Underwater foreign matter cleaning device for trash holding grating of cold source system

Abstract

The invention relates to the technical field, and provides a cold source system trash grating underwater foreign matter cleaning device which comprises a main body support and a cleaning part arranged on the main body support, a supporting cross beam is arranged on the main body support, the cleaning part comprises a mechanical arm and a cavitation jet flow assembly, the cleaning part is installed on an installation base, and the installation base is connected with an adjusting assembly. The adjusting assembly comprises a walking mechanism, the walking mechanism comprises a walking sliding seat and a walking driving part used for driving the walking sliding seat to move back and forth, and the walking sliding seat is arranged on the supporting cross beam in a transverse sliding mode; and the rotating mechanism comprises a rotating seat and a rotating driving part used for driving the rotating seat to rotate, the rotating seat is rotatably arranged on the walking sliding seat, and the mounting seat is connected with the rotating seat. The cleaning effect can be improved, the moving range and posture of the cleaning component can be increased, the cleaning range is widened, and the cleaning component can accurately reach the cleaning position conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater foreign matter cleaning, and in particular to an underwater foreign matter cleaning device for a trash grille of a cold source system. Background Art

[0002] The seawater cooling system of a nuclear power plant is a key system to ensure the safe operation of the nuclear power plant, and its daily maintenance and inspection work is very important. Due to the large amount of impurities in seawater and the large-scale growth of marine organisms in some sea areas, various impurities (foreign matter) accumulate in the cooling system (especially in places such as seawater fences), and even block the system, which affects the safe operation of the nuclear power plant. Therefore, it is necessary to regularly clean the foreign matter from the pollution screen of the cooling system.

[0003] In the prior art (for example, patent documents with publication numbers "CN111395275A", "CN114949952A", etc.), some automated devices are used to replace the traditional manual cleaning method. The cleaning device provided in the prior art usually carries a cleaning component through a main body bracket. After the main body bracket is lowered into place from the installation slot of the cold source system sluice gate, the foreign matter on the grille is cleaned by the cleaning component. The cleaning component is either a grabbing component that cleans the foreign matter by grabbing or shoveling, or a high-pressure jet component that cleans the foreign matter by flushing. The cleaning method is single and the effect is not good. In addition, the range of movement of the cleaning component is limited, and it is difficult to accurately reach the cleaning position, and some areas cannot even be cleaned. Summary of the invention

[0004] The object of the present invention is to provide an underwater foreign matter cleaning device for a trash grille of a cold source system to solve the above-mentioned defects of the prior art.

[0005] The present invention is achieved through the following technical solutions:

[0006] An underwater foreign body cleaning device for a cold source system trash grille comprises a main body support and a cleaning component arranged on the cleaning main body support, the main body support is provided with a supporting crossbeam, the cleaning component comprises a manipulator and a cavitation jet component, the cleaning component is mounted on a mounting seat, the mounting seat is connected with an adjustment component, and the adjustment component comprises:

[0007] A walking mechanism, comprising a walking slide and a walking driving component for driving the walking slide to move back and forth, wherein the walking slide is arranged on the supporting beam in a transversely slidable manner; and

[0008] The rotating mechanism comprises a rotating seat and a rotating driving component for driving the rotating seat to rotate. The rotating seat is rotatably arranged on the walking slide seat, and the mounting seat is connected to the rotating seat.

[0009] Optionally, the adjustment assembly also includes a telescopic mechanism, which includes a telescopic slide and a telescopic driving component for driving the telescopic slide to move back and forth. The telescopic slide is slidably arranged on the rotating seat and fixedly connected to the mounting seat. The sliding direction of the telescopic slide is parallel to the sliding direction of the walking slide.

[0010] Optionally, the cleaning component also includes a camera system, which includes a support tube, a camera and a cleaning water pipe. The camera is arranged on the support tube, and a number of cleaning water pipes are arranged around the camera, and the water outlet of the cleaning water pipe is located in front of the camera.

