An online cleaning robot for a nested double-tube arm condenser

Abstract

An on-line cleaning robot for a nested double-tube arm condenser, comprising a vertical lift, a nested horizontal cleaning machine, a left passage pipe, a left robotic arm pipe, a right passage pipe, a right robotic arm pipe, a high-pressure water supply system, a low-pressure water supply system and a PLC control system. The vertical lift is fixedly installed in the water chamber of the condenser, the nested horizontal cleaning machine is installed on the vertical lift, the upper end of the left passage pipe is connected to the nested horizontal cleaning machine through the left robotic arm pipe, the upper end of the right passage pipe is connected to the nested horizontal cleaning machine through the right robotic arm pipe, the lower end of the left passage pipe is connected to the high-pressure water supply system, the lower end of the right passage pipe is connected to the low-pressure water supply system, and a sealing assembly is provided at the connection between the vertical lift and the outer shell of the water chamber of the condenser. The present invention can realize unattended on-line automatic cleaning of the condenser all day long, can liberate workers from harsh working environments and cumbersome labor, and realize cold-end energy saving of thermal power plants.

Description

Technical Field

[0001] The present invention relates to the technical field of condenser cleaning. Specifically, it relates to an on-line cleaning robot for a nested double-tube-arm condenser. Background Art

[0002] A condenser is an important part of the cold-end device of a modern thermal power plant. Its main function is to quickly condense the steam that has done work on the steam turbine into water, so as to establish and maintain a certain vacuum degree at the exhaust port of the steam turbine, thereby improving the power generation efficiency. If the vacuum degree 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. An important reason for the too low vacuum at the exhaust port of the steam turbine is the fouling of the heat exchange tubes of the condenser and the dust deposition therein. The fouling and dust deposition of the condenser will seriously affect the heat exchange efficiency of the condenser, and at the same time will cause corrosion of the condenser tubes, which is also a safety hazard.

[0003] For a long time, the cleaning methods for the heat exchange pipes of the condenser mainly fall into two categories: shutdown manual cleaning and on-line cleaning. Shutdown manual cleaning mainly uses mechanical brush cleaning or high-pressure water injection cleaning; on-line cleaning mainly includes chemical agent cleaning (mainly pickling) and putting rubber balls into the condenser for cleaning. Using these cleaning methods cannot effectively and safely remove the dirt in the condenser, and will also bring a series of problems: Manual cleaning must be carried out when the equipment is shut down, which will directly affect the operation cost of the power plant. In addition, the labor intensity of the workers is very high, and the construction environment is relatively harsh. The acid solution used in chemical agent cleaning will corrode the equipment and form holes, ultimately resulting in equipment replacement. In addition, the cleaning waste liquid will cause great pollution to the environment, and a large amount of funds are required for waste water treatment. Moreover, this type of chemical cleaning technology cannot be used in open-type units; Although the method of putting rubber balls into the condenser can play a role in removing scale, in actual use, there will be a situation where the rubber balls block the heat exchange tubes, and the amount of rubber balls put in is large, but the recovery rate is very low, which will also lead to an increase in the operation cost.

[0004] To sum up, there are various problems and many deficiencies in the existing cleaning methods for condensers at present. Thermal power plants urgently need a new generation of cleaning technology to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an on-line cleaning robot for a nested double-tube-arm condenser. The structure of the present invention is reasonable, the design is scientific, and the reliability is high. It can realize all-weather unattended on-line automatic cleaning without shutdown, can liberate workers from the harsh working environment and cumbersome labor, and achieve cold-end energy saving of thermal power plants.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] An on-line cleaning robot for a nested double-tube arm condenser, comprising a vertical lift, a nested horizontal cleaning machine, a left passage pipe, a left robotic arm pipe, a right passage pipe, a right robotic arm pipe, a high-pressure water supply system, a low-pressure water supply system and a PLC control system. The vertical lift is fixedly installed in the water chamber of the condenser. The nested horizontal cleaning machine is installed on the vertical lift and is parallel to the tube sheet of the condenser. The vertical lift drives the nested horizontal cleaning machine to move up and down and accurately position. The left passage pipe and the right passage pipe are symmetrically arranged vertically on the left and right in the water chamber of the condenser and are both located in front of the vertical lift. The left passage pipe and the right passage pipe both penetrate and are fixedly connected to the outer shell of the water chamber of the condenser. The upper water outlet end of the left passage pipe is located in the water chamber of the condenser and is connected to the high-pressure water flow space of the nested horizontal cleaning machine through the left robotic arm pipe. The upper water outlet end of the right passage pipe is located in the water chamber of the condenser and is connected to the low-pressure water flow space of the nested horizontal cleaning machine through the right robotic arm pipe. The lower water inlet end of the left passage pipe extends downward out of the water chamber of the condenser and is connected to the water supply end of the high-pressure water supply system. The lower water inlet end of the right passage pipe extends downward out of the water chamber of the condenser and is connected to the water supply end of the low-pressure water supply system. The nested horizontal cleaning machine is used to clean each row of heat exchange tubes on the tube sheet of the condenser. A sealing assembly is provided at the connection between the vertical lift and the outer shell of the water chamber of the condenser. The PLC control system is respectively signal-connected to the vertical lift, the nested horizontal cleaning machine, the high-pressure water supply system and the low-pressure water supply system.

[0008] The vertical elevator includes a left column, a right column, an upper cross beam, a lower cross beam, two synchronous shafts, two speed reducers and a servo motor. The left column, the right column, the upper cross beam and the lower cross beam are assembled to form a rectangular frame. A number of tension bars arranged horizontally at intervals up and down are fixedly arranged in the condenser water chamber. The rectangular frame is arranged in the condenser water chamber and located on the front side of the condenser tube sheet. The left column and the right column are both fixedly connected to the tension bars through clamps. Bearing seats are fixedly connected to the upper and lower ends of the left column and the right column. Lead screws are vertically rotatably installed between the upper and lower sets of bearing seats on the left side and between the upper and lower sets of bearing seats on the right side. The lead screw on the left side is located at the rear side of the left column, and the lead screw on the right side is located at the rear side of the right column. Two sealing assemblies are symmetrically arranged on the left and right. The two sealing assemblies are respectively connected to the lead screws on the left column and the right column and fixedly installed on the outer shell of the condenser water chamber. The two speed reducers are respectively fixedly installed at the lower ends of the two sealing assemblies. The servo motor is fixedly installed on the left side of the left speed reducer. The servo motor drives the power input shaft of the left speed reducer. The left speed reducer is connected to the left end of the power input shaft of the right speed reducer through a drive shaft horizontally arranged in the left-right direction to achieve synchronous power output of the speed reducers on the left and right sides. Bearing seats are fixedly connected to the upper and lower ends of the left column and the right column. The two synchronous shafts are symmetrically arranged on the left and right. The left synchronous shaft vertically penetrates the left sealing assembly concentrically upward and extends into the condenser water chamber. The right synchronous shaft vertically penetrates the right sealing assembly concentrically upward and extends into the condenser water chamber. The upper end of the left synchronous shaft is connected to the lower end of the left lead screw, and the upper end of the right synchronous shaft is connected to the lower end of the right lead screw through couplings. The lower end of the left synchronous shaft is coaxially driven and connected to the upper end of the power output shaft of the left speed reducer, and the lower end of the right synchronous shaft is coaxially driven and connected to the upper end of the power output shaft of the right speed reducer through flat keys. Nut sliders are threadedly connected to both lead screws. Vertical guide rails are fixedly arranged vertically on the rear sides of the left column and the right column. The nut slider on the left side is slidably connected to the vertical guide rail on the left side through a slider. The nut slider on the right side is slidably connected to the vertical guide rail on the right side through a slider. The PLC control system is signal-connected to the servo motor.

[0009] The structures of the two sealing assemblies are the same. The sealing assembly on the left side includes a sealing housing, a sealing flange, a sealing cover, a sealing sleeve, a connecting flange sleeve, a first sealing structure, a second sealing structure, and a third sealing structure. The sealing housing is a vertically penetrating cylindrical structure. The sealing housing is vertically penetrated and welded on the outer housing of the condenser water chamber and is located directly below the left screw rod. The outer circumference of the lower end of the sealing housing is welded and fixed with an end face flange. The inner circle of the lower end of the sealing housing is provided with a first end face groove. The diameter of the sealing flange is the same as the outer diameter of the end face flange. The sealing flange is concentrically arranged below the end face flange and is fixedly connected to the end face flange through a plurality of first fastening bolts. The upper surface of the sealing flange is fixedly embedded with a first O-ring that is in close contact with the lower surface of the end face flange. The upper surface of the middle part of the sealing flange is integrally formed with an upper convex surface, and the lower surface of the middle part of the sealing flange is integrally formed with a lower convex surface. The inner circle of the upper end of the upper convex surface is provided with a first step groove, and the inner circle of the lower end of the lower convex surface is provided with a second step groove. The bottom of the first step groove is higher than the bottom of the first end face groove. The bottom of the second step groove is lower than the bottom of the first step groove and higher than the bottom of the first end face groove. The sealing cover is fixedly connected to the upper convex surface through a plurality of second fastening bolts. The lower end face of the sealing cover is fixedly embedded with a second O-ring that is in close contact with the upper convex surface. The inner circle of the lower end of the sealing cover is integrally formed with a first ring flange that extends into the upper part of the first step groove. The outer circle of the first ring flange is in close fit with the inner circle of the upper part of the first step groove. The sealing sleeve is concentrically arranged below the lower convex surface. The inner circle of the upper end of the sealing sleeve is provided with a first installation groove, and the inner circle of the lower end of the sealing sleeve is provided with a second end face groove. The connecting flange sleeve is concentrically sleeved outside the sealing sleeve. The upper end of the connecting flange sleeve is fixedly connected to the lower surface of the sealing flange through a plurality of third fastening bolts. The upper end face of the connecting flange sleeve is fixedly embedded with a third O-ring that is in close contact with the lower surface of the sealing flange. The upper end of the housing of the left reducer is fixedly connected to the lower end of the connecting flange sleeve through a plurality of fourth fastening bolts. The left synchronizing shaft passes upward concentrically through the sealing sleeve, the sealing flange, and the sealing cover. The first sealing structure is fixedly embedded in the sealing cover. The first sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with the left synchronizing shaft to prevent water from entering the sealing cover. A first bearing is fixedly embedded in the first step groove. The first bearing is sleeved on the left synchronizing shaft. The inner ring of the first bearing rotates together with the left synchronizing shaft. The lower side edge of the first ring flange is in pressing contact with the upper end face of the outer ring of the first bearing. A partition is fixedly embedded in the sealing cover and is clamped between the upper end face of the inner ring of the first bearing and the lower end face of the first sealing structure for axially fixing the first sealing structure. The partition is sleeved on the left synchronizing shaft. The second sealing structure is fixedly embedded concentrically in the second step groove. The second sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with and rotatably connected to the left synchronizing shaft. The third sealing structure is concentrically arranged at the lower end of the sealing sleeve. The third sealing structure is fixedly connected to the lower convex surface through a plurality of first fastening screws penetrating the sealing sleeve. The third sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with and rotatably connected to the left synchronizing shaft.The upper end of the sealing sleeve is in pressing contact with the lower convex surface. A fourth O-ring that is in close contact with the lower convex surface is fixedly embedded in the upper end surface of the sealing sleeve. A second bearing is fixedly embedded in the bottom of the first installation groove. The second bearing is sleeved on the left synchronizing shaft. The inner ring of the second bearing is rotatably connected to the left synchronizing shaft. A first spacer sleeve is fixedly embedded in the first installation groove and is clamped between the upper end surface of the inner ring of the second bearing and the lower end surface of the second sealing structure. The first spacer sleeve is sleeved on the left synchronizing shaft and is rotatably connected to the left synchronizing shaft.,

[0010] The first sealing structure is a polytetrafluoroethylene carbon fiber sealing structure, the second sealing structure is an end face mechanical sealing structure, and the third sealing structure is a cartridge mechanical sealing structure.

