Automatic cleaning device and method for nuclear power station condenser titanium tube

Abstract

The invention relates to the field of nuclear power operation and maintenance, in particular to an automatic cleaning device and method for a nuclear power station condenser titanium tube. The device comprises a bottom plate assembly, a Z0-axis stand column assembly, a Y0-axis moving assembly, a Z1-axis rotating assembly, an X0-axis moving assembly and a Z1-axis moving assembly. A sliding rail in the X-axis direction is arranged on the bottom plate assembly, and a sliding base at the bottom of the X0-axis moving assembly is movably connected with the sliding rail. The Z0-axis stand column assembly is fixed to a rotary disc of the X0-axis moving assembly. The Y0-axis moving assembly is movably connected with the Z0-axis stand column assembly through a guide rail and a sliding block. The Z1-axis rotating assembly is fixedly connected to a rotating shaft of the Y0-axis moving assembly through a B0 rotating frame. The device and the method are high in cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the field of nuclear power operation and maintenance, and in particular to an automatic cleaning device and method for titanium tubes of a condenser in a nuclear power plant. Background Art

[0002] The condenser of a nuclear power plant is an important cold-end equipment of the generator set. Its heat exchange efficiency directly affects the power of the generator set. To maintain good heat exchange efficiency of the condenser, the cleanliness of the heat exchange titanium tube must be guaranteed. Since the heat exchange titanium tube is directly cooled by seawater flow, the cooling water contains a lot of impurities such as sand and microorganisms, resulting in varying degrees of mud and dirt accumulation and microbial reproduction, which seriously affects the cleanliness of the pipeline, resulting in low heat exchange efficiency, forcing the generator set to reduce power operation or even shut down to clean the heat exchange tube.

[0003] The traditional cleaning and maintenance method for condenser heat exchange titanium tubes involves manually cleaning each tube individually using scaffolding. Limited space and operating environment, coupled with a limited number of operators, results in long maintenance times, high labor intensity, and high maintenance costs.

[0004] Therefore, in order to address the difficulties of high labor intensity and low cleaning efficiency at the cleaning site, it is necessary to develop a condenser titanium tube cleaning device to complete the cleaning operation efficiently and at low cost. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic cleaning device and method for titanium tubes of condensers in nuclear power plants, which have high cleaning efficiency.

[0006] The present invention provides an automatic cleaning device for titanium tubes of condensers in nuclear power plants, comprising: a base plate assembly, a Z0-axis column assembly, a Y0-axis moving assembly, a Z1-axis rotating assembly, an X0-axis moving assembly, and a Z1-axis moving assembly; A slide rail in the X-axis direction is provided on the bottom plate assembly, and the slide seat at the bottom of the X0-axis moving assembly is movably connected to the slide rail; The Z0-axis column assembly is fixed on the turntable of the X0-axis moving assembly; The Y0-axis moving assembly is movably connected to the Z0-axis column assembly through a guide rail and a slider; The Z1-axis rotating assembly is fixedly connected to the rotating shaft of the Y0-axis moving assembly through the B0 rotating frame.

[0007] In a specific embodiment of the present invention, the base plate assembly includes: a torsion-resistant and bending-resistant base, a flange sealing plate at the bottom of the water chamber, an X0 linear slide rail, a base plate connecting steel pipe, a channel steel cross frame, an anti-torsion rod, and a connecting channel steel; Two bottom plate connecting steel pipes are symmetrically arranged on a disc spliced ​​by the flange sealing plate at the bottom of the water chamber, and the two bottom plate connecting steel pipes are fixed on the flange sealing plate at the bottom of the water chamber; a number of channel steel cross frames are evenly arranged between the two bottom plate connecting steel pipes, and are perpendicular to the bottom plate connecting steel pipes; a number of connecting channel steels are evenly arranged on the channel steel cross frames; two torsion and bending resistant bases are fixedly connected to both sides of the channel steel cross frames; two X0 linear slide rails are fixedly connected to the torsion and bending resistant bases; and the torsion rod is fixedly connected between the torsion and bending resistant bases.

