechanism 2 and ring flange 3, the horicontal motion mechanism 2 that includes left mechanical arm mechanism 9 and right mechanical arm mechanism 10 is fixedly installed on directly over vertical movement mechanism 1, thereby realize the adjustment of horizontal coordinate, vertical movement mechanism 1 up-down adjustment vertically arranged realizes the adjustment of vertical coordinate, utilize in addition the pilot hole 4 on ring flange 3 upper surfaces to be connected with the condenser bottom, thereby realize condenser and the motion of vertical movement mechanism one, that realizes horicontal motion mechanism 2 locates to realize whole right angle two-dimensional localization up and down, be convenient to be placed in the structural ejecting device of mechanical arm location, being convenient to copper pipe cleans.
Vertical movement mechanism 1 is mainly two hydraulic props 5 and the corresponding hydraulic system vertically be symmetrical set.Lower end axial location for ease of ring flange 3, be provided with convex shoulder structure 6 in the upper part of hydraulic prop 5, thereby make ring flange 3 lower surfaces be against on the end face of convex shoulder structure 6, realizes axial location.In hydraulic prop 5 upper side ring flange 3 positions, linear displacement transducer 7 is set in addition, for according to copper pipe place height in condenser, thereby determines the position that hydraulic prop 5 moves up and down, complete and pinpointly control up and down.
Horicontal motion mechanism 2 mainly is comprised of frame structure 8, the left mechanical arm mechanism 9 and the right mechanical arm mechanisms 10 that are arranged in frame structure 8.The integrative-structure that frame structure 8 forms for the hollow structure 11 be arranged side by side by two front and back, guaranteeing that left mechanical arm mechanism 9 and right mechanical arm mechanism 10 stagger respectively is arranged in one of them in two hollow structures 11, be convenient to realize the left and right action, also in hollow structure 11 upper surfaces, be symmetrically arranged with in addition the guide-track groove 12 of about two trends, thereby be convenient to mechanical arm 14, along guide-track groove 12, move towards rectilinear motion.Left mechanical arm mechanism 9 and right mechanical arm mechanism 10 mainly are comprised of the hydraulic pressure push pedal advancement mechanism 13, mechanical arm 14 and the pulley 15 that are arranged on 12 of two guide-track grooves, mechanical arm 14 is fixedly installed on the front end of hydraulic pressure push pedal advancement mechanism 13, and pulley 15 is symmetrically distributed in mechanical arm 14 two ends, and guarantee that pulley 15 is placed in the structural guide-track groove 12 of hollow while installing.In hydraulic pressure push pedal advancement mechanism 13, utilize horizontally disposed hydraulic cylinder 17 to drive the push pedal 18 of the vertical setting that is arranged on the hydraulic cylinder front end and the mechanical arm 14 of push pedal front end is realized side-to-side movement.
For realizing the real-time shift position of left mechanical arm mechanism 9 and right mechanical arm mechanism 10, control, be respectively arranged with a linear displacement transducer 16 on frame structure 8 front/rear ends, thereby utilize these two linear displacement transducers 16 to control mechanical arm mechanism accurately action in real time nearby.The initial installation while locating, be arranged on the mid portion of hollow structure 11 by the initial position by left mechanical arm mechanism 9 and right mechanical arm mechanism 10, thereby be convenient to subsequent action.
Concrete course of action is as follows: at first by the motion of HYDRAULIC CONTROL SYSTEM hydraulic prop 5 above-below directions, thereby the ring flange 3 that makes hydraulic prop 5 upper ends constantly approaches the condenser bottom, until the pilot hole 4 of ring flange 3 upper surfaces is while contacting with condenser, by ring flange and condenser bolt, realize both one motions.Now keep in vertical movement mechanism 1 oil pressure constant, in this process, utilize linear displacement transducer 7 to detect in real time copper pipe place height.Then by the horizontal movement of the left mechanical arm mechanism 9 in level of control motion 2 and right mechanical arm mechanism 10, the shower nozzle of mechanical arm tail end is sent in condenser copper tube, implement to clean, utilize horizontally disposed hydraulic cylinder 17 to promote, driving mechanical arm 14 advances, and utilize on frame structure 8 on front-back linear displacement transducer 16 nearby to determine the gap of device and copper pipe, realize accurate feeding, adopt left and right two mechanical arm mechanisms to realize high-efficiency washing simultaneously.