[0011] The nested horizontal cleaning machine includes a lifting beam, a nested flow-through assembly, two front and rear pushing mechanisms, and a plurality of horizontal guiding components. The lifting beam is horizontally arranged in the left-right direction and is fixedly connected to the rear sides of two nut sliders. The nested flow-through assembly is horizontally arranged in the left-right direction behind the lifting beam and is parallel to the condenser tube sheet. The two front and rear pushing mechanisms are symmetrically fixedly installed on the lifting beam from left to right. The telescopic ends of the two front and rear pushing mechanisms extend backward and are fixedly connected to the nested flow-through assembly. The horizontal guiding components are arranged at intervals from left to right. The horizontal guiding components are horizontally arranged in the front-rear direction. The two ends of each horizontal guiding component are respectively fixedly connected to the lifting beam and the nested flow-through assembly.

[0012] The nested flow-through assembly includes an outer pipe and an inner pipe. Both the outer pipe and the inner pipe are horizontally arranged in the rear side of the lifting beam along the left-right direction. The outer pipe is coaxially sleeved outside the inner pipe. The inner diameter of the outer pipe is larger than the outer diameter of the inner pipe. The outer pipe and the inner pipe have the same length. Both ends of the outer pipe and the inner pipe are blocked. Both ends of the outer pipe are welded and fixedly connected to the outer circumference of the inner pipe. The interior of the inner pipe forms a high-pressure water flow-through space, and the annular cavity between the outer pipe and the inner pipe forms a low-pressure water flow-through space. On the right side of the middle part of the front side wall of the outer pipe, there is a low-pressure water inlet pipe welded, which is horizontally arranged along the front-back direction and communicates with the low-pressure water flow-through space. On the left side of the middle part of the front side wall of the inner pipe, there is a high-pressure water inlet pipe welded, which is horizontally arranged along the front-back direction and communicates with the high-pressure water flow-through space. The high-pressure water inlet pipe passes forward through the front side wall of the outer pipe and is hermetically and fixedly connected to the front side wall of the outer pipe. The front end of the high-pressure water inlet pipe is flush with the front end of the low-pressure water inlet pipe. An arc-shaped plate is welded on the rear side wall of the outer pipe. The front side of the arc-shaped plate is an arc-shaped surface that closely fits the rear side wall of the outer pipe. The rear side of the arc-shaped plate is a vertical plane. A sealing plate is fixedly connected to the rear side of the arc-shaped plate through a plurality of screws. The sealing plate is made of silicone or fluororubber. A rigid plate parallel to the sealing surface of the sealing plate is nested inside the sealing plate. On the rear side wall of the inner pipe, there are two rows of welding stud holes spaced up and down. On the rear side wall of the outer pipe, there are two rows of circular holes spaced up and down. The arc-shaped plate, the sealing plate, and the rigid plate are all provided with two rows of through holes spaced up and down. The spatial arrangement form of the welding stud holes, the circular holes, and the through holes is consistent with the spatial arrangement form of the heat exchange tubes on the condenser tube sheet. Each welding stud hole, each circular hole, and each through hole are arranged in one-to-one correspondence in the front-back direction. In each welding stud hole, there is a high-pressure rotary nozzle threadedly installed and communicating with the high-pressure water flow-through space. The rear end of the high-pressure rotary nozzle extends backward through the corresponding circular hole and is located in the corresponding through hole. The outer diameter of the high-pressure rotary nozzle is smaller than the aperture of the circular hole, so as to facilitate the low-pressure water to flow out and enter the heat exchange tubes. Two medium conveying pipes horizontally arranged along the front-back direction and spaced left and right are fixedly connected through the lifting beam. The left medium conveying pipe corresponds to the high-pressure water inlet pipe in the front-back direction, and the right medium conveying pipe corresponds to the low-pressure water inlet pipe in the front-back direction. The high-pressure water inlet pipe is hermetically and slidably inserted into the left medium conveying pipe in the front-back direction, and the low-pressure water inlet pipe is hermetically and slidably inserted into the right medium conveying pipe in the front-back direction. A plurality of fifth O-rings are fixedly embedded on the inner circumference of the rear side parts of the two medium conveying pipes.

[0013] The front-back pushing mechanism includes a hydraulic cylinder and a first connecting seat. The hydraulic cylinder is horizontally arranged along the front-back direction. The cylinder body of the hydraulic cylinder is fixedly installed on the lifting beam. The first connecting seat is welded and fixedly connected to the front side wall of the outer pipe and is located directly behind the hydraulic cylinder. The piston rod of the hydraulic cylinder extends backward and is fixedly connected to the first connecting seat. The PLC control system is signal-connected to the hydraulic cylinder;

[0014] Each horizontal guiding component has the same structure and is arranged at intervals left and right. One of the horizontal guiding components includes a guiding shaft, a guiding seat, and a second connecting seat. The guiding seat is fixedly installed through the lifting beam. The guiding shaft is horizontally slidably connected through the guiding seat in the front-rear direction. The second connecting seat is welded and fixed on the rear side wall of the outer pipeline and is coaxial with the guiding seat. The rear end of the guiding shaft is fixedly connected to the second connecting seat.

[0015] The left robotic arm pipeline and the right robotic arm pipeline have the same structure and are symmetrically arranged left and right. The left robotic arm pipeline includes a first swing arm pipeline and a second swing arm pipeline. The first swing arm pipeline is arranged between the left passage pipeline and the second swing arm pipeline. The left end of the first swing arm pipeline is connected to the upper end of the left passage pipeline, the right end of the first swing arm pipeline is connected to the left end of the second swing arm pipeline, and the right end of the second swing arm pipeline is connected to the front end of the medium delivery pipeline on the left side through rotary joints. Control pipelines are provided on the rotary joints. Oil inlet pipelines are laid and connected along the main pipeline direction on the outer pipe walls of the left passage pipeline, the first swing arm pipeline, the second swing arm pipeline, and the medium delivery pipeline on the left side. The head and tail of each oil inlet pipeline are hermetically connected to the control pipelines on the corresponding rotary joints. The rear end of the oil inlet pipeline on the medium delivery pipeline on the left side is connected to the oil inlet of the hydraulic cylinder;

[0016] Oil return pipelines are laid and connected along the main pipeline direction on the outer pipe walls of the right passage pipeline, the first swing arm pipeline and the second swing arm pipeline of the right robotic arm pipeline, and the medium delivery pipeline on the right side. The head and tail of each oil return pipeline are connected to the control pipelines on the corresponding rotary joints on the right side. The rear end of the oil return pipeline on the medium delivery pipeline on the right side is connected to the oil return port of the hydraulic cylinder.

[0017] The structures of all the rotating joints are the same. The rotating joint between the left end of the first swing arm pipe and the upper end of the left passage pipe includes a right-angle pipe joint, a rotating pipe joint, a flange end cover, a sealing spacer sleeve, and a sealing compression ring. The right-angle pipe joint includes a vertical pipe and a horizontal pipe. The horizontal pipe is horizontally arranged in the front-rear direction. The upper end of the vertical pipe is integrally formed and fixedly connected to the lower side wall of the front end of the horizontal pipe and is communicated with the inside of the horizontal pipe. A third stepped groove is formed in the inner circle of the front end of the horizontal pipe. The rotating pipe joint is horizontally arranged in the front-rear direction and is concentrically and rotatably installed in the horizontal pipe. The front end of the rotating pipe joint is blocked. Through holes that are vertically concentric and correspond to the vertical pipe up and down are formed in both the upper and lower side walls of the front side part of the rotating pipe joint. A fourth stepped groove is formed in the inner circle of the rear end of the horizontal pipe. A first sealing ring sleeved on the front side part of the rotating pipe joint is fixedly embedded in the rear side groove bottom of the third stepped groove. The first sealing ring is in sliding seal connection with the rotating pipe joint. A third bearing and a first isolation sleeve sleeved on the front side part of the rotating pipe joint are fixedly embedded in the front side groove of the third stepped groove in sequence from front to back. The flange end cover is fixedly installed at the front end of the horizontal pipe through a plurality of third fastening screws. A rotating gap is left between the rear end face of the flange end cover and the front end of the horizontal pipe. A sixth O-ring that is in close contact with the front end face of the horizontal pipe is fixedly embedded in the rear edge face of the flange end cover. A second circular ring flange extending into the front side groove of the third stepped groove is integrally formed on the inner circle of the rear end of the flange end cover. The outer circle of the second circular ring flange is in close fit with the inner circle of the front side groove of the third stepped groove. The rear end of the second circular ring flange presses against the front end face of the outer ring of the third bearing. A limit retaining ring that presses against the front end face of the inner ring of the third bearing is fixedly embedded on the outer circumference of the front end part of the rotating pipe joint. The limit retaining ring is composed of two half rings. The third bearing presses against the first isolation sleeve. The first isolation sleeve presses against the first sealing ring. A second sealing ring sleeved on the middle part of the rotating pipe joint is fixedly embedded in the front side groove bottom of the fourth stepped groove. A second isolation sleeve, a fourth bearing, and a third isolation sleeve sleeved on the middle part of the rotating pipe joint are fixedly embedded in the rear side groove of the fourth stepped groove in sequence from front to back. A circular ring boss is integrally formed on the outer circumference of the rear end part of the sealing spacer sleeve. The sealing spacer sleeve is concentrically sleeved on the rear side part of the rotating pipe joint. The front side face of the circular ring boss presses against the rear end face of the horizontal pipe. A seventh O-ring that is in close contact with the rear end face of the horizontal pipe is fixedly embedded on the front side face of the circular ring boss. The sealing compression ring is concentrically sleeved on the rear end part of the rotating pipe joint and presses against the rear side face of the circular ring boss. The sealing compression ring is fixedly connected to the rear end of the horizontal pipe through a plurality of second fastening screws penetrating the circular ring boss. The front side part of the sealing spacer sleeve is embedded in the front side part of the rear side groove of the fourth stepped groove. The outer circle of the front side part of the sealing spacer sleeve has a clearance fit with the inner circle of the rear side groove of the fourth stepped groove. A second installation groove is formed in the inner circle of the front end of the sealing spacer sleeve. A third installation groove is formed in the inner circle of the rear end of the sealing spacer sleeve. The front end of the sealing spacer sleeve presses against the third isolation sleeve. The third isolation sleeve presses against the rear end face of the outer ring of the fourth bearing. The front end face of the outer ring of the fourth bearing presses against the second isolation sleeve. The second isolation sleeve presses against the second sealing ring.A third sealing ring sleeved on the rear side of the rotary pipe joint is fixedly embedded in the second installation groove, and a fourth sealing ring sleeved on the rear end of the rotary pipe joint is fixedly embedded in the third installation groove. The sealing pressure ring presses the fourth sealing ring tightly. The first sealing ring, the second sealing ring, the third sealing ring and the fourth sealing ring are all in close fit and sealed rotation with the rotary pipe joint. A circular ring groove passage is provided in the inner circle of the middle part of the sealing spacer sleeve. First connection holes corresponding up and down and communicating with the circular ring groove passage are provided in the rear side part of the lower side pipe wall of the horizontal pipe and the middle part of the lower side pipe wall of the sealing spacer sleeve. A second connection hole communicating with the circular ring groove passage is provided in the rear side part of the lower side pipe wall of the rotary pipe joint. An outlet flange is integrally formed at the rear end of the rotary pipe joint. A first L-shaped hole is provided in the lower side part of the outlet flange. One end of the first L-shaped hole is located on the front end face of the outlet flange, and the other end of the first L-shaped hole is located on the inner cylindrical surface of the outlet flange. An inlet flange is integrally formed at the lower end of the vertical pipe. A second L-shaped hole is provided in the rear side part of the inlet flange. One end of the second L-shaped hole is located on the lower end face of the inlet flange, and the other end of the second L-shaped hole is located on the outer cylindrical surface at the rear side of the inlet flange. A U-shaped pipe located inside the rotary pipe joint is fixedly connected between the inner end of the second connection hole and the inner end of the first L-shaped hole. A bent pipe located at the rear side of the vertical pipe is fixedly connected between the outer end of the first connection hole and the rear end of the second L-shaped hole. The inlet flange is fixedly connected to the upper end of the left passage pipe, the outlet flange is fixedly connected to the left end of the first swing arm pipe, the lower end of the second L-shaped hole is fixedly connected to the upper end of the oil inlet pipeline on the left passage pipe, and the rear end of the first L-shaped hole is fixedly connected to the left end of the oil inlet pipeline on the first swing arm pipe.,