[0011] Optionally, the cavitation jet assembly includes a cavitation jet disk and an azimuth adjustment mechanism to adjust the pitch angle and yaw angle of the cavitation jet.

[0012] Optionally, the azimuth adjustment mechanism includes a connecting bracket, a first driving element and a second driving element, the connecting bracket is rotatably connected to the mounting seat, and the cavitation jet disk is hinged to the connecting bracket; the first driving element is used to drive the connecting bracket to rotate around a rotation point, and the second driving element is used to drive the cavitation jet disk to rotate around a hinge point.

[0013] Optionally, the first driving element and the second driving element are both driving elements whose output ends can be retracted; one end of the first driving element is hinged to the mounting seat, and the other end of the first driving element is hinged to the connecting bracket, so that the connecting bracket can be driven to rotate around the rotation point through the extension and retraction of the first driving element; one end of the second driving element is hinged to the connecting bracket, and the other end of the second driving element is hinged to the cavitation jet disk, so that the cavitation jet disk can be driven to rotate around the hinge point through the extension and retraction of the second driving element.

[0014] Optionally, the supporting crossbeam can be slidably arranged on the main body bracket, and the main body bracket is provided with a lifting driving component for driving the supporting crossbeam to rise and fall.

[0015] Optionally, guide wheels are provided on both sides of the main support for abutting against the side walls of the cold source system water gate installation groove.

[0016] Optionally, a tightening mechanism is provided on at least one side of the main support, and the tightening mechanism includes an tightening piece for tightening against a side wall of the installation groove of the water gate of the cold source system, and an tightening driving element for driving the tightening piece to move.

[0017] Optionally, the travel drive component includes a travel guide rail, a rack, a gear and a travel motor. The travel guide rail and the rack are fixed on the supporting beam. The travel slide is slidably connected to the travel guide rail. The output shaft of the travel motor is connected to the gear, and the gear is meshed with the rack.

[0018] The technical solution of the present invention has at least the following advantages and beneficial effects: In the present invention, foreign matter is cleaned by two methods, namely, mechanical arm grabbing and cavitation jet component flushing, thereby improving the cleaning effect; and the linear motion and rotational motion of the cleaning component are realized by the arranged walking mechanism and rotating mechanism, thereby increasing the range of motion and posture of the cleaning component, improving the cleaning range, and facilitating the cleaning component to accurately reach the cleaning location. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic structural diagram of an underwater foreign matter cleaning device for a trash grille of a cold source system provided by the present invention;

[0021] Figure 2 for Figure 1 A magnified image from another perspective;

[0022] Figure 3 A schematic diagram of the connection relationship between the supporting beam, the cleaning component and the adjustment component;

[0023] Figure 4 Schematic diagram of the structure of the cavitation jet component Figure 1 ;

[0024] Figure 5 Schematic diagram of the structure of the cavitation jet component Figure 2 ;

[0025] Figure 6 It is a structural diagram of the camera system;

[0026] Icons: 1-main bracket, 2-manipulator, 3-cavitation jet assembly, 301-cavitation jet disk, 302-connecting bracket, 303-first driving element, 304-second driving element, 4-camera system, 401-support cylinder, 402-camera, 403-cleaning water pipe, 5-adjustment assembly, 501-travel slide, 502-rotating seat, 503-telescopic slide, 504-telescopic driving component, 6-guide wheel, 7-tensioning piece, 8-tensioning driving element, 9-support beam, 10-mounting seat. DETAILED DESCRIPTION

[0027] refer to Figure 1A device for cleaning underwater foreign matter of a trash grille of a cold source system comprises a main support 1 and a cleaning component arranged on the main support 1. In practical applications, the main support 1 is lifted by a lifting device (such as a crane), and is lowered to a certain height by using the space of a cold source system water gate installation groove, and enters the cold source system seawater channel, and reaches the trash grille to be inspected and cleaned, so as to realize targeted cleaning operations.