[0008] In a specific embodiment of the present invention, the X0-axis moving assembly includes: a Z0-axis rotating motor, an X0-axis moving motor, a Z0-axis base plate, a slider, a rack, and a turntable; The Z0-axis base plate is connected to the X0 linear guide rail through sliders evenly distributed on both sides of the bottom; the turntable is fixed on the Z0-axis base plate; the Z0-axis rotating motor and the X0-axis moving motor are respectively fixed on both sides of the Z0-axis base plate, and the Z0-axis rotating motor and the turntable are connected through gears; the rack is fixed on the inner side of one of the torsion and bending-resistant bases; the X0-axis moving motor and the rack are connected through gears; the X0-axis moving assembly translates along the direction of the X0 linear guide rail 103.

[0009] In a specific embodiment of the present invention, the Z0-axis column assembly includes: a plurality of spliced ​​columns, the bottom column base is connected to the turntable, the Z0-axis guide rail is fixedly connected to both sides of the side boss of the column; the Z0-axis rack is fixedly connected to one side of the side boss of the column; the Z0-axis column assembly rotates along the central axis of the turntable.

[0010] In a specific embodiment of the present invention, the Y0-axis moving assembly includes: a Y0-axis fixed frame, a Y0-axis moving motor, an electric telescopic cylinder, a Y0-axis moving frame, a B0 rotating motor, a Z1-axis swing motor, and a Z1-axis swing frame; The Y0-axis fixed frame is slidably connected to the Z0-axis guide rail through a slider; the Y0-axis moving motor is fixed on the Y0-axis fixed frame; the driving end of the Y0-axis moving motor forms a gear with the Z0-axis rack; the non-driving end of the electric telescopic cylinder is fixed on the Y0-axis fixed frame; the Y0-axis moving frame is movably matched with the Y0-axis fixed frame through the guide rail and the slider; the driving end of the electric telescopic cylinder is fixed on the Y0-axis moving frame; the Z1-axis swing motor is fixed on the Y0-axis moving frame; the Z1-axis swing frame is hinged to the Y0-axis moving frame; the driving shaft of the Z1-axis swing motor cooperates with the Z1-axis swing frame's connecting gear; the B0 rotating motor is fixed on the Z1-axis swing frame; the Y0 moving assembly makes a linear translation along the direction of the Z0-axis guide rail; the Y0-axis moving frame makes a linear translation along the Y0 direction.

[0011] In a specific embodiment of the present invention, the Z1-axis rotation assembly includes: a B0 rotation frame, a Z1-axis swing arm, a Z1-axis linear guide rail, a Z1-axis synchronous belt, and a Z1-axis moving motor; The B0 rotating frame is coupled to the B0 rotating motor via gears; the Z1 axis swing arm is fixedly connected to the B0 rotating frame; the Z1 axis linear guide rails are fixed to both sides of the Z1 axis swing arm; the Z1 axis moving motor is fixed to one end of the Z1 axis swing arm; the Z1 axis rotating assembly rotates along the central axis of the B0 rotating motor drive shaft; The Z1 axis moving assembly includes: nozzle module, pipe joint, CCD camera, nozzle module mounting plate, and Z1 axis moving slider; The nozzle module mounting plate slides with the Z1-axis linear guide through the Z1-axis moving slider; one end of the Z1-axis synchronous belt is fixed to the nozzle module mounting plate; the nozzle module is fixed to the nozzle module mounting plate; the CCD camera is fixed to the nozzle module mounting plate; the Z1-axis moving motor drives the Z1-axis moving assemblies at both ends to perform symmetrical translation through the synchronous belt.

[0012] The present invention provides a method for cleaning titanium tubes of a nuclear power plant condenser, comprising the following steps: Step 1: Establishing a conversion relationship between the condenser titanium tube coordinate system and the coordinate system of the nuclear power plant condenser titanium tube automatic cleaning device described in the above technical solution; Step 2: The automatic cleaning device for the condenser titanium tube of the nuclear power plant moves to the first row on the upper part of the working plane, and determines whether there is a vacant titanium tube position that needs to be cleaned in the row. If so, the initial coordinate position of the hole position of the titanium tube to be cleaned in the current row is confirmed, and the nozzle module moves to the specified position. The nozzle position is corrected according to the position compensation method, and the titanium tube is cleaned; when the first point position is completed, the nozzle module moves toward each other by 3 hole position spacings under the drive of the synchronous belt; after the movement is completed, based on the rules of the linked list, it continues to traverse whether there is a point to be cleaned under the nozzle, and completes the cleaning of all the points to be cleaned in this row in sequence; after the cleaning of the current row is completed, the nozzle is moved to clean the other rows of titanium tubes in the upper half according to the distribution of the titanium tube holes; The position compensation method is: Positioning the execution end of the nuclear power plant condenser titanium tube automatic cleaning device and recording the current coordinates; Read the position data of the next pipe end face to be flushed and calculate the displacement increments △x and △y relative to the previous point; Execute the displacement increment and record the current coordinate P1 after stopping; During the displacement increment process, the image acquisition camera is turned on to acquire images, an image preprocessing method is used to obtain the edge image of the target pipe, and a Hough transform method is used to identify the center coordinate P2 of the pipe in the center of the image; Calculate the coordinate offset between P1 and P2; check whether the error margin of the offset is greater than the allowed threshold: if not, start pipeline cleaning; if it is, perform coordinate compensation, and record the current coordinates after the Z1 axis moving assembly stops moving after the compensation movement is completed; Step 3: The Z1 axis moving assembly of the nuclear power plant condenser titanium tube automatic cleaning device moves to the first row at the beginning of the lower half; the cleaning method is the same as the cleaning method of the upper half.