[0018] Underwater high-definition explosion-proof cameras facing the condenser tube sheet and located above the outer pipeline are fixedly installed on the upper parts of the two second connection seats located in the middle and symmetric left and right. Two aiming devices spaced left and right are fixedly installed on the upper side edge of the arc-shaped plate. The two aiming devices are respectively arranged directly behind the two underwater high-definition explosion-proof cameras. The sight of the aiming device corresponds to the center of a corresponding heat exchange tube on the condenser tube sheet before and after. The PLC control system is connected to the two underwater high-definition explosion-proof cameras through signal wires.

[0019] The present invention has prominent substantive features and remarkable progress compared with the prior art. Specifically, when the present invention works, the PLC control system controls the rotation of the servo motor, the servo motor drives two speed reducers to rotate synchronously, the two speed reducers respectively drive two synchronous shafts and then synchronously drive the corresponding two lead screws to rotate. Then, the two lead screws respectively drive two nut sleeves to drive the lifting beam to move on two vertical guiding rails. The lifting beam drives the nested flow-through assembly to move synchronously. At the same time, the underwater high-definition explosion-proof camera shoots the operation status in the condenser water chamber in real time and transmits the captured images to the PLC control system. Thus, the operation status in the condenser water chamber can be observed through the display screen of the PLC control system outside the condenser water chamber, and the aiming device can be used to accurately position each high-pressure rotary nozzle outside the condenser water chamber. Among them, during the up and down movement of the nested flow-through assembly, the left robotic arm pipeline and the right robotic arm pipeline can swing along with the up and down movement of the nested flow-through assembly, so as to ensure that the left passage pipeline is always connected to the high-pressure water inlet pipe, the right passage pipeline is always connected to the low-pressure water inlet pipe, and at the same time ensure that the adjacent two control pipelines are always connected through the control pipelines on the corresponding rotary joints. When the lifting beam drives the nested flow-through assembly to move to a certain cleaning position, each high-pressure rotary nozzle corresponds to the corresponding heat exchange tube nozzles on the condenser tube sheet at this cleaning position. Then, the PLC control system controls the servo motor to lock and stop, and further makes the nested horizontal cleaning machine lock and stop. After that, the hydraulic control systems of two hydraulic cylinders are controlled through the PLC control system, so that the control oil fluid enters the oil inlets of the two hydraulic cylinders through each control pipeline, and the piston rods of the two hydraulic cylinders extend backward synchronously. Then, the two hydraulic cylinders push the nested flow-through assembly towards the condenser tube sheet and make the sealing plate tightly adhere to the condenser tube sheet. The sealing plate seals the corresponding heat exchange tube nozzles on the condenser tube sheet at this cleaning position. At this time, the low-pressure water supply system is started through the PLC control system. The low-pressure water supply system makes the low-pressure water enter the low-pressure water flow-through space through the right passage pipeline, the right robotic arm pipeline, the right-side medium conveying pipeline and the low-pressure water inlet pipe. The low-pressure water then injects into the corresponding heat exchange tubes through each round hole and each flow-through hole, pushing away the circulating water in the heat exchange tubes to form a downstream water space. When the downstream water space is formed, the high-pressure water supply system is started. The high-pressure water enters the high-pressure water flow-through space through the left passage pipeline, the left robotic arm pipeline, the left-side medium conveying pipeline and the high-pressure water inlet pipe. The high-pressure water then forms a rotating high-pressure water jet through each high-pressure rotary nozzle and injects into the corresponding heat exchange tubes, forming a high-speed water flow rotating forward in the heat exchange tubes to clean the inner walls of the corresponding heat exchange tubes.After the cleaning of each corresponding heat exchange tube at the cleaning position is completed, stop the high-pressure water supply system and the low-pressure water supply system, and stop the control oil from being injected into the oil inlets of the two hydraulic cylinders through each oil inlet pipeline. At the same time, control the hydraulic control systems of the two hydraulic cylinders through the PLC control system, so that the control oil enters the oil return ports of the two hydraulic cylinders through each oil return pipeline, and the piston rods of the two hydraulic cylinders contract forward synchronously to the initial state. Then, the two hydraulic cylinders drive the nested flow-through assembly to move forward away from the condenser tube sheet. In this way, a cleaning step is completed. Then, control the servo motor to rotate again through the PLC control system. The servo motor drives two nut sleeves to drive the lifting beam to move on the two vertical guiding rails through two speed reducers and two lead screws respectively, and then the lifting beam drives the nested flow-through assembly to move to the next cleaning position. Each high-pressure rotating nozzle corresponds to the nozzle of each corresponding heat exchange tube on the condenser tube sheet at this cleaning position. After that, repeat the above cleaning steps to clean each heat exchange tube at this cleaning position until all the heat exchange tubes are cleaned. The structure of the present invention is reasonable, the design is scientific, and the reliability is high. It can realize all-weather unattended on-line automatic cleaning without shutting down the machine, and can liberate workers from the harsh working environment and cumbersome labor, realizing the cold-end energy saving of thermal power plants.

[0020] The low-pressure water supply system can be replaced by an acid solution supply system or a gas supply system, so that the acid solution or compressed gas enters the low-pressure water flow-through space through the right passage pipeline, the right robotic arm pipeline, the medium delivery pipeline on the right side, and the low-pressure water inlet pipe. Then, the acid solution or compressed gas is injected into the corresponding heat exchange tubes through each round hole and each flow hole to push away the circulating water in the heat exchange tubes, forming an acid solution space to soak the dirt on the inner wall of the heat exchange tubes or a downstream compressed gas space. After that, start the high-pressure water supply system to carry out rotary high-pressure water flushing on each heat exchange tube. The low-pressure water supply system, the high-pressure water supply system, the acid solution supply system, and the gas supply system are all conventional designs. The low-pressure water supply system, the high-pressure water supply system, and the acid solution supply system all include water pumps, water tanks, and water supply pipelines. The gas supply system includes an air pump, an air tank, and a gas supply pipeline. The specific connection pipeline structure is the prior art and can be realized by those skilled in the art without further description.

[0021] The hydraulic cylinder can be replaced by a cylinder, and the control oil in the corresponding oil inlet pipeline and oil return pipeline is replaced by control gas. The hydraulic cylinder or the cylinder is a conventional device, and the specific structure and working principle will not be described in detail.

[0022] The sealing assembly includes a first sealing structure, a second sealing structure and a third sealing structure. The first sealing structure is a polytetrafluoroethylene carbon fiber sealing structure, the second sealing structure is an end face mechanical sealing structure, and the third sealing structure is a cartridge mechanical sealing structure, which can prevent water leakage at the connection between the condenser water chamber and the synchronous shaft, ensure the sealing performance, and the setting of the first bearing and the second bearing can ensure the stable rotation of the synchronous shaft, prevent swing, and improve the sealing effect and service life of the second sealing structure and the third sealing structure.

[0023] In summary, the structure of the present invention is reasonable, the design is scientific, and the reliability is high. It can achieve all-weather unattended online automatic cleaning without shutdown, liberate workers from harsh working environments and cumbersome labor, and realize cold-end energy conservation in thermal power plants. Brief Description of the Drawings

[0024] Figure 1 is the rear view of the present invention.

[0025] Figure 2 is the left view of the present invention.

[0026] Figure 3 is the top view of the present invention.

[0027] Figure 4 is the structural schematic diagram of the sealing assembly of the present invention.

[0028] Figure 5 is the rear view of the nested horizontal cleaning machine of the present invention.

[0029] Figure 6 is the top view of the nested horizontal cleaning machine of the present invention.

[0030] Figure 7 is the left view of the nested horizontal cleaning machine of the present invention.

[0031] Figure 8 is the cross-sectional schematic diagram of the nested flow-through assembly of the present invention.

[0032] Figure 9 is the structural schematic diagram of the rotary joint between the left end of the first swing arm pipe and the upper end of the left passage pipe of the present invention.

[0033] Figure 10 is Figure 4 the partial enlarged view at A in

[0034] Figure 11 is Figure 6 the partial enlarged view at B in Detailed Description of the Invention

[0035] The following further describes the embodiments of the present invention with reference to the drawings.

