Robot system applied to cleaning row tubes of heat exchanger and cleaning method
A cleaning robot and robot system technology, which is applied to the robot system and cleaning field of heat exchanger tube cleaning, can solve the problems of poor cleaning effect, injury to cleaning personnel, inability to deeply clean the inner wall of heat exchange tubes, etc.
Inactive Publication Date: 2020-11-24
昆山三一环保科技有限公司
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Problems solved by technology
At present, the cleaning methods used in heat exchange tubes are manual high-pressure water gun cleaning. This cleaning method cannot deeply clean the inner wall of heat exchange tubes, and the cleaning effect is not good. In addition, the scaling in the heat exchange tubes contains corrosive and toxic substances, which will damage the The body of the cleaning staff brings harm
[0003] Using robots for engineering operations can solve this problem, but currently there is no complete set of solutions for such problems in the field of robotics, including scanning the structure of heat exchange tubes, operating robots to perform walking tasks, and operating robots to perform cleaning tasks. Manual operation usually requires a lot of manpower and material resources
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[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0045] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.
[0047] In view of the above-mentioned problems in the prior art, a robot system for cleaning heat exchanger tube...
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The invention discloses a robot system applied to cleaning row tubes of a heat exchanger. The system comprises a cloud control terminal and at least one row tube cleaning robot, wherein the row tube cleaning robot specifically comprises a communication module, a driving module, a detection module, a judging module, a cleaning module and a gesture adjusting module. According to the technical scheme, the problem that it is not thorough to clean by a manual high pressure water gun in the prior art can be solved by means of the technical scheme. By adopting robot cleaning, a hidden danger of damage due to direct contact of cleaning staff and dangerous substances such as corrosive and toxic gas during cleaning can be avoided. The intelligent cleaning robot system is high in automation, and canconstruct a row tube equipment structure through the cloud control terminal, send out an autonomously planned cleaning route to the robot, judge whether dirt in the row tubes needs to be cleaned or not and executes a cleaning task, so that the labor cost and the maintenance cost can be reduced obviously.
Description
technical field [0001] The invention relates to the field of robot applications and control systems, in particular to a robot system and cleaning method applied to cleaning tubes of heat exchangers. Background technique [0002] In the industry, heat exchange tubes are used to reduce the temperature of the liquid flowing through them. As the use time increases, dirt will accumulate on the inner wall of the heat exchange tubes, which will reduce the working efficiency of the heat exchange tubes and damage the heat exchange tube equipment. At present, the cleaning methods used in heat exchange tubes are manual high-pressure water gun cleaning. This cleaning method cannot deeply clean the inner wall of heat exchange tubes, and the cleaning effect is not good. In addition, the scaling in the heat exchange tubes contains corrosive and toxic substances, which will damage the The body of the cleaning staff is injurious. [0003] Using robots for engineering operations can solve th...
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IPC IPC(8): B08B9/049
CPCB08B9/049
Inventor 叶长鑫张朋蓝冬贤
Owner 昆山三一环保科技有限公司