[0013] In a specific embodiment of the present invention, step 1 specifically includes: Determine the three-dimensional coordinates of any three points in the condenser titanium tube coordinate system; Installing the flushing device inside the condenser, and moving the cleaning device to the zero point of the coordinate system of the condenser titanium tube cleaning device for a nuclear power plant; Move the cleaning device execution end to point A on the plane of the titanium tube to be flushed, and record the coordinates AO (x1, y1, z1) of point A in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point B on the plane of the titanium tube to be cleaned, and record the coordinates BO (x2, y2, z2) of point B in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point C on the plane of the titanium tube to be flushed, and record the coordinates CO (x3, y3, z3) of point C in the cleaning device coordinate system; The theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system are known. The transformation matrix is ​​calculated by two sets of coordinates to establish the association between the two coordinate systems.

[0014] In a specific embodiment of the present invention, in the position compensation method, when executing the displacement increment, the status of the limit sensor is constantly sensed. If the limit switch is triggered, an alarm is immediately issued and human intervention is performed. If there is no abnormality, an instruction is sent to the servo motor driver to control the Z1-axis moving assembly to complete the △x and △y displacement movements, and the current coordinate P1 is recorded after the Z1-axis moving assembly stops moving.

[0015] In a specific embodiment of the present invention, during the cleaning process, invalid columns or spaces are dynamically skipped for irregular distribution.

[0016] Compared with the prior art, the automatic cleaning device and method for titanium tubes of condensers in nuclear power plants of the present invention have the following beneficial effects: (1) Breakthrough improvement in cleaning efficiency: Through automated coordinate calibration and visual compensation technology, the cleaning cycle is compressed to 16 hours, increasing efficiency by more than 10 times. The core of this is: the three-point teaching method combined with the matrix transformation algorithm quickly completes the global coordinate calibration of the 113-column × 281-row titanium tube array, avoiding the tedious manual point-by-point positioning; (the adaptive path algorithm dynamically manages irregular hole positions through a linked list, achieving opposite motion cleaning with a 3-hole spacing step, reducing invalid movement paths by 35% compared to the traditional sequential scanning method.

[0017] (2) Innovation in positioning accuracy and reliability: A closed-loop control system achieves a positioning accuracy of ±0.5mm: The visual compensation system uses Hough transform to identify the center coordinates of the pipe mouth in real time, and generates δx / δy offsets by comparing them with the theoretical values. The compensation error threshold is controlled within 0.3mm; the dual feedback mechanism of the servo motor and the limit sensor ensures that the abnormal trigger rate during the movement of the mechanical axis is less than 0.1%, which increases the cleaning success rate to 99.2%, far exceeding the industry average of 85%. This avoids the possibility of missing pipes during manual flushing.

[0018] (3) Intelligent adaptability to complex working conditions: The partition scanning strategy divides the plane into two zones, upper and lower, and combines the inter-column dynamic detection technology to effectively handle asymmetric hole arrays; the coordinate storage system based on the linked list structure can update the topological relationship of the holes to be cleaned in real time, adapting to the hole distribution variation within 10% on site; the collaborative motion design of the three-nozzle module optimizes the coverage range through a 3-hole spacing step length, reducing the number of reciprocating motions by 60% compared with the single-nozzle solution.