[0036] As Figures 1-11 shown, a nested double - tube - arm condenser on - line cleaning robot includes a vertical lift, a nested horizontal cleaning machine, a left passage pipe 1, a left robotic arm pipe, a right passage pipe 2, a right robotic arm pipe, a high - pressure water supply system, a low - pressure water supply system and a PLC control system. The vertical lift is fixedly installed in the condenser water chamber 3. The nested horizontal cleaning machine is installed on the vertical lift and is parallel to the condenser tube sheet 4. The vertical lift drives the nested horizontal cleaning machine to move up and down and accurately position. The left passage pipe 1 and the right passage pipe 2 are symmetrically arranged vertically on the left and right in the condenser water chamber 3 and are both located on the front side of the vertical lift. The left passage pipe 1 and the right passage pipe 2 both penetrate and are fixedly connected to the outer shell of the condenser water chamber 3. The upper water outlet end of the left passage pipe 1 is located in the condenser water chamber 3 and is connected to the high - pressure water flow space 41 of the nested horizontal cleaning machine through the left robotic arm pipe. The upper water outlet end of the right passage pipe 2 is located in the condenser water chamber 3 and is connected to the low - pressure water flow space 42 of the nested horizontal cleaning machine through the right robotic arm pipe. The lower water inlet end of the left passage pipe 1 extends downward out of the condenser water chamber 3 and is connected to the water supply end of the high - pressure water supply system. The lower water inlet end of the right passage pipe 2 extends downward out of the condenser water chamber 3 and is connected to the water supply end of the low - pressure water supply system. The nested horizontal cleaning machine is used to clean each row of heat exchange tubes 5 on the condenser tube sheet 4. A sealing assembly is provided at the connection between the vertical lift and the outer shell of the condenser water chamber 3. The PLC control system is respectively signal - connected to the vertical lift, the nested horizontal cleaning machine, the high - pressure water supply system and the low - pressure water supply system. The PLC control system, the high - pressure water supply system and the low - pressure water supply system are not shown in the figure.

[0037] The vertical lift includes a left column 6, a right column 7, an upper crossbeam 8, a lower crossbeam 9, two synchronous shafts 92, two speed reducers 10 and a servo motor 11. The left column 6, the right column 7, the upper crossbeam 8 and the lower crossbeam 9 are assembled to form a rectangular frame. A number of tension bars 12 are fixedly arranged in the condenser water chamber 3 at intervals in the vertical direction and horizontally. The rectangular frame is arranged in the condenser water chamber 3 and is located on the front side of the condenser tube sheet 4. Both the left column 6 and the right column 7 are fixedly connected to the tension bars 12 through clamps 13. Bearing seats 15 are fixedly connected to the upper and lower ends of both the left column 6 and the right column 7. Transmission lead screws 16 are vertically and rotatably installed between the upper and lower sets of bearing seats 15 on the left side and between the upper and lower sets of bearing seats 15 on the right side. The lead screw 16 on the left side is located at the rear side of the left column 6, and the lead screw 16 on the right side is located at the rear side of the right column 7. Two sealing assemblies are symmetrically arranged on the left and right. The two sealing assemblies are respectively connected to the lead screws 16 on the left column 6 and the right column 7 and are fixedly installed on the outer shell of the condenser water chamber 3. The two speed reducers 10 are respectively fixedly installed at the lower ends of the two sealing assemblies. The servo motor 11 is fixedly installed on the left side of the left speed reducer 10. The servo motor 11 drives the power input shaft of the left speed reducer 10. The left speed reducer 10 is connected to the left end of the power input shaft of the right speed reducer 10 through a transmission shaft 14 horizontally arranged in the left-right direction, so as to realize the synchronization of the output power of the speed reducers 10 on both the left and right sides. The two synchronous shafts 92 are symmetrically arranged on the left and right. The left synchronous shaft 92 vertically penetrates the left sealing assembly upward concentrically and extends into the condenser water chamber 3. The right synchronous shaft 92 vertically penetrates the right sealing assembly upward concentrically and extends into the condenser water chamber 3. The upper end of the left synchronous shaft 92 and the lower end of the left lead screw 16, and the upper end of the right synchronous shaft 92 and the lower end of the right lead screw 16 are all connected through couplings 89. The lower end of the left synchronous shaft 92 and the upper end of the power output shaft of the left speed reducer 10, and the lower end of the right synchronous shaft 92 and the upper end of the power output shaft of the right speed reducer 10 are all coaxially driven and connected through flat keys. Nut sliders 17 are threadedly connected to both lead screws 16. Vertical guide rails 94 are fixedly arranged vertically on the rear sides of the left column 6 and the right column 7. The left nut slider 17 is slidably connected to the left vertical guide rail 94 through a slider 93. The right nut slider 17 is slidably connected to the right vertical guide rail 94 through a slider 93. The PLC control system is signal-connected to the servo motor 11.

[0038] The structures of the two sealing assemblies are the same. The left sealing assembly includes a sealing housing 18, a sealing flange 19, a sealing cover 20, a sealing sleeve 21, a connecting flange sleeve 22, a first sealing structure 23, a second sealing structure 24, and a third sealing structure 25. The sealing housing 18 is a vertically penetrating cylindrical structure. The sealing housing 18 is vertically penetrated and welded on the outer housing of the condenser water chamber 3 and is located directly below the left lead screw 16. The outer circumference of the lower end of the sealing housing 18 is welded and fixed with an end face flange 26. A first end face groove 27 is opened in the inner circle of the lower end of the sealing housing 18. The diameter of the sealing flange 19 is the same as the outer diameter of the end face flange 26. The sealing flange 19 is concentrically arranged below the end face flange 26 and is fixedly connected to the end face flange 26 by a number of first fastening bolts. A first O-ring 28 that is in close contact with the lower surface of the end face flange 26 is fixedly embedded on the upper surface of the sealing flange 19. An upper convex surface 29 is integrally formed on the upper surface of the middle part of the sealing flange 19, and a lower convex surface 30 is integrally formed on the lower surface of the middle part of the sealing flange 19. A first step groove is opened in the inner circle of the upper end of the upper convex surface 29, and a second step groove is opened in the inner circle of the lower end of the lower convex surface 30. The bottom of the first step groove is higher than the bottom of the first end face groove 27. The bottom of the second step groove is lower than the bottom of the first step groove and higher than the bottom of the first end face groove 27. The sealing cover 20 is fixedly connected to the upper convex surface 29 by a number of second fastening bolts. A second O-ring 31 that is in close contact with the upper convex surface 29 is fixedly embedded on the lower end face of the sealing cover 20. A first ring flange that extends into the upper groove of the first step groove is integrally formed on the inner circle of the lower end of the sealing cover 20. The outer circle of the first ring flange is in close fit with the inner circle of the upper groove of the first step groove. The sealing sleeve 21 is concentrically arranged below the lower convex surface 30. A first installation groove is opened in the inner circle of the upper end of the sealing sleeve 21, and a second end face groove is opened in the inner circle of the lower end of the sealing sleeve 21. The connecting flange sleeve 22 is concentrically sleeved outside the sealing sleeve 21. The upper end of the connecting flange sleeve 22 is fixedly connected to the lower surface of the sealing flange 19 by a number of third fastening bolts. A third O-ring 32 that is in close contact with the lower surface of the sealing flange 19 is fixedly embedded on the upper end face of the connecting flange sleeve 22. The upper end of the housing of the left reducer 10 is fixedly connected to the lower end of the connecting flange sleeve 22 by a number of fourth fastening bolts. The left synchronizing shaft 92 passes upward concentrically through the sealing sleeve 21, the sealing flange 19, and the sealing cover 20. The first sealing structure 23 is fixedly embedded in the sealing cover 20. The first sealing structure 23 is hermetically sleeved on the left synchronizing shaft 92 and is in close fit with the left synchronizing shaft 92 to prevent water from entering the sealing cover 20. A first bearing 33 is fixedly embedded in the first step groove. The first bearing 33 is sleeved on the left synchronizing shaft 92. The inner ring of the first bearing 33 rotates together with the left synchronizing shaft 92. The lower side of the first ring flange abuts against the upper end face of the outer ring of the first bearing 33. A partition 34 that is clamped between the upper end face of the inner ring of the first bearing 33 and the lower end face of the first sealing structure 23 is fixedly embedded in the sealing cover 20 for axially fixing the first sealing structure.The partition plate 34 is sleeved on the left synchronizing shaft 92. The second sealing structure 24 is fixedly embedded in the second step groove concentrically. The second sealing structure 24 is sleeved on the left synchronizing shaft 92 in a sealed manner and is in close fit and rotatably connected with the left synchronizing shaft 92. The third sealing structure 25 is arranged concentrically at the lower end of the sealing sleeve 21. The third sealing structure 25 is fixedly connected to the lower convex surface 19 by a plurality of first fastening screws penetrating through the sealing sleeve 21. The third sealing structure 25 is sleeved on the left synchronizing shaft 92 in a sealed manner and is in close fit and rotatably connected with the left synchronizing shaft 92. The upper end of the sealing sleeve 21 is in pressing contact with the lower convex surface 30. A fourth O-ring 35 in close contact with the lower convex surface 30 is fixedly embedded in the upper end surface of the sealing sleeve 21. The second bearing 36 is fixedly embedded at the bottom of the first installation groove. The second bearing 36 is sleeved on the left synchronizing shaft 92. The inner ring of the second bearing 36 is rotatably connected with the left synchronizing shaft 92. A first spacer sleeve 37 clamped between the upper end surface of the inner ring of the second bearing 36 and the lower end surface of the second sealing structure 24 is fixedly embedded in the first installation groove. The first spacer sleeve 37 is sleeved on the left synchronizing shaft 92 and is rotatably connected with the left synchronizing shaft 92.,

[0039] The first sealing structure 23 is a polytetrafluoroethylene carbon fiber sealing structure. The second sealing structure 24 is an end face mechanical sealing structure. The third sealing structure 25 is a cartridge mechanical sealing structure.,

[0040] The nested horizontal cleaning machine includes a lifting beam 38, a nested flow-through assembly, two front and rear pushing mechanisms, and a plurality of horizontal guiding components. The lifting beam 38 is horizontally arranged in the left-right direction and is fixedly connected to the rear sides of the two nut sliders 17. The nested flow-through assembly is horizontally arranged in the left-right direction behind the lifting beam 38 and is parallel to the condenser tube sheet 4. The two front and rear pushing mechanisms 52 are symmetrically fixedly installed on the lifting beam 38 in the left and right directions. The telescopic ends of the two front and rear pushing mechanisms 52 extend backward and are fixedly connected to the nested flow-through assembly. The horizontal guiding components are arranged at intervals in the left and right directions. The horizontal guiding components are horizontally arranged in the front and rear directions. The two ends of each horizontal guiding component are respectively fixedly connected to the lifting beam 38 and the nested flow-through assembly.,