[0028] refer to Figure 2 To this end, guide wheels 6 are provided on both sides of the main support 1 to abut against the side walls of the cold source system water gate installation groove. It is easy to understand that the distance between the guide wheels 6 on both sides is the width of the cold source system water gate installation groove. The guide wheels 6 are used as guides when the main support 1 is lowered, and on the other hand, they are used to limit the front and rear directions of the main support 1 (the directions mentioned here and below are as follows). Figure 1 for reference).

[0029] Furthermore, a tightening mechanism is provided on one side of the main support 1, and the tightening mechanism includes an tightening member 7 for pressing against the side wall of the installation slot of the cold source system water gate, and an tightening driving element 8 for driving the tightening member 7 to move. Of course, other embodiments may also be provided with tightening mechanisms on both sides. In practical applications, when the main support 1 is lowered to the target height, the tightening driving element 8 is used to extend the tightening member 7 and press against the side wall of the installation slot of the cold source system water gate, so that the main support 1 is fixed, so as to avoid the main support 1 from being lateral (i.e., Figure 1 As an option, the expansion drive element 8 of this embodiment is a hydraulic cylinder, and the expansion piece 7 is a rod. It is easy to understand that in other embodiments, the expansion drive element 8 can also be an electric push rod, a cylinder, etc., and the expansion piece 7 can be a block object, etc.

[0030] refer to Figure 1 and Figure 3 , a supporting crossbeam 9 is provided on the main support 1, and the supporting crossbeam 9 is used to support the cleaning component. The cleaning component includes a manipulator 2 and a cavitation jet assembly 3, that is, this embodiment adopts two cleaning methods to combine and improve the cleaning effect. In practical applications, the manipulator 2 adopts a six-degree-of-freedom serial writing manipulator 2. By adjusting the position and posture of the end of the manipulator 2, various working tasks at different positions and angles can be achieved. The end can be equipped with different actuators, such as grippers, scissors, etc., to achieve different ways of cleaning foreign matter such as grabbing and shearing. The cavitation jet assembly 3 uses a cavitation jet to flush foreign matter.

[0031] The cleaning component is mounted on a mounting seat 10, and the mounting seat 10 is connected to an adjustment assembly 5, which includes a walking mechanism and a rotating mechanism, so as to achieve lateral position adjustment and circumferential position adjustment of the cleaning component.

[0032] The walking mechanism comprises a walking slide 501 and a walking driving component for driving the walking slide 501 to move back and forth, and the walking slide 501 can be arranged on the supporting beam 9 in a transverse sliding manner. As a choice, the walking driving component of the present embodiment comprises a walking guide rail, a rack, a gear and a walking motor, the walking guide rail and the rack are fixed on the supporting beam 9, the walking slide 501 is slidably connected with the walking guide rail, the output shaft of the walking motor is connected with the gear, the gear is meshed with the rack, and the walking motor is installed on the walking slide 501. In actual application, the walking motor is started to drive the gear to rotate, and the gear will rotate and move along the rack, thereby realizing that the slide moves along the walking guide rail and adjusting the lateral position of the cleaning component. In other embodiments, the walking driving component can certainly adopt other forms, for example, the walking driving component is a linear module.

[0033] The rotating mechanism includes a rotating seat 502 and a rotating driving component for driving the rotating seat 502 to rotate. The rotating seat 502 is rotatably arranged on the walking slide 501, and the mounting seat 10 is connected to the rotating seat 502. As an option, the rotating driving component includes a rotating motor and a reducer. The rotating motor works to rotate the rotating seat 502 to adjust the circumferential position of the cleaning component.

