A kind of online cleaning manipulator device for power plant condenser

Abstract

The present invention provides an online cleaning manipulator device for a power plant condenser, comprising a frame and a power source drive assembly installed on the frame, a travel switch, at least one set of cleaning head assemblies, a set of water-gas passage assemblies and at least one movable base beam; the power source drive assembly drives the movable base beam to reciprocate in the longitudinal direction; the travel switch is used to limit the travel range of the movable base beam in the longitudinal direction; the cleaning head assembly is installed on the movable base beam and reciprocates synchronously with the movable base beam, the cleaning head assembly comprises a rectangular tube, a plurality of nozzles installed on the rectangular tube, a silicone nozzle sleeved on the nozzle and a guide bearing component fixed on the rectangular tube; the water-gas passage assembly is used to transport cleaning liquid and provide a power gas source. The device has the advantages of high automation, wide cleaning coverage and simple mechanical structure.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning of condensers in thermal power plants, and in particular to an online cleaning manipulator device for condensers in power plants. Background Art

[0002] The condenser is an important component of the cold end device of a modern thermal power plant. Its main functions are, first, to establish and maintain a high vacuum at the exhaust port of the steam turbine; second, to condense the low-temperature steam after the steam turbine works into water for the boiler to circulate, forming a complete cycle and improving the efficiency of the thermal cycle. If the vacuum at the exhaust port of the steam turbine is too low, it will seriously affect the safe and economic operation of the power plant unit. One of the important reasons for the low vacuum at the exhaust port of the steam turbine is the scaling of the condenser cooling water pipe and the dust precipitation therein. The scaling and dust precipitation of the condenser will have a serious impact on the heat exchange efficiency of the condenser, reduce the vacuum degree of the steam turbine, increase the exhaust temperature, increase the coal consumption rate of power generation, and indirectly lead to an increase in the cost of power generation. At the same time, it will also cause corrosion of the condenser tube. The quality of its operation directly affects the economy and safety of the power plant.

[0003] For a long time, the cleaning methods of condenser pipes are mainly divided into two methods: manual cleaning during shutdown and online cleaning. Manual cleaning during shutdown mainly adopts mechanical brush cleaning method and high-pressure water injection cleaning; online cleaning is mainly divided into chemical cleaning (mainly acid cleaning) and cleaning by placing rubber balls in the condenser. There are many problems when using these cleaning methods to clean the condenser pipes: manual cleaning must be carried out when the equipment is shut down, which will directly affect the operating cost of the power plant. In addition, the labor intensity of workers is very high and the construction environment is relatively harsh. The acid used in chemical cleaning causes corrosion to the equipment and forms loopholes. The residual acid causes secondary corrosion or under-scale corrosion to the material, which eventually leads to the replacement of equipment. In addition, the cleaning waste liquid will cause great pollution to the environment, requiring a large amount of funds for wastewater treatment, and this type of chemical cleaning technology cannot be used in open units; although the method of placing rubber balls in the condenser can play a role in descaling, it cannot completely and effectively remove scale in actual use, and the amount of rubber balls placed is large, but the recovery rate is very low, which will also lead to an increase in operating costs.

[0004] At present, there are also cases where online cleaning is achieved by replacing manual work with robots. For example, the application number is: 201520707543.7, and the patent name is: Utility Model Patent for Condenser Online Flushing Robot Device. A rotatable robotic arm is used to achieve cleaning of the cleaning equipment at various positions. However, the robotic arm designed for this type of equipment always has blind spots in operation, and the sealing performance requirements for the robotic arm are too high, the cost is high, and the efficiency is low.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0006] The object of the present invention is to provide a power plant condenser online cleaning manipulator device with high automation, wide cleaning coverage and simple mechanical structure in view of the deficiencies in the prior art.

[0007] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: an online cleaning manipulator device for a power plant condenser, comprising a frame and a power source drive assembly installed on the frame, a travel switch, at least one set of cleaning head assemblies, a set of water and gas passage assemblies and at least one movable base beam;

[0008] The power source driving assembly drives the movable base beam to reciprocate in the longitudinal direction;

[0009] The travel switch is used to limit the travel range of the movable base beam in the longitudinal direction;

[0010] The cleaning head assembly is installed on the movable base beam and reciprocates synchronously with the movable base beam. The cleaning head assembly includes a rectangular tube, a plurality of nozzles installed on the rectangular tube, a silicone nozzle sleeved on the nozzle, and a guide bearing component fixed on the rectangular tube;