[0041] The nested flow-through assembly includes an outer pipe 39 and an inner pipe 40. Both the outer pipe 39 and the inner pipe 40 are horizontally arranged in the rear side of the lifting beam 38 along the left-right direction. The outer pipe 39 is concentrically sleeved outside the inner pipe 40. The inner diameter of the outer pipe 39 is greater than the outer diameter of the inner pipe 40. The outer pipe 39 and the inner pipe 40 have the same length. Both ends of the outer pipe 39 and the inner pipe 40 are blocked. Both ends of the outer pipe 39 are welded and fixedly connected to the outer circumference of the inner pipe 40. The interior of the inner pipe 40 forms a high-pressure water flow-through space 41. The annular cavity between the outer pipe 39 and the inner pipe 40 forms a low-pressure water flow-through space 42. A low-pressure water inlet pipe 43 that is communicated with the low-pressure water flow-through space 42 and horizontally arranged along the front-rear direction is welded to the middle right side of the front side wall of the outer pipe 39. A high-pressure water inlet pipe 44 that is communicated with the high-pressure water flow-through space 41 and horizontally arranged along the front-rear direction is welded to the middle left side of the front side wall of the inner pipe 40. The high-pressure water inlet pipe 44 passes forward through the front side wall of the outer pipe 39 and is hermetically and fixedly connected to the front side wall of the outer pipe 39. The front end of the high-pressure water inlet pipe 44 is flush with the front end of the low-pressure water inlet pipe 43. An arc-shaped plate 45 is welded to the rear side wall of the outer pipe 39. The front side surface of the arc-shaped plate 45 is an arc surface that closely fits the rear side wall of the outer pipe 39. The rear side surface of the arc-shaped plate 45 is a vertical plane. A sealing plate 46 is fixedly connected to the rear side surface of the arc-shaped plate 45 by a plurality of screws. The sealing plate 46 is made of silicone or fluororubber. A rigid plate 47 parallel to the sealing surface of the sealing plate 46 is nested inside the sealing plate 46. Two rows of welding stud holes spaced up and down are provided on the rear side wall of the inner pipe 40. Two rows of circular holes spaced up and down are provided on the rear side wall of the outer pipe 39. Two rows of flow-through holes 48 spaced up and down are provided on the arc-shaped plate 45, the sealing plate 46 and the rigid plate 47. The spatial arrangement forms of the welding stud holes, the circular holes and the flow-through holes 48 are consistent with the spatial arrangement form of the heat exchange tubes 5 on the condenser tube sheet 4. Each welding stud hole, each circular hole and each flow-through hole 48 are arranged in one-to-one correspondence in the front-rear direction. A high-pressure rotary nozzle 49 communicated with the high-pressure water flow-through space 41 is threadedly installed in each welding stud hole. The rear end of the high-pressure rotary nozzle 49 passes backward through the corresponding circular hole and is located in the corresponding flow-through hole 48. The outer diameter of the high-pressure rotary nozzle 49 is smaller than the aperture of the circular hole, so as to facilitate the low-pressure water to flow out and enter the heat exchange tube 5. Two medium conveying pipes 50 that are horizontally arranged along the front-rear direction and spaced left and right are fixedly and penetratingly connected to the lifting beam 38. The left medium conveying pipe 50 corresponds to the high-pressure water inlet pipe 44 in the front-rear direction. The right medium conveying pipe 50 corresponds to the low-pressure water inlet pipe 43 in the front-rear direction. The high-pressure water inlet pipe 44 is hermetically and slidably inserted into the left medium conveying pipe 50 in the front-rear direction. The low-pressure water inlet pipe 43 is hermetically and slidably inserted into the right medium conveying pipe 50 in the front-rear direction. A plurality of fifth O-rings 51 are fixedly embedded on the inner circumference of the rear side parts of the two medium conveying pipes 50.

[0042] The front and rear pushing mechanism includes a hydraulic cylinder 52 and a first connecting seat 53. The hydraulic cylinder 52 is horizontally arranged in the front and rear direction. The cylinder block of the hydraulic cylinder 52 is fixedly installed on the lifting beam 38. The first connecting seat 53 is welded and fixed on the front side wall of the outer pipeline 39 and is located directly behind the hydraulic cylinder 52. The piston rod of the hydraulic cylinder 52 extends backward and is fixedly connected to the first connecting seat 53. The PLC control system is signal-connected to the hydraulic cylinder 52.

[0043] Each horizontal guiding component has the same structure and is arranged at intervals left and right. One of the horizontal guiding components includes a guiding shaft 54, a guiding seat 55, and a second connecting seat 56. The guiding seat 55 is fixedly installed through the lifting beam 38. The guiding shaft 54 is horizontally slidably connected through the guiding seat 55 in the front and rear direction. The second connecting seat 56 is welded and fixed on the rear side wall of the outer pipeline 39 and is coaxial with the guiding seat 55. The rear end of the guiding shaft 54 is fixedly connected to the second connecting seat 56.

[0044] The left robotic arm pipeline and the right robotic arm pipeline have the same structure and are symmetrically arranged left and right. The left robotic arm pipeline includes a first swing arm pipeline 57 and a second swing arm pipeline 58. The first swing arm pipeline 57 is arranged between the left passage pipeline 1 and the second swing arm pipeline 58. The left end of the first swing arm pipeline 57 is connected to the upper end of the left passage pipeline 1, the right end of the first swing arm pipeline 57 is connected to the left end of the second swing arm pipeline 58, and the right end of the second swing arm pipeline 58 is connected to the front end of the left-side medium conveying pipeline 50 through a rotary joint 59. A control pipeline is provided on the rotary joint 59. Oil inlet pipelines 60 are laid and connected along the main pipeline direction on the outer pipe walls of the left passage pipeline 1, the first swing arm pipeline 57, the second swing arm pipeline 58, and the left-side medium conveying pipeline 50. The head and tail of each oil inlet pipeline 60 are hermetically connected to the control pipeline on the corresponding rotary joint 59. The rear end of the oil inlet pipeline 60 on the left-side medium conveying pipeline 50 is connected to the oil inlet of the hydraulic cylinder 52.

[0045] Oil return pipelines 61 are laid and connected along the main pipeline direction on the outer pipe walls of the right passage pipeline 2, the first swing arm pipeline 57 and the second swing arm pipeline 58 of the right robotic arm pipeline, and the right-side medium conveying pipeline 50. The head and tail of each oil return pipeline 61 are connected to the control pipeline on the corresponding right-side rotary joint 59. The rear end of the oil return pipeline 61 on the right-side medium conveying pipeline 50 is connected to the oil return port of the hydraulic cylinder 52.

[0046] The structures of the respective rotary joints 59 are the same. The rotary joint 59 between the left end of the first swing arm pipe 57 and the upper end of the left passage pipe 1 includes a right-angle pipe joint 62, a rotary pipe joint 63, a flange end cover 64, a sealing spacer 65, and a sealing compression ring 66. The right-angle pipe joint 62 includes a vertical pipe and a horizontal pipe. The horizontal pipe is horizontally arranged in the front-rear direction. The upper end of the vertical pipe is integrally formed and fixedly connected to the lower side wall of the front end of the horizontal pipe and is in communication with the inside of the horizontal pipe. A third step groove is formed in the inner circle of the front end of the horizontal pipe. The rotary pipe joint 63 is horizontally arranged in the front-rear direction and is concentrically and rotatably installed in the horizontal pipe. The front end of the rotary pipe joint 63 is blocked. Through holes 67 that are vertically concentric and correspond to the vertical pipe in the upper and lower directions are formed in both the upper and lower side walls of the front side portion of the rotary pipe joint 63. A fourth step groove is formed in the inner circle of the rear end of the horizontal pipe. A first sealing ring 68 sleeved on the front side portion of the rotary pipe joint 63 is fixedly embedded in the rear side groove bottom of the third step groove. The first sealing ring 68 is slidably and sealingly connected to the rotary pipe joint 63. A third bearing 69 and a first isolation tube sleeve 70 sleeved on the front side portion of the rotary pipe joint 63 are fixedly embedded in the front side groove of the third step groove in sequence from front to back. The flange end cover 64 is fixedly installed at the front end of the horizontal pipe through a plurality of third fastening screws. A rotary gap is left between the rear end face of the flange end cover 64 and the front end of the horizontal pipe. A sixth O-ring 71 that is in close contact with the front end face of the horizontal pipe is fixedly embedded in the rear end edge face of the flange end cover 64. A second circular ring flange that extends into the front side groove of the third step groove is integrally formed on the inner circle of the rear end of the flange end cover 64. The outer circle of the second circular ring flange is in close fit with the inner circle of the front side groove of the third step groove. The rear end of the second circular ring flange tightly presses on the front end face of the outer ring of the third bearing 69. A limit retaining ring 72 that tightly presses on the front end face of the inner ring of the third bearing 69 is fixedly embedded on the outer circumference of the front end portion of the rotary pipe joint 63. The limit retaining ring 72 is composed of two half rings. The third bearing 69 tightly presses the first isolation tube sleeve 70, and the first isolation tube sleeve 70 tightly presses the first sealing ring 68. A second sealing ring 73 sleeved on the middle portion of the rotary pipe joint 63 is fixedly embedded in the front side groove bottom of the fourth step groove. A second isolation tube sleeve 74, a fourth bearing 75, and a third isolation tube sleeve 76 sleeved on the middle portion of the rotary pipe joint 63 are fixedly embedded in the rear side groove of the fourth step groove in sequence from front to back. A circular ring boss 77 is integrally formed on the outer circumference of the rear end portion of the sealing spacer 65. The sealing spacer 65 is concentrically sleeved on the rear side portion of the rotary pipe joint 63. The front side face of the circular ring boss 77 tightly presses on the rear end face of the horizontal pipe. A seventh O-ring 87 that is in tight contact with the rear end face of the horizontal pipe is fixedly embedded in the front side face of the circular ring boss 77. The sealing compression ring 66 is concentrically sleeved on the rear end portion of the rotary pipe joint 63 and tightly presses on the rear side face of the circular ring boss 77. The sealing compression ring 66 is fixedly connected to the rear end of the horizontal pipe through a plurality of second fastening screws that penetrate the circular ring boss 77. The front side portion of the sealing spacer 65 is embedded in the front side portion of the rear side groove of the fourth step groove. The outer circle of the front side portion of the sealing spacer 65 has a clearance fit with the inner circle of the rear side groove of the fourth step groove.The inner circle of the front end of the sealing spacer 65 is provided with a second installation groove, and the inner circle of the rear end of the sealing spacer 65 is provided with a third installation groove. The front end of the sealing spacer 65 tightly presses the third isolation tube sleeve 76. The third isolation tube sleeve 76 tightly presses the rear end face of the outer ring of the fourth bearing 75. The front end face of the outer ring of the fourth bearing 75 tightly presses the second isolation tube sleeve 74. The second isolation tube sleeve 74 tightly presses the second sealing ring 73. The third sealing ring 78 sleeving the rear side part of the rotary union 63 is fixedly embedded in the second installation groove. The fourth sealing ring 79 sleeving the rear end part of the rotary union 63 is fixedly embedded in the third installation groove. The sealing pressing ring 66 tightly presses the fourth sealing ring 79. The first sealing ring 68, the second sealing ring 73, the third sealing ring 78, and the fourth sealing ring 79 are all in close fit and sealed rotation with the rotary union 63. A circular ring groove passage 80 is provided in the inner circle of the middle part of the sealing spacer 65. The rear side part of the lower side pipe wall of the horizontal pipe and the middle part of the lower side pipe wall of the sealing spacer 65 are both provided with first connection holes 88 corresponding up and down and communicating with the circular ring groove passage 80. The rear side part of the lower side pipe wall of the rotary union 63 is provided with a second connection hole communicating with the circular ring groove passage 80. An outlet flange 90 is integrally formed at the rear end part of the rotary union 63. A first L-shaped hole 81 is provided in the lower side part of the outlet flange 90. One end of the first L-shaped hole 81 is located on the front end face of the outlet flange 90, and the other end of the first L-shaped hole 81 is located on the inner cylindrical surface of the outlet flange 90. An inlet flange 91 is integrally formed at the lower end part of the vertical pipe. A second L-shaped hole 82 is provided in the rear side part of the inlet flange 91. One end of the second L-shaped hole 82 is located on the lower end face of the inlet flange 91, and the other end of the second L-shaped hole 82 is located on the outer cylindrical surface at the rear side of the inlet flange 91. A U-shaped pipe 83 located inside the rotary union 63 is fixedly connected between the inner end of the second connection hole and the inner end of the first L-shaped hole 81. A bent pipe 84 located at the rear side of the vertical pipe is fixedly connected between the outer end of the first connection hole 88 and the rear end of the second L-shaped hole 82. The inlet flange 91 is fixedly connected to the upper end of the left passage pipe 1. The outlet flange 90 is fixedly connected to the left end of the first swing arm pipe 57. The lower end of the second L-shaped hole 82 is fixedly connected to the upper end of the oil inlet pipeline 60 on the left passage pipe 1. The rear end of the first L-shaped hole 81 is fixedly connected to the left end of the oil inlet pipeline 60 on the first swing arm pipe 57.,