[0034] The adjustment assembly 5 also includes a telescopic mechanism, which includes a telescopic slide 503 and a telescopic driving component 504 for driving the telescopic slide 503 to move back and forth. The telescopic slide 503 is slidably arranged on the rotating seat 502 and is fixedly connected to the mounting seat 10. The sliding direction of the telescopic slide 503 is parallel to the sliding direction of the walking slide 501. Such an arrangement facilitates further adjustment of the distance of the cleaning component relative to the cleaning part. As an option, the telescopic driving component 504 is a hydraulic cylinder, one end of which is hinged to the telescopic slide 503 and the other end is hinged to the rotating seat 502. The telescopic slide 503 can be driven to move by the extension and contraction of the hydraulic cylinder.

[0035] The cleaning component also includes a camera system 4, which can detect the accumulation of debris on the grille before cleaning, providing a basis for the cleaning path planning and cleaning process of the cleaning component, and can also detect the accumulation of debris on the grille after cleaning to evaluate the cleaning effect. Figure 6 The camera system 4 includes a support tube 401, a camera head 402 and a cleaning water pipe 403. The camera head 402 is arranged on the support tube 401. A plurality of cleaning water pipes 403 are arranged around the camera head 402, and the water outlet of the cleaning water pipe 403 is located in front of the camera head 402. It should be understood that the cleaning water pipe 403 is used to flush the front of the camera head 402. In actual application, a water supply system (pump, valve, water source, etc.) should be configured.

[0036] In practical applications, the support tube 401 can be installed on the mounting base 10 or on the arm at the front end of the manipulator 2. The camera 402 uses an industrial lens to meet the needs of observation and visual processing. In addition, it is worth noting that due to the large amount of sediment in the water, the observation distance of the camera 402 is relatively large. The cleaning water pipe 403 can flush the front of the camera 402 to form a local clean area, thereby improving the visual distance and range of the camera 402. The support tube 401 can also carry a powerful underwater light to cooperate with the cleaning water pipe 403 to further improve the visual distance and range of the camera 402.

[0037] In this embodiment, the support beam 9 can be slidably arranged on the main frame 1, and the main frame 1 is provided with a lifting driving component for driving the support beam 9 to rise and fall, so that it is convenient to adjust the height of the support beam 9 on the main frame 1, and further adjust the working height of the cleaning component. The specific structure of the lifting driving component is not limited, for example, a linear module is used, and lifting slides are arranged at both ends of the support beam 9, and lifting guide rails are arranged on the main frame 1, and the lifting slide is slidably connected to the lifting guide rails, and then the lifting slide is driven to rise and fall by components such as hydraulic cylinders.

[0038] refer to Figure 4 and Figure 5 The cavitation jet assembly 3 includes a cavitation jet disc 301 and an azimuth adjustment mechanism to adjust the pitch angle and yaw angle of the cavitation jet, so that the action of the cavitation jet disc 301 is more refined, which is convenient for accurately cleaning the cleaning part. It should be understood that the cavitation jet disc 301 should be equipped with a water supply system (pump, valve, water source, etc.).

[0039] In some embodiments, the azimuth adjustment mechanism can be replaced by a mechanical arm with multiple degrees of freedom, but this will increase the cost. To this end, the azimuth adjustment mechanism of this embodiment includes a connecting bracket 302, a first driving element 303 and a second driving element 304. The connecting bracket 302 is rotatably connected to the mounting seat 10, and the cavitation jet disk 301 is hinged to the connecting bracket 302; the first driving element 303 is used to drive the connecting bracket 302 to rotate around the rotation point, and the second driving element 304 is used to drive the cavitation jet disk 301 to rotate around the hinge point.