[0011] The movable base beam is provided with a driving cylinder for driving the rectangular tube to move a short distance along the guide bearing component to press the silicone nozzle on the nozzle;

[0012] The water and gas passage assembly includes two multi-channel rotary joints and a multi-channel linear cylinder, the multi-channel linear cylinder includes a main cylinder and an auxiliary cylinder, the two multi-channel rotary joints are respectively installed at the inlet and outlet ends of the multi-channel linear cylinder, the multi-channel rotary joint at the outlet end of the multi-channel linear cylinder is installed on the movable base beam, the multi-channel rotary joint at the inlet end of the multi-channel linear cylinder is fixed in position, the main cylinder of the multi-channel linear cylinder constructs a cleaning liquid passage through the liquid pipes on the two multi-channel rotary joints and the rectangular tube, and the auxiliary cylinder of the multi-channel linear cylinder constructs a ventilation passage through the ventilation pipes on the two multi-channel rotary joints and the driving cylinder on the movable base beam.

[0013] Based on the above, the multi-channel linear cylinder is arranged to be tilted as a whole, and the telescopic length of the multi-channel linear cylinder is arranged according to the movable path of the movable base beam so that the cleaning head assembly can reach the target cleaning position.

[0014] As described above, it includes a fixed base beam, two movable base beams and two sets of water-gas passage assemblies. The movable base beams are respectively arranged on both longitudinal sides of the fixed base beam, and the multi-channel rotary joints at the inlet ends of the multi-channel linear cylinders in the two sets of water-gas passage assemblies are both installed and fixed on the fixed base beam.

[0015] Based on the above, the nozzle is threadedly connected to the rectangular tube, the interior of the rectangular tube is sealed, and the rectangular tube is connected to the multi-channel rotary joint at the outlet end of the multi-channel linear cylinder through a cleaning liquid inlet pipe.

[0016] Based on the above, the multi-channel rotary joint includes a rotating shaft core, a rotating outer sleeve, an inlet flange and an outlet flange. The rotating outer sleeve and the rotating shaft core are arranged at an angle of 90 degrees as a whole. The inlet flange and the outlet flange are respectively provided with a cleaning liquid channel and a gas channel.

[0017] Based on the above, the multi-channel linear cylinder has a single main cylinder and multiple auxiliary cylinders.

[0018] Based on the above, a set of cleaning head assemblies and a driving cylinder are also installed on the fixed base beam, and the cleaning liquid pipeline and gas pipeline of the cleaning head assembly and the driving cylinder on the fixed base beam are separate passages.

[0019] Compared with the prior art, the present invention has outstanding substantial features and significant progress. Specifically, the present invention adopts a combination of a multi-channel linear cylinder and a movable base beam to achieve the movement of the cleaning head assembly and can ensure the supply of cleaning liquid. Compared with the traditional robotic arm-type online cleaning device, the coverage is wider, the requirements for equipment flexibility and sealing are further reduced, the cost is also lower, and it is easier to control.

[0020] Furthermore, a dual-channel design using a multi-channel linear cylinder as a source of cleaning fluid and gas ensures the stability of supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the online cleaning manipulator device for the power plant condenser in the present invention.

[0022] Figure 2 yes Figure 1 Side view of.

[0023] Figure 3 yes Figure 2 Schematic diagram of the local structure of the outlet end of the multi-channel linear cylinder.

[0024] Figure 4 It is a schematic diagram of the structure of the cleaning head assembly.

[0025] Figure 5 This is a structural diagram of the nozzle and silicone nozzle.

[0026] Figure 6 It is a structural diagram of a multi-channel rotary joint.

[0027] Figure 7 It is a structural diagram of a multi-channel linear cylinder.

[0028] In the figure: 1. travel switch; 2. frame; 3. linear guide rail assembly; 4. air valve; 5. water valve; 6. multi-channel rotary joint; 6-1. rotating shaft core; 6-2. rotating sleeve; 7. multi-channel linear cylinder; 7-1. main cylinder; 7-2 auxiliary cylinder; 8. condenser shell; 9. condenser tie rod; 10. cleaning head assembly; 10-1. rectangular tube; 10-2. nozzle; 10-3. silicone nozzle; 10-4. guide bearing component; 10-5. cleaning liquid inlet pipe; 11. power source drive assembly; 12. drive cylinder; 13. base beam air pipe; 14. adjustable clamp; 15. silicone nozzle; 16. movable base beam; 17. fixed base beam. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0030] like Figure 1-Figure 7 As shown, a power plant condenser online cleaning robot device includes a frame 2 and a power source drive assembly 11 installed on the frame, a travel switch 1, three sets of cleaning head assemblies 10, two sets of water and gas passage assemblies and two movable base beams 16 and one fixed base beam 17.