[0047] On the upper parts of the two second connection seats 56 located in the middle and symmetric left and right, underwater high-definition explosion-proof cameras 85 facing the condenser tube sheet 4 and located above the outer pipe 39 are fixedly installed. Two aiming devices 86 spaced left and right are fixedly installed on the upper side edge of the arc-shaped plate 45. The two aiming devices 86 are respectively arranged directly behind the two underwater high-definition explosion-proof cameras 85. The sight of the aiming device 86 is correspondingly centered front and back with the corresponding heat exchange tube 5 on the condenser tube sheet 4. The PLC control system is connected to the two underwater high-definition explosion-proof cameras 85 through signal wires.

[0048] The speed reducer 10, servo motor 11, PLC control system, tetrafluoro carbon fiber sealing structure, end face mechanical seal structure, cartridge mechanical seal structure, high-pressure rotary spray head 49, hydraulic cylinder 52, underwater high-definition explosion-proof camera 85 and sight 86 are all existing conventional technologies and can be purchased in the market. Their specific structures and working principles will not be elaborated here. The control technology of the present invention is an existing mature technology and does not involve new computer programs.

[0049] During the operation of the present invention, the PLC control system controls the rotation of the servo motor 11. The servo motor 11 drives the synchronous rotation of two speed reducers 10. The two speed reducers 10 respectively drive two synchronous shafts 92, and then synchronously drive the corresponding two lead screws 16 to rotate. Then, the two lead screws 16 respectively drive two nut sleeves 17 to drive the lifting beam 38 to move on two vertical guide rails. The lifting beam 38 drives the nested flow-through assembly to move synchronously. At the same time, the underwater high-definition explosion-proof camera 85 captures the operation status in the condenser water chamber 3 in real time and transmits the captured images to the PLC control system. Thus, the operation status in the condenser water chamber 3 can be observed through the display screen of the PLC control system outside the condenser water chamber 3. With the aid of the sighting device 86, the accurate positioning of each high-pressure rotary nozzle 49 relative to the heat exchange tubes 5 can be achieved outside the condenser water chamber 3. Among them, during the up-and-down movement of the nested flow-through assembly, the left robotic arm pipeline and the right robotic arm pipeline can swing along with the up-and-down movement of the nested flow-through assembly, so as to ensure that the left passage pipeline 1 is always connected to the high-pressure water inlet pipe 44, the right passage pipeline 2 is always connected to the low-pressure water inlet pipe 43, and at the same time ensure that adjacent two oil inlet pipelines 60 are always connected through the control pipelines on the corresponding rotary joints 59. When the lifting beam 38 drives the nested flow-through assembly to move to a certain cleaning position, each high-pressure rotary nozzle 49 corresponds to the orifices of the corresponding heat exchange tubes 5 on the condenser tube sheet 4 at this cleaning position. Then, the PLC control system controls the servo motor 11 to lock and stop, thereby locking and stopping the nested horizontal cleaning machine. After that, the hydraulic control systems of two hydraulic cylinders 52 are controlled by the PLC control system, so that the control oil fluid enters the oil inlets of the two hydraulic cylinders 52 through each oil inlet pipeline 60, and the piston rods of the two hydraulic cylinders 52 extend backward synchronously. Then, the two hydraulic cylinders 52 push the nested flow-through assembly towards the condenser tube sheet 4, and the front side of the sealing plate 46 is pressed against the condenser tube sheet 4. The sealing plate 46 seals the orifices of the corresponding heat exchange tubes 5 on the condenser tube sheet 4 at this cleaning position. At this time, the low-pressure water supply system is started by the PLC control system. The low-pressure water supply system allows the low-pressure water to enter the low-pressure water flow-through space 42 through the right passage pipeline 2, the right robotic arm pipeline, the right-side medium delivery pipeline 50 and the low-pressure water inlet pipe 43. The low-pressure water then injects into the corresponding heat exchange tubes 5 through each round hole and each flow-through hole 48, pushing away the circulating water in the heat exchange tubes 5 to form a downstream water space. When the downstream water space is formed, the high-pressure water supply system is started. The high-pressure water enters the high-pressure water flow-through space 41 through the left passage pipeline 1, the left robotic arm pipeline, the left-side medium delivery pipeline 50 and the high-pressure water inlet pipe 44. The high-pressure water then forms a rotating high-pressure water jet through each high-pressure rotary nozzle 49 and injects into the corresponding heat exchange tubes 5, forming a high-speed water flow that rotates and advances inside the heat exchange tubes 5 to clean the tube walls of the corresponding heat exchange tubes 5.After the cleaning of each corresponding heat exchange tube 5 at the cleaning position is completed, stop the high-pressure water supply system and the low-pressure water supply system, and stop the control oil from being injected into the oil inlets of the two hydraulic cylinders 52 through each oil inlet pipeline 60. At the same time, control the hydraulic control systems of the two hydraulic cylinders 52 through the PLC control system, so that the control oil enters the oil return ports of the two hydraulic cylinders 52 through each oil return pipeline 61, and the piston rods of the two hydraulic cylinders 52 contract forward synchronously to the initial state. Then, the two hydraulic cylinders 52 drive the nested flow-through assembly to move forward away from the condenser tube sheet 4. In this way, one cleaning step is completed. Then, control the servo motor 11 to rotate again through the PLC control system. The servo motor 11 drives the two nut sleeves 17 through the two speed reducers 10 and the two lead screws 16 respectively to drive the lifting beam 38 to move on the two vertical guide rails 94, so that the lifting beam 38 drives the nested flow-through assembly to move to the next cleaning position. Each high-pressure rotating nozzle 49 corresponds to the nozzle openings of each corresponding heat exchange tube 5 on the condenser tube sheet 4 at this cleaning position. Then, repeat the above cleaning steps to clean each heat exchange tube 5 at this cleaning position until all the heat exchange tubes 5 are cleaned. The structure of the present invention is reasonable, the design is scientific, and the reliability is high. It can realize all-weather unattended online automatic cleaning without shutdown, and can liberate workers from harsh working environments and tedious labor, achieving cold-end energy conservation in thermal power plants.

[0050] The low-pressure water supply system can be replaced by an acid supply system or a gas supply system, so that the acid or compressed gas enters the low-pressure water flow-through space 42 through the right passage pipeline 2, the right robotic arm pipeline, the medium delivery pipeline 50 on the right side, and the low-pressure water inlet pipe 43. Then, the acid or compressed gas is injected into each corresponding heat exchange tube 5 through each round hole and each flow-through hole 48 to push away the circulating water in the heat exchange tube 5, forming an acid space to soak the dirt on the inner wall of the heat exchange tube 5 or a downstream compressed gas space. After that, start the high-pressure water supply system to perform a rotating high-water-pressure flushing on each heat exchange tube 5. The low-pressure water supply system, the high-pressure water supply system, the acid supply system, and the gas supply system are all conventional designs. The low-pressure water supply system, the high-pressure water supply system, and the acid supply system all include water pumps, water tanks, and water supply pipelines. The gas supply system includes air pumps, gas tanks, and gas supply pipelines. The specific connection pipeline structure is prior art and can be realized by those skilled in the art, so it will not be elaborated.

[0051] The hydraulic cylinder 52 can be replaced by a cylinder, and the control oil in the corresponding oil inlet pipeline 60 and oil return pipeline 61 is replaced by control gas. The hydraulic cylinder 52 or the cylinder is a conventional device, and the specific structure and working principle will not be elaborated.

[0052] The sealing assembly includes a first sealing structure 23, a second sealing structure 24 and a third sealing structure 25. The first sealing structure 23 is a polytetrafluoroethylene carbon fiber sealing structure, the second sealing structure 24 is an end face mechanical sealing structure, and the third sealing structure 25 is a cartridge mechanical sealing structure, which can prevent water leakage at the connection between the condenser water chamber 3 and the synchronous shaft 92, ensure the sealing performance. Moreover, the setting of the first bearing 33 and the second bearing 36 can ensure the stable rotation of the synchronous shaft 92, prevent swing, and improve the sealing effect and service life of the second sealing structure 24 and the third sealing structure 25.

[0053] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; still modifications or equivalent replacements can be made to the present invention without departing from the spirit and scope of the present invention, and any modification or partial replacement thereof should be covered by the scope of the claims of the present invention.