[0040] As an option, in this embodiment, both the first driving element 303 and the second driving element 304 are driving elements with retractable output ends, such as hydraulic cylinders (or air cylinders, electric push rods, etc.), one end of the first driving element 303 is hinged to the mounting seat 10, and the other end of the first driving element 303 is hinged to the connecting bracket 302, and the extension and retraction of the first driving element 303 can drive the connecting bracket 302 to rotate around the rotation point to adjust the yaw angle of the cavitation jet disk 301. One end of the second driving element 304 is hinged to the connecting bracket 302, and the other end of the second driving element 304 is hinged to the cavitation jet disk 301, and the extension and retraction of the second driving element 304 can drive the cavitation jet disk 301 to rotate around the hinge point to adjust the pitch angle of the cavitation jet disk 301. Of course, in other embodiments, the first driving element 303 and the second driving element 304 can also be other forms, for example, both are steering gears.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater foreign body cleaning device for a cold source system trash screen, comprising a main body support and a cleaning component arranged on the main body support, characterized in that: The main support is provided with a supporting beam, the cleaning component includes a manipulator and a cavitation jet component, the cleaning component is installed on a mounting seat, and the mounting seat is connected with an adjustment component, and the adjustment component includes: A walking mechanism, comprising a walking slide and a walking driving component for driving the walking slide to move back and forth, wherein the walking slide is arranged on the supporting beam in a transversely slidable manner; and The rotating mechanism comprises a rotating seat and a rotating driving component for driving the rotating seat to rotate. The rotating seat is rotatably arranged on the walking slide seat, and the mounting seat is connected to the rotating seat.

2. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 1 is characterized in that: The adjustment assembly also includes a telescopic mechanism, which includes a telescopic slide and a telescopic driving component for driving the telescopic slide to move back and forth. The telescopic slide is slidably arranged on the rotating seat and fixedly connected to the mounting seat. The sliding direction of the telescopic slide is parallel to the sliding direction of the walking slide.

3. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 1 is characterized in that: The cleaning component also includes a camera system, which includes a support tube, a camera head and a cleaning water pipe. The camera is arranged on the support tube, and a plurality of cleaning water pipes are arranged around the camera head, and the water outlet of the cleaning water pipe is located in front of the camera head.

4. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 1 is characterized in that: The cavitation jet assembly comprises a cavitation jet disk and an azimuth adjustment mechanism to adjust the pitch angle and yaw angle of the cavitation jet.

5. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 4 is characterized in that: The azimuth adjustment mechanism includes a connecting bracket, a first driving element and a second driving element. The connecting bracket is rotatably connected to the mounting seat, and the cavitation jet disk is hinged to the connecting bracket. The first driving element is used to drive the connecting bracket to rotate around a rotation point, and the second driving element is used to drive the cavitation jet disk to rotate around a hinge point.

6. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 5 is characterized in that: The first driving element and the second driving element are both driving elements with retractable output ends; one end of the first driving element is hinged to the mounting seat, and the other end of the first driving element is hinged to the connecting bracket, so that the connecting bracket is driven to rotate around the rotation point through the extension and retraction of the first driving element; One end of the second driving element is hinged to the connecting bracket, and the other end of the second driving element is hinged to the cavitation jet disk, so that the cavitation jet disk is driven to rotate around the hinge point through the extension and contraction of the second driving element.

7. The underwater foreign matter cleaning device for the trash screen of the cold source system according to any one of claims 1 to 6, characterized in that: The supporting crossbeam can be slidably arranged on the main frame up and down, and the main frame is provided with a lifting driving component for driving the supporting crossbeam to lift up and down.

8. The underwater foreign matter cleaning device for the trash screen of the cold source system according to any one of claims 1 to 6, characterized in that: Guide wheels are arranged on both sides of the main frame for abutting against the side walls of the installation groove of the water gate of the cold source system.

9. The underwater foreign matter cleaning device for the trash screen of the cold source system according to claim 8, characterized in that: At least one side of the main support is provided with an expansion mechanism, which includes an expansion piece for pressing against the side wall of the installation groove of the water gate of the cold source system, and an expansion driving element for driving the expansion piece to move.

10. The underwater foreign matter cleaning device for the trash screen of the cold source system according to any one of claims 1 to 6, characterized in that: The travel drive component includes a travel guide rail, a rack, a gear and a travel motor. The travel guide rail and the rack are fixed on the supporting beam. The travel slide is slidably connected to the travel guide rail. The output shaft of the travel motor is connected to the gear, and the gear is meshed with the rack.

Images