[0031] The power source driving assembly includes a motor, a screw drive mechanism and a linear slide rail assembly, which are used to drive the movable base beam 16 to reciprocate in the longitudinal direction.

[0032] The travel switch 1 is used to limit the travel range of the movable base beam in the longitudinal direction.

[0033] The cleaning head assembly 10 is installed on the movable base beam 16 and reciprocates synchronously with the movable base beam 16. The cleaning head assembly 10 includes a rectangular tube 10-1, a plurality of nozzles 10-2 installed on the rectangular tube 10-1, a silicone nozzle 10-3 sleeved on the nozzle 10-2 and a guide bearing component 10-4 fixed on the rectangular tube 10-1. Specifically, the nozzle is threadedly connected to the rectangular tube, the interior of the rectangular tube is sealed, and the rectangular tube is connected to the multi-channel rotary joint 6 at the outlet end of the multi-channel linear cylinder 7 through a cleaning liquid inlet pipe 10-5.

[0034] The movable base beam 16 is provided with a driving cylinder 12 for driving the rectangular tube 10-1 to move a short distance along the guide bearing component 10-4 to press the silicone nozzle on the nozzle;

[0035] The water-gas passage assembly includes two multi-channel rotary joints 6 and a multi-channel linear cylinder 7. The multi-channel linear cylinder 7 includes a main cylinder 7-1 and multiple auxiliary cylinders 7-2. The two multi-channel rotary joints are respectively installed at the inlet and outlet ends of the multi-channel linear cylinder. The multi-channel rotary joints 6 and the multi-channel linear cylinder 7 are connected by flanges and are both made of stainless steel. The main cylinder 7-1 has a large cylinder diameter and is used for the flow of cleaning fluid. The auxiliary cylinder 7-2 has a relatively small cylinder diameter and is used for the flow of control gas or control oil. The multi-channel rotary joint at the outlet end of the multi-channel linear cylinder 7 is installed on the movable base beam 16, and the multi-channel rotary joint 6 at the inlet end of the multi-channel linear cylinder 7 is installed on the fixed base beam 17. The main cylinder of the multi-channel linear cylinder constructs a cleaning liquid passage through the liquid pipes on the two multi-channel rotary joints and the rectangular tube, and the auxiliary cylinder of the multi-channel linear cylinder constructs a ventilation passage through the ventilation pipes on the two multi-channel rotary joints and the driving cylinder on the movable base beam; the multi-channel rotary joint includes a rotating shaft core 6-1, a rotating sleeve 6-2, an inlet flange and an outlet flange, and the rotating sleeve and the rotating shaft core are arranged at an angle of 90 degrees as a whole. The rotating shaft core 6-1 and the rotating sleeve 6-2 are respectively provided with channels corresponding to the inlet and outlet on the flange. The main channel has a large flow cross-section and is used for the flow of cleaning liquid; the auxiliary channel has a relatively small flow cross-section and is used for the flow of control gas or control oil.

[0036] A set of cleaning head assemblies and a driving cylinder are also installed on the fixed base beam, and the cleaning liquid pipeline and gas pipeline of the cleaning head assembly and the driving cylinder on the fixed base beam are separate passages.

[0037] The multi-channel linear cylinder is arranged to be tilted as a whole, and the telescopic length of the multi-channel linear cylinder is arranged according to the movable path of the movable base beam so that the cleaning head assembly can reach the target cleaning position.

[0038] The condenser online cleaning robot device is equipped with a complete set of control systems, which can be started with one button without manual intervention.