Claims

1. An on-line cleaning robot for a nested double-tube arm condenser, characterized in that: It includes a vertical elevator, a nested horizontal cleaning machine, a left passage pipeline, a left robotic arm pipeline, a right passage pipeline, a right robotic arm pipeline, a high-pressure water supply system, a low-pressure water supply system and a PLC control system. The vertical elevator is fixedly installed in the condenser water chamber. The nested horizontal cleaning machine is installed on the vertical elevator and is parallel to the condenser tube sheet. The vertical elevator drives the nested horizontal cleaning machine to move up and down and accurately position. The left passage pipeline and the right passage pipeline are symmetrically arranged vertically on the left and right in the condenser water chamber and are both located on the front side of the vertical elevator. The left passage pipeline and the right passage pipeline both penetrate and are fixedly connected to the outer shell of the condenser water chamber. The upper water outlet end of the left passage pipeline is located in the condenser water chamber and is connected to the high-pressure water flow space of the nested horizontal cleaning machine through the left robotic arm pipeline. The upper water outlet end of the right passage pipeline is located in the condenser water chamber and is connected to the low-pressure water flow space of the nested horizontal cleaning machine through the right robotic arm pipeline. The lower water inlet end of the left passage pipeline extends downward out of the condenser water chamber and is connected to the water supply end of the high-pressure water supply system. The lower water inlet end of the right passage pipeline extends downward out of the condenser water chamber and is connected to the water supply end of the low-pressure water supply system. The nested horizontal cleaning machine is used to clean each row of heat exchange tubes on the condenser tube sheet. A sealing assembly is provided at the connection between the vertical elevator and the outer shell of the condenser water chamber. The PLC control system is respectively signal-connected to the vertical elevator, the nested horizontal cleaning machine, the high-pressure water supply system and the low-pressure water supply system; The nested horizontal cleaning machine includes a lifting beam, a nested flow assembly, two front-back pushing mechanisms and several horizontal guiding components. The lifting beam is horizontally arranged in the left-right direction and is fixedly connected to the rear sides of two nut sleeves. The nested flow assembly is horizontally arranged in the left-right direction behind the lifting beam and is parallel to the condenser tube sheet. The two front-back pushing mechanisms are symmetrically fixedly installed on the lifting beam. The telescopic ends of the two front-back pushing mechanisms extend backward and are fixedly connected to the nested flow assembly. Each horizontal guiding component is arranged at intervals in the left-right direction. The horizontal guiding component is horizontally arranged in the front-back direction. The two ends of each horizontal guiding component are respectively fixedly connected to the lifting beam and the nested flow assembly; The nested flow-through assembly includes an outer pipe and an inner pipe. Both the outer pipe and the inner pipe are horizontally arranged in the rear side of the lifting beam along the left-right direction. The outer pipe is coaxially sleeved outside the inner pipe. The inner diameter of the outer pipe is greater than the outer diameter of the inner pipe. The lengths of the outer pipe and the inner pipe are the same. Both ends of the outer pipe and the inner pipe are sealed. The two ends of the outer pipe are welded and fixedly connected to the outer circumference of the inner pipe. The interior of the inner pipe forms a high-pressure water flow-through space, and the annular cavity between the outer pipe and the inner pipe forms a low-pressure water flow-through space. On the right side of the middle part of the front side wall of the outer pipe, a low-pressure water inlet pipe that is communicated with the low-pressure water flow-through space and horizontally arranged along the front-back direction is welded. On the left side of the middle part of the front side wall of the inner pipe, a high-pressure water inlet pipe that is communicated with the high-pressure water flow-through space and horizontally arranged along the front-back direction is welded. The high-pressure water inlet pipe passes forward through the front side wall of the outer pipe and is hermetically and fixedly connected to the front side wall of the outer pipe. The front end of the high-pressure water inlet pipe is flush with the front end of the low-pressure water inlet pipe. An arc-shaped plate is welded on the rear side wall of the outer pipe. The front side surface of the arc-shaped plate is an arc surface that closely fits the rear side wall of the outer pipe. The rear side surface of the arc-shaped plate is a vertical plane. A sealing plate is fixedly connected to the rear side surface of the arc-shaped plate by a plurality of screws. The sealing plate is made of silica gel or fluororubber. A rigid plate parallel to the sealing surface of the sealing plate is nested inside the sealing plate. Two rows of welding stud holes spaced up and down are provided on the rear side wall of the inner pipe. Two rows of circular holes spaced up and down are provided on the rear side wall of the outer pipe. Two rows of flow-through holes spaced up and down are provided on the arc-shaped plate, the sealing plate and the rigid plate. The spatial arrangement form of the welding stud holes, the circular holes and the flow-through holes is consistent with the spatial arrangement form of the heat exchange tubes on the condenser tube sheet. Each welding stud hole, each circular hole and each flow-through hole are arranged in one-to-one correspondence in the front-back direction. A high-pressure rotary nozzle communicated with the high-pressure water flow-through space is threadedly installed in each welding stud hole. The rear end of the high-pressure rotary nozzle extends backward through the corresponding circular hole and is located in the corresponding flow-through hole. The outer diameter of the high-pressure rotary nozzle is smaller than the aperture of the circular hole, so as to facilitate the low-pressure water to flow out and enter the heat exchange tube. Two medium conveying pipes horizontally arranged along the front-back direction and spaced left and right are fixedly connected through the lifting beam. The left medium conveying pipe corresponds to the high-pressure water inlet pipe in the front-back direction. The right medium conveying pipe corresponds to the low-pressure water inlet pipe in the front-back direction. The high-pressure water inlet pipe is hermetically and slidably inserted into the left medium conveying pipe in the front-back direction. The low-pressure water inlet pipe is hermetically and slidably inserted into the right medium conveying pipe in the front-back direction. A plurality of fifth O-rings are fixedly embedded on the inner circumference of the rear side parts of the two medium conveying pipes; The front-back pushing mechanism includes a hydraulic cylinder and a first connecting seat. The hydraulic cylinder is horizontally arranged along the front-back direction. The cylinder body of the hydraulic cylinder is fixedly installed on the lifting beam. The first connecting seat is welded and fixedly connected to the front side wall of the outer pipe and is located directly behind the hydraulic cylinder. The piston rod of the hydraulic cylinder extends backward and is fixedly connected to the first connecting seat. The PLC control system is signal-connected to the hydraulic cylinder; Each horizontal guiding component has the same structure and is arranged at intervals left and right. One of the horizontal guiding components includes a guiding shaft, a guiding seat, and a second connecting seat. The guiding seat is fixedly installed through the lifting beam. The guiding shaft is horizontally penetrated and slidably connected in the guiding seat in the front-rear direction. The second connecting seat is welded and fixed on the rear side wall of the outer pipe and is coaxial with the guiding seat. The rear end of the guiding shaft is fixedly connected to the second connecting seat.

2. The on-line cleaning robot for the nested double-tube arm condenser according to claim 1, characterized in that: The vertical elevator includes a left column, a right column, an upper cross beam, a lower cross beam, two synchronous shafts, two speed reducers, and a servo motor. The left column, right column, upper cross beam, and lower cross beam are assembled to form a rectangular frame. A number of tension bars are fixedly arranged at intervals up and down and horizontally in the condenser water chamber. The rectangular frame is arranged in the condenser water chamber and is located on the front side of the condenser tube sheet. The left column and the right column are both fixedly connected to the tension bars through clamps. Bearing seats are fixedly connected to the upper and lower ends of the left column and the right column. Lead screws are vertically rotatably installed between the upper and lower sets of bearing seats on the left side and between the upper and lower sets of bearing seats on the right side. The lead screw on the left side is located at the rear side of the left column, and the lead screw on the right side is located at the rear side of the right column. Two sealing assemblies are symmetrically arranged left and right. The two sealing assemblies are respectively connected to the lead screws on the left column and the right column and are fixedly installed on the outer shell of the condenser water chamber. The two speed reducers are respectively fixedly installed at the lower ends of the two sealing assemblies. The servo motor is fixedly installed on the left side of the left speed reducer. The servo motor drives the power input shaft of the left speed reducer. The left speed reducer is connected to the left end of the power input shaft of the right speed reducer through a horizontally arranged transmission shaft in the left-right direction to achieve synchronous power output of the speed reducers on both sides. The two synchronous shafts are symmetrically arranged left and right. The left synchronous shaft vertically penetrates the left sealing assembly concentrically upward and extends into the condenser water chamber. The right synchronous shaft vertically penetrates the right sealing assembly concentrically upward and extends into the condenser water chamber. The upper end of the left synchronous shaft is connected to the lower end of the left lead screw, and the upper end of the right synchronous shaft is connected to the lower end of the right lead screw through couplings. The lower end of the left synchronous shaft is coaxially driven and connected to the upper end of the power output shaft of the left speed reducer, and the lower end of the right synchronous shaft is coaxially driven and connected to the upper end of the power output shaft of the right speed reducer through flat keys. Nut sliders are threadedly connected to both lead screws. Vertical guiding tracks are fixedly arranged vertically on the rear sides of the left column and the right column. The nut slider on the left side is slidably connected to the vertical guiding track on the left side through a slider, and the nut slider on the right side is slidably connected to the vertical guiding track on the right side through a slider. The PLC control system is signal-connected to the servo motor.

