Online cleaning robot based on wireless power supplying and magnetic-induction positioning for condensers

Abstract

An online cleaning robot based on wireless power supplying and magnetic-induction positioning for condensers comprises a cleaning robot body, a lifting mechanism and a wireless electric power supplying device. The cleaning robot body is positioned in a water chamber of a condenser, a condenser top wireless electric power transmitting device of the wireless electric power supplying device is mounted on the top of the water chamber of the condenser, a condenser bottom wireless electric power transmitting device is mounted at the bottom of the water chamber of the condenser, a cleaning robot box top wireless electric power receiving device is mounted on the top of the cleaning robot body and used for being correspondingly matched with the condenser top wireless electric power transmitting device so as to supply power, and a cleaning robot box bottom wireless electric power receiving device is mounted at the bottom of the cleaning robot body and used for being correspondingly matched with the condenser bottom wireless electric power transmitting device so as to supply power. The online cleaning robot has the advantages of simple and compact structure, high intelligent degree and cleaning efficiency, flexibility in movement, accuracy in positioning, and the like.

Description

technical field [0001] The invention mainly relates to the field of condenser cleaning equipment, in particular to an online condenser cleaning robot that adopts wireless power supply and magnetic induction positioning. Background technique [0002] When the condenser is running, due to unclean cooling water quality and chemical reactions during heat exchange, dirt accumulates on the inner wall of the heat exchange copper tube. The existence of dirt reduces the heat transfer capacity of the heat exchange surface, which increases the exhaust temperature of the steam turbine, reduces the output power, and increases the heat rate, so it must be cleaned. Compared with traditional manual cleaning and rubber ball cleaning, the online cleaning robot has the advantages of high degree of automation and good cleaning effect, and is a powerful tool for efficient cleaning of condensers. [0003] Due to the long-term operation of the online cleaning robot in the sealed water chamber and...

AI Technical Summary

Problems solved by technology

[0003] Due to the long-term operation of the online cleaning robot in the sealed water chamber and the complex operating environment, there are still some key technical problems that have not been resolved, such as: one is the power supply problem. In the water and under the impact of water flow, the power supply cables often have problems such as aging, winding, wear, and shedding, which will seriously affect the working efficiency and service life of the cleaning robot

The existing solution is to use high-energy batteries to power cleaning robots, but currently all robots powered by high-energy batteries use plug-in charging methods. This method has problems in underwater sealing and charging management. The service life is limited by the number of charge and discharge

When the battery fails, the battery needs to be replaced. Since the cleaning robot is installed in a sealed condenser, the steam turbine unit must be shut down to replace it, so its application is greatly limited

The second is the problem of positioning accuracy. The online cleaning robot determines the coordinates of each condensing tube according to the tube bundle layout of the condenser and realizes the precise positioning of the condensing tube through the servo control of the robot arm

Due to the mechanical wear caused by the long-term operation of the robot and the deviation between the layout drawing of the condenser tube bundle and the actual size, the positioning accuracy of the robot is low, which affects the cleaning effect

At present, there are reports on the use of visual images to achieve precise positioning of cleaning robots, but due to the large variation in turbidity of circulating cooling water, the effect of image processing is not ideal

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