Claims (8)
1. a condenser on-line cleaning robot hydraulic location device, it is characterized in that comprising: a vertical movement mechanism and horicontal motion mechanism, described horicontal motion mechanism is fixedly connected on directly over vertical movement mechanism, and ejecting device is arranged at the terminal of horicontal motion mechanism; One ring flange, described ring flange is arranged at the vertical movement mechanism upper end, and described ring flange upper surface is provided with the pilot hole with the assembling of condenser bottom;
2. a kind of condenser on-line cleaning according to claim 1 robot hydraulic location device, it is characterized in that: described vertical movement mechanism is mainly vertically disposed hydraulic prop and hydraulic system, described hydraulic prop upper end is provided with convex shoulder structure, and described ring flange lower surface is against on the end face of this convex shoulder structure;
3. a kind of condenser on-line cleaning according to claim 2 robot hydraulic location device, it is characterized in that: described hydraulic prop upper side ring flange position is provided with linear displacement transducer;
4. a kind of condenser on-line cleaning according to claim 2 robot hydraulic location device, it is characterized in that: the hydraulic prop in described vertical movement mechanism adopts two and is symmetrical set;
5. a kind of condenser on-line cleaning according to claim 1 robot hydraulic location device, it is characterized in that: described horicontal motion mechanism mainly is comprised of frame structure, the left mechanical arm mechanism and the right mechanical arm mechanism that are arranged in frame structure, the integrative-structure that described frame structure forms for the hollow structure be arranged side by side by two front and back, described left mechanical arm mechanism and right mechanical arm mechanism stagger respectively and are arranged in one of them in two hollow structures, and described hollow structure upper surface is symmetrically arranged with the guide-track groove of about two trends; Described left mechanical arm mechanism and right mechanical arm mechanism mainly are comprised of the hydraulic pressure push pedal advancement mechanism, mechanical arm and the pulley that are arranged between two guide-track grooves, described mechanical arm is fixedly installed on the front end of hydraulic pressure push pedal advancement mechanism, described pulley is symmetrically distributed in the mechanical arm two ends, and described pulley is placed in the structural guide-track groove of hollow;
6. according to a kind of condenser on-line cleaning robot hydraulic location device shown in claim 5, it is characterized in that: described hydraulic pressure push pedal advancement mechanism mainly is comprised of horizontally disposed hydraulic cylinder and the push pedal that is arranged on the vertical setting of hydraulic cylinder front end;
7. according to a kind of condenser on-line cleaning robot hydraulic location device shown in claim 5, it is characterized in that: on described frame structure front/rear end, be respectively arranged with a linear displacement transducer;
8. a kind of condenser on-line cleaning according to claim 5 robot hydraulic location device, it is characterized in that: described left mechanical arm mechanism and right mechanical arm mechanism initial position are positioned at the mid portion of place hollow structure;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320308047 CN203349701U (en) | 2013-05-30 | 2013-05-30 | Hydraulic positioning device of online cleaning robot for condenser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320308047 CN203349701U (en) | 2013-05-30 | 2013-05-30 | Hydraulic positioning device of online cleaning robot for condenser |
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| Publication Number | Publication Date |
|---|---|
| CN203349701U true CN203349701U (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320308047 Expired - Fee Related CN203349701U (en) | 2013-05-30 | 2013-05-30 | Hydraulic positioning device of online cleaning robot for condenser |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103322852A (en) * | 2013-05-30 | 2013-09-25 | 安徽华速机器人科技有限公司 | Hydraulic location device for online cleaning robot for condenser |
-
2013
- 2013-05-30 CN CN 201320308047 patent/CN203349701U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103322852A (en) * | 2013-05-30 | 2013-09-25 | 安徽华速机器人科技有限公司 | Hydraulic location device for online cleaning robot for condenser |
| CN103322852B (en) * | 2013-05-30 | 2018-04-17 | 安徽五瑞洁能科技有限公司 | A kind of condenser on-line cleaning robot hydraulic location device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20140530 |