3. The on-line cleaning robot for the nested double-tube arm condenser according to claim 2, characterized in that: The structures of the two sealing assemblies are the same. The sealing assembly on the left side includes a sealing housing, a sealing flange, a sealing cover, a sealing sleeve, a connecting flange sleeve, a first sealing structure, a second sealing structure, and a third sealing structure. The sealing housing is a vertically through cylindrical structure. The sealing housing vertically penetrates and is welded to the outer housing of the condenser water chamber and is located directly below the left lead screw. An end face flange is welded and fixed to the outer circumference of the lower end of the sealing housing. A first end face groove is formed in the inner circle of the lower end of the sealing housing. The diameter of the sealing flange is the same as the outer diameter of the end face flange. The sealing flange is concentrically arranged below the end face flange and is fixedly connected to the end face flange by a number of first fastening bolts. A first O-ring that is in close contact with the lower surface of the end face flange is fixedly embedded in the upper surface of the sealing flange. An upper convex surface is integrally formed on the upper surface of the middle part of the sealing flange, and a lower convex surface is integrally formed on the lower surface of the middle part of the sealing flange. A first step groove is formed in the inner circle of the upper end of the upper convex surface, and a second step groove is formed in the inner circle of the lower end of the lower convex surface. The bottom of the first step groove is higher than the bottom of the first end face groove. The bottom of the second step groove is lower than the bottom of the first step groove and higher than the bottom of the first end face groove. The sealing cover is fixedly connected to the upper convex surface by a number of second fastening bolts. A second O-ring that is in close contact with the upper convex surface is fixedly embedded in the lower end face of the sealing cover. A first circular ring flange that extends into the upper part of the first step groove is integrally formed in the inner circle of the lower end of the sealing cover. The outer circle of the first circular ring flange is in close fit with the inner circle of the upper part of the first step groove. The sealing sleeve is concentrically arranged below the lower convex surface. A first installation groove is formed in the inner circle of the upper end of the sealing sleeve, and a second end face groove is formed in the inner circle of the lower end of the sealing sleeve. The connecting flange sleeve is concentrically sleeved outside the sealing sleeve. The upper end of the connecting flange sleeve is fixedly connected to the lower surface of the sealing flange by a number of third fastening bolts. A third O-ring that is in close contact with the lower surface of the sealing flange is fixedly embedded in the upper end face of the connecting flange sleeve. The upper end of the housing of the left reducer is fixedly connected to the lower end of the connecting flange sleeve by a number of fourth fastening bolts. The left synchronizing shaft concentrically passes upward through the sealing sleeve, the sealing flange, and the sealing cover. The first sealing structure is fixedly embedded in the sealing cover. The first sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with the left synchronizing shaft to prevent water from entering the sealing cover. A first bearing is fixedly embedded in the first step groove. The first bearing is sleeved on the left synchronizing shaft. The inner ring of the first bearing rotates together with the left synchronizing shaft. The lower side of the first circular ring flange is in pressing contact with the upper end face of the outer ring of the first bearing. A partition that is clamped between the upper end face of the inner ring of the first bearing and the lower end face of the first sealing structure is fixedly embedded in the sealing cover for axially fixing the first sealing structure. The partition is sleeved on the left synchronizing shaft. The second sealing structure is concentrically fixedly embedded in the second step groove. The second sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with and rotatably connected to the left synchronizing shaft. The third sealing structure is concentrically arranged at the lower end of the sealing sleeve. The third sealing structure is fixedly connected to the lower convex surface by a number of first fastening screws that penetrate the sealing sleeve. The third sealing structure is hermetically sleeved on the left synchronizing shaft and is in close fit with and rotatably connected to the left synchronizing shaft.The upper end of the sealing sleeve is in tight pressing contact with the lower convex surface. A fourth O-ring that is in close contact with the lower convex surface is fixedly embedded on the upper end surface of the sealing sleeve. A second bearing is fixedly embedded at the bottom of the first installation groove. The second bearing is sleeved on the left synchronizing shaft, and the inner ring of the second bearing is rotationally connected to the left synchronizing shaft. A first spacer sleeve that is clamped between the upper end surface of the inner ring of the second bearing and the lower end surface of the second sealing structure is fixedly embedded in the first installation groove. The first spacer sleeve is sleeved on the left synchronizing shaft and is rotationally connected to the left synchronizing shaft., 4. The on-line cleaning robot for the nested double-tube arm condenser according to claim 3, characterized in that: The first sealing structure is a polytetrafluoroethylene carbon fiber sealing structure, the second sealing structure is an end face mechanical sealing structure, and the third sealing structure is a cartridge mechanical sealing structure.

5. The on-line cleaning robot for the nested double-tube arm condenser according to claim 4, characterized in that: The left robotic arm pipeline and the right robotic arm pipeline have the same structure and are arranged symmetrically left and right. The left robotic arm pipeline includes a first swing arm pipeline and a second swing arm pipeline. The first swing arm pipeline is arranged between the left passage pipeline and the second swing arm pipeline. The left end of the first swing arm pipeline is connected to the upper end of the left passage pipeline, the right end of the first swing arm pipeline is connected to the left end of the second swing arm pipeline, and the right end of the second swing arm pipeline is connected to the front end of the medium delivery pipeline on the left side through rotary joints. Control pipelines are arranged on the rotary joints. Oil inlet pipelines are laid and connected along the main pipeline direction on the outer pipe walls of the left passage pipeline, the first swing arm pipeline, the second swing arm pipeline, and the medium delivery pipeline on the left side. The head and tail of each oil inlet pipeline are hermetically connected to the control pipeline on the corresponding rotary joint. The rear end of the oil inlet pipeline on the medium delivery pipeline on the left side is connected to the oil inlet of the hydraulic cylinder; Oil return pipelines are laid and connected along the main pipeline direction on the outer pipe walls of the right passage pipeline, the first swing arm pipeline and the second swing arm pipeline of the right robotic arm pipeline, and the medium delivery pipeline on the right side. The head and tail of each oil return pipeline are connected to the control pipeline on the corresponding rotary joint on the right side. The rear end of the oil return pipeline on the medium delivery pipeline on the right side is connected to the oil return of the hydraulic cylinder.

6. The on-line cleaning robot for the nested double-tube arm condenser according to claim 5, characterized in that: The structures of all the rotating joints are the same. The rotating joint between the left end of the first swing arm pipe and the upper end of the left passage pipe includes a right-angle pipe joint, a rotating pipe joint, a flange end cover, a sealing spacer, and a sealing pressing ring. The right-angle pipe joint includes a vertical pipe and a horizontal pipe. The horizontal pipe is horizontally arranged in the front-rear direction. The upper end of the vertical pipe is integrally formed and fixedly connected to the lower side wall of the front end of the horizontal pipe and is communicated with the inside of the horizontal pipe. A third step groove is formed in the inner circle of the front end of the horizontal pipe. The rotating pipe joint is horizontally arranged in the front-rear direction and is concentrically and rotatably installed in the horizontal pipe. The front end of the rotating pipe joint is blocked. Through holes that are vertically concentric and correspond to the vertical pipe in the upper and lower directions are formed in both the upper and lower side walls of the front side part of the rotating pipe joint. A fourth step groove is formed in the inner circle of the rear end of the horizontal pipe. A first sealing ring sleeved on the front side part of the rotating pipe joint is fixedly embedded in the rear side groove bottom of the third step groove. The first sealing ring is in sliding seal connection with the rotating pipe joint. A third bearing and a first isolation sleeve sleeved on the front side part of the rotating pipe joint are fixedly embedded in the front side groove of the third step groove in sequence from front to back. The flange end cover is fixedly installed at the front end of the horizontal pipe through a plurality of third fastening screws. A rotating gap is left between the rear end face of the flange end cover and the front end of the horizontal pipe. A sixth O-ring that is in close contact with the front end face of the horizontal pipe is fixedly embedded in the rear edge face of the flange end cover. A second circular ring flange extending into the front side groove of the third step groove is integrally formed on the inner circle of the rear end of the flange end cover. The outer circle of the second circular ring flange is in close fit with the inner circle of the front side groove of the third step groove. The rear end of the second circular ring flange presses tightly on the front end face of the outer ring of the third bearing. A limiting retaining ring that presses tightly on the front end face of the inner ring of the third bearing is fixedly embedded on the outer circumference of the front end part of the rotating pipe joint. The limiting retaining ring is composed of two half rings. The third bearing presses tightly on the first isolation sleeve, and the first isolation sleeve presses tightly on the first sealing ring. A second sealing ring sleeved on the middle part of the rotating pipe joint is fixedly embedded in the front side groove bottom of the fourth step groove. A second isolation sleeve, a fourth bearing, and a third isolation sleeve sleeved on the middle part of the rotating pipe joint are fixedly embedded in the rear side groove of the fourth step groove in sequence from front to back. A circular ring boss is integrally formed on the outer circumference of the rear end part of the sealing spacer. The sealing spacer is concentrically sleeved on the rear side part of the rotating pipe joint. The front side face of the circular ring boss presses tightly on the rear end face of the horizontal pipe. A seventh O-ring that is in tight pressing contact with the rear end face of the horizontal pipe is fixedly embedded on the front side face of the circular ring boss. The sealing pressing ring is concentrically sleeved on the rear end part of the rotating pipe joint and presses tightly on the rear side face of the circular ring boss. The sealing pressing ring is fixedly connected to the rear end of the horizontal pipe through a plurality of second fastening screws penetrating the circular ring boss. The front side part of the sealing spacer is embedded in the front side part of the rear side groove of the fourth step groove. The outer circle of the front side part of the sealing spacer has a clearance fit with the inner circle of the rear side groove of the fourth step groove. A second installation groove is formed in the inner circle of the front end of the sealing spacer, and a third installation groove is formed in the inner circle of the rear end of the sealing spacer. The front end of the sealing spacer presses tightly on the third isolation sleeve, the third isolation sleeve presses tightly on the rear end face of the outer ring of the fourth bearing, the front end face of the outer ring of the fourth bearing presses tightly on the second isolation sleeve, and the second isolation sleeve presses tightly on the second sealing ring.A third sealing ring sleeved on the rear side of the rotating pipe joint is fixedly embedded in the second installation groove, and a fourth sealing ring sleeved on the rear end of the rotating pipe joint is fixedly embedded in the third installation groove. The sealing pressing ring presses the fourth sealing ring tightly. The first sealing ring, the second sealing ring, the third sealing ring and the fourth sealing ring are all in close fit and sealed rotation with the rotating pipe joint. A circular ring groove passage is formed in the inner circle of the middle part of the sealing spacer sleeve. First connection holes corresponding up and down and communicating with the circular ring groove passage are formed in the rear side part of the lower side pipe wall of the horizontal pipe and the middle part of the lower side pipe wall of the sealing spacer sleeve. A second connection hole communicating with the circular ring groove passage is formed in the rear side part of the lower side pipe wall of the rotating pipe joint. An outlet flange is integrally formed at the rear end of the rotating pipe joint. A first L-shaped hole is formed in the lower side part of the outlet flange. One end of the first L-shaped hole is located on the front end face of the outlet flange, and the other end of the first L-shaped hole is located on the inner cylindrical surface of the outlet flange. An inlet flange is integrally formed at the lower end of the vertical pipe. A second L-shaped hole is formed in the rear side part of the inlet flange. One end of the second L-shaped hole is located on the lower end face of the inlet flange, and the other end of the second L-shaped hole is located on the outer cylindrical surface at the rear side of the inlet flange. A U-shaped pipe located inside the rotating pipe joint is fixedly connected between the inner end of the second connection hole and the inner end of the first L-shaped hole. A bent pipe located at the rear side of the vertical pipe is fixedly connected between the outer end of the first connection hole and the rear end of the second L-shaped hole. The inlet flange is fixedly connected to the upper end of the left passage pipeline, the outlet flange is fixedly connected to the left end of the first swing arm pipeline, the lower end of the second L-shaped hole is fixedly connected to the upper end of the oil inlet pipeline on the left passage pipeline, and the rear end of the first L-shaped hole is fixedly connected to the left end of the oil inlet pipeline on the first swing arm pipeline., 7. The on-line cleaning robot for the nested double-tube arm condenser according to claim 6, characterized in that: Above the upper parts of the two second connection seats located in the middle and symmetrically left and right, underwater high-definition explosion-proof cameras that are located above the outer pipeline and shoot towards the condenser tube sheet are fixedly installed. Two aiming devices spaced left and right are fixedly installed on the upper side edge of the arc-shaped plate. The two aiming devices are respectively arranged directly behind the two underwater high-definition explosion-proof cameras. The sight of the aiming device corresponds to the center of a corresponding heat exchange tube on the condenser tube sheet before and after. The PLC control system is connected to the two underwater high-definition explosion-proof cameras through signal wires.

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