Integrated cleaning device of condenser integrated robot

Abstract

The invention discloses an integrated cleaning device of a condenser integrated robot. The integrated cleaning device comprises a mechanical arm fixedly installed on a condenser water chamber and a cleaning mechanism fixedly arranged at the tail end of the mechanical arm. The mechanical arm is of a two-stage joint mechanical arm structure and comprises a base, a first joint arm, a second joint arm, a first-stage transmission mechanism and a second-stage transmission mechanism. The base is fixedly connected to a shell of the condenser water chamber. The first-stage transmission mechanism is fixedly connected with the base. The first joint arm is fixedly connected to the free end of the first-stage transmission mechanism. The second-stage transmission mechanism is fixedly connected to the first joint arm. The second joint arm is fixedly connected to the free end of the second-stage transmission mechanism. The cleaning mechanism comprises a coil pipe device and a spray head clamp device.The coil pipe device is fixedly arranged on the second joint arm. The spray head clamp device is fixedly arranged on the coil pipe device. According to the integrated cleaning device, the abrasion distance of a water pipe is remarkably shortened, the service life of a high-pressure cleaning hose is prolonged, the phenomenon that the cleaning hose is wound around the mechanical arm is avoided, andthe pipe winding fault rate is reduced.

Description

Technical field: [0001] The invention relates to a condenser integrated robot integrated cleaning device. Background technique: [0002] The condenser is one of the important auxiliary equipment for cooling the steam turbine exhaust of the power plant. During use, a large amount of scale often adheres to the wall of the condenser tube, which leads to a decrease in the vacuum in the condenser, an increase in the coal consumption rate of power generation, and an increase in the cost of power generation. Seriously affect the efficiency of the turbogenerator set. Moreover, the scaling of the condenser tube will also lead to dezincification (brass), nickel removal (white copper) and pitting corrosion, which will affect the service life of the condenser condenser tube. At present, the commonly used descaling measures for power plant condensers include manual cleaning, rubber ball cleaning, chemical cleaning, and online cleaning robot cleaning. Among them, manual cleaning can onl...

AI Technical Summary

Problems solved by technology

[0004] However, in the actual use process, it is found that the coil device of the online cleaning robot is mostly installed outside the water chamber or installed inside the water chamber, and the distance between the high-pressure cleaning hose from the coil device to the nozzle fixture device is relatively long. During the movement of the robot arm, the cleaning hose is easily entangled on the structure of the robot arm, resulting in the failure of the cleaning hose to be released or retracted smoothly

And the frequent discharge, collection and long travel distance will undoubtedly increase the wear path of the cleaning hose, which will eventually lead to frequent pipe breakage and leakage failures, which greatly limits the efficiency of online cleaning of the cleaning robot and increases the operation and maintenance. cost

In addition, for power plants with large units, the existence of cleaning limit positions affects the stability of online cleaning robots

The peripheral position of the water chamber, which is difficult to clean in a large unit power plant, becomes the limit position for cleaning. The angle between cleaning at the limit position is relatively large, which will greatly weaken the power of the front end of the nozzle, resulting in the failure of normal cleaning in this area

In order to ensure the cleaning speed in the limit area, the current common measure is to increase the discharge torque of the servo motor of the coil device, but at the same time, the problem is that the high-pressure water pipe moves too fast in the area with a small angle, and even appears The high-pressure cleaning hose flushes into the opposite water chamber and cannot be retracted

Therefore, the problems of broken pipes, coiled pipes, and leakage of cleaning hoses, the applicability of large units of online cleaning robots and the stability of cleaning speed have become one of the important factors that limit the development and promotion of online cleaning robots.

Images