Pipeline robot for detection and cleaning of power station boiler header

Abstract

A pipeline robot for detection and cleaning of a power station boiler header comprises a traveling module and a cleaning module, and the traveling module is connected with the cleaning module through a universal joint. The traveling module comprises a plurality of sets of first traveling units connected together. The first traveling units are evenly distributed in the radial direction of a robot spindle at intervals. The cleaning module comprises a plurality of sets of second traveling units and cleaning units connected together. The second traveling units and the cleaning units are evenly distributed in the radial direction of the robot spindle at intervals. The cleaning module further comprises a camera arranged at the front end of the robot spindle in the movement direction. The first traveling units and the second traveling units each comprise a traveling mechanism and a torsional connecting rod for supporting the traveling mechanism. Each cleaning unit comprises a mechanical paw and a plurality of steering engines for controlling omnibearing motion of the mechanical paw through a fixing support. The robot is small in size and good in obstacle crossing capacity and can adapt to pipelines of different pipe diameters, and the pipe diameter adjustment range is wide.

Description

technical field [0001] The invention relates to the field of boiler pipeline cleaning, in particular to a pipeline robot used for detection and cleaning of boiler headers in power plants. Background technique [0002] The boilers of supercritical and ultra-supercritical units achieve the purpose of balancing the characteristics of steam and water and the flow rate of working fluid by installing orifice rings inside the header or heating surface tubes. The cleaning requirements inside the boiler are high. Due to the extremely short operating time of the boiler, in addition to excluding factors such as pipe quality and ultra-parameter operation, it is determined that the cause of the pipe burst is the blockage of mechanical processing residues in the header or the orifice of the heating surface pipe, resulting in heat loss. Surface short-term overheating burst tube. The occurrence of a pipe burst accident will cause the unit to start and stop unplanned, which will not only br...

AI Technical Summary

Problems solved by technology

For the inspection of the internal environment of the header, due to the narrow internal space of the header, there are welding seams, opening areas of the connection seat and machining residues, so the pipeline robot is required to be small enough and have good obstacle-surpassing performance, while the traditional The obstacle surmounting performance of the wheeled pipeline robot cannot meet the requirements. Although the obstacle surmounting performance of the traditional tracked pipeline robot is good, it is difficult to miniaturize the size, so the traditional detection device cannot meet the requirements of cleanliness inspection.

[0005] For the above problems in the traditional operation mode, there is currently no removal device for foreign matter in the boiler header. The current pipeline robots are mostly pipeline inspection robots, and there are few pipeline cleaning robots, and they are generally developed for specific pipelines, which are more versatile. Therefore, it is urgent to develop a small intelligent robot suitable for boiler header cleanliness inspection and cleaning

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