[0039] During operation, under the control of the private service system, the power source drive assembly 11 drives the base beam 16 to move up and down along the linear slide rail assembly 3. Driven by the guide bearing component 10-4, the cleaning head assembly 10 moves synchronously with the base beam 16. When the cleaning head assembly 10 moves to the point where the nozzle 10-2 is aligned with the heat exchange pipe opening, the power assembly 11 is locked, thereby locking the base beam 16. At this time, the control gas enters the air inlet of the cylinder 12 through the air intake auxiliary channel of the multi-channel rotary joint 6, the air intake auxiliary cylinder 7-2 of the multi-channel linear cylinder 7, and the base beam air pipe 13, pushing the cleaning head assembly 10 close to the condenser heat exchange tube, and the silicone nozzle 10-3 seals the heat exchange tube opening. At this time, the cleaning liquid is injected into the heat exchange tube through the main channel of the multi-channel rotary joint 6, the main cylinder 7-1 of the multi-channel linear cylinder 7, the cleaning liquid inlet pipe 10-5, and the nozzle 10-2 to clean the heat exchange tube. After the cleaning of the lower heat exchange pipe is completed, the control gas enters the return port of the cylinder 12 through the return air auxiliary channel of the multi-channel rotary joint 6, the return air auxiliary cylinder 7-2 of the multi-channel linear cylinder 7, and the base beam air pipe 13, driving the cleaning head assembly 10 away from the condenser heat exchange pipe. At this point, a cleaning step is completed. Start the power source drive assembly 11 to drive the base beam 16 to move along the linear slide assembly 3 to the next cleaning position. In this way, the cleaning of the entire condenser heat exchange pipe can be completed.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A power plant condenser online cleaning manipulator device, characterized in that: It includes a frame and a power source drive assembly installed on the frame, a travel switch, at least one set of cleaning head assembly, a set of water and gas passage assembly and at least one movable base beam; The power source driving assembly drives the movable base beam to reciprocate in the longitudinal direction; The travel switch is used to limit the travel range of the movable base beam in the longitudinal direction; The cleaning head assembly is installed on the movable base beam and reciprocates synchronously with the movable base beam. The cleaning head assembly includes a rectangular tube, a plurality of nozzles installed on the rectangular tube, a silicone nozzle sleeved on the nozzle, and a guide bearing component fixed on the rectangular tube; The movable base beam is provided with a driving cylinder for driving the rectangular tube to move a short distance along the guide bearing component to press the silicone nozzle on the nozzle; The water and gas passage assembly includes two multi-channel rotary joints and a multi-channel linear cylinder, the multi-channel linear cylinder includes a main cylinder and an auxiliary cylinder, the two multi-channel rotary joints are respectively installed at the inlet and outlet ends of the multi-channel linear cylinder, the multi-channel rotary joint at the outlet end of the multi-channel linear cylinder is installed on the movable base beam, the multi-channel rotary joint at the inlet end of the multi-channel linear cylinder is fixed in position, the main cylinder of the multi-channel linear cylinder constructs a cleaning liquid passage through the liquid pipes on the two multi-channel rotary joints and the rectangular tube, and the auxiliary cylinder of the multi-channel linear cylinder constructs a ventilation passage through the ventilation pipes on the two multi-channel rotary joints and the driving cylinder on the movable base beam.

2. The power plant condenser online cleaning manipulator device according to claim 1 is characterized in that: The multi-channel linear cylinder is arranged to be tilted as a whole, and the telescopic length of the multi-channel linear cylinder is arranged according to the movable path of the movable base beam so that the cleaning head assembly can reach the target cleaning position.

3. The power plant condenser online cleaning manipulator device according to claim 2 is characterized in that: It includes a fixed base beam, two movable base beams and two sets of water-gas passage assemblies. The movable base beams are respectively arranged on both longitudinal sides of the fixed base beam. The multi-channel rotary joints at the inlet ends of the multi-channel linear cylinders in the two sets of water-gas passage assemblies are both installed and fixed on the fixed base beam.

4. The power plant condenser online cleaning manipulator device according to claim 3 is characterized in that: The nozzle is threadedly connected to the rectangular tube, the interior of the rectangular tube is sealed, and the rectangular tube is connected to the multi-channel rotary joint at the outlet end of the multi-channel linear cylinder through a cleaning liquid inlet pipe.

5. The power plant condenser online cleaning manipulator device according to claim 4 is characterized in that: The multi-channel rotary joint includes a rotary shaft core, a rotary outer sleeve, an inlet flange and an outlet flange. The rotary outer sleeve and the rotary shaft core are arranged at an angle of 90 degrees as a whole. The inlet flange and the outlet flange are respectively provided with a cleaning liquid channel and a gas channel.

6. The power plant condenser online cleaning manipulator device according to claim 5 is characterized in that: The multi-channel linear cylinder has a single main cylinder and multiple auxiliary cylinders.

7. The power plant condenser online cleaning manipulator device according to claim 6 is characterized in that: A set of cleaning head assemblies and a driving cylinder are also installed on the fixed base beam, and the cleaning liquid pipeline and gas pipeline of the cleaning head assembly and the driving cylinder on the fixed base beam are separate passages.

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