[0019] (4) Comprehensive optimization of cost and safety: Labor costs are reduced by 90%, eliminating the need for scaffolding and high-altitude workers. A low-cost combination of industrial cameras and ordinary servo motors replaces high-precision laser positioning systems, saving 40% in equipment costs. Enclosed automated cleaning eliminates manual contact with corrosive seawater, reducing the accident rate to zero. In addition, the computational efficiency of the matrix calibration algorithm is 50% higher than that of the traditional least squares method, and coordinate system conversion can be completed with only three-point teaching, significantly reducing the implementation threshold.

[0020] (5) The multi-coordinate system transformation matrix algorithm provides a universal solution for the positioning of mechanical axes in irregular spaces.

[0021] (6) A 7-axis design is used to clean the pipeline, and the multiple degrees of freedom of the 7-axis manipulator are used to complete functional obstacle avoidance and multi-position cleaning, further saving cleaning operation time and reducing the labor intensity of manual cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall structure and working state of the device of the present invention; Figure 2This is a schematic diagram of the base plate assembly structure of the device of the present invention; Figure 3 Schematic diagram of the Z0-axis column assembly structure of the device of the present invention; Figure 4 Schematic diagram of the Y0-axis moving assembly structure of the device of the present invention; Figure 5 Schematic diagram of the Z1-axis rotating assembly structure of the device of the present invention; Figure 6 Schematic diagram of the Z0-axis base plate assembly structure of the device of the present invention; Figure 7 Schematic diagram of the Z1-axis moving assembly structure of the device of the present invention; Figure 8 This is a flow chart for calibrating the coordinate system of the device of the present invention; Figure 9 This is a flow chart of the motion compensation of the Z1 axis moving assembly of the device of the present invention; Figure 10 This is a flow chart of the plane cleaning of the device of the present invention; In the figure: 1. Base plate assembly; 2. Z0-axis column assembly; 3. Y0-axis moving assembly; 4. Z1-axis rotating assembly; 5. X0-axis moving assembly; 6. Z1-axis moving assembly; 7. Condenser tube sheet; 8. Titanium tube; 101. Anti-torsion and anti-bending base; 102. Flange cover plate at the bottom of the water chamber; 103. X0 linear guide rail; 104. Bottom plate connecting steel pipe; 105. Channel steel cross frame; 106. Anti-torsion rod; 107. Connecting channel steel; 201, first column; 202, second column; 203, third column; 204, fourth column; 205, Z0 axis guide rail; 206, Z0 axis rack; 301, Y0-axis fixed frame; 302, Y0-axis moving motor; 303, electric telescopic cylinder; 304, Y0-axis moving frame; 305, B0 rotating motor; 306, Z1-axis swing motor; 307, Z1-axis swing frame; 401, B0 rotating frame; 402, Z1 axis swing arm; 403, Z1 axis linear guide; 404, Z1 axis synchronous belt; 405, Z1 axis moving motor; 501, Z0-axis rotating motor; 502, X0-axis moving motor; 503, Z0-axis base plate; 504, slider; 505, rack; 506, turntable; 601, nozzle module; 602, pipe joint; 603, CCD camera; 604, nozzle module mounting plate; 605, Z1-axis moving slider; 606, anti-collision damper. DETAILED DESCRIPTION

[0023] In order to further understand the present invention, embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than for limiting the present invention.

[0024] The embodiment of the present invention discloses an automatic cleaning device for titanium tubes of condensers in nuclear power plants, such as Figures 1 to 7 As shown, it includes: base plate assembly 1, Z0 axis column assembly 2, Y0 axis moving assembly 3, Z1 axis rotation assembly 4, X0 axis moving assembly 5, Z1 axis moving assembly 6; The base plate assembly 1 serves as the base of the device; The bottom plate assembly 1 is provided with a slide rail in the X-axis direction, and the slide seat at the bottom of the X0-axis moving assembly 5 is movably connected to the slide rail; The Z0-axis column assembly 2 is fixed on the turntable 506 of the X0-axis moving assembly 5; The Y0-axis moving assembly 3 is movably connected to the Z0-axis column assembly 2 through a guide rail and a slider; The Z1-axis rotating assembly 4 is fixedly connected to the rotating shaft of the Y0-axis moving assembly 3 through the B0 rotating frame.

[0025] The base plate assembly 1 includes: a torsion-resistant and bending-resistant base 101; a flange sealing plate 102 at the bottom of the water chamber; an X0 linear guide rail 103; a base plate connecting steel pipe 104; a channel steel cross frame 105; an anti-torsion rod 106; and a connecting channel steel 107. The flange sealing plate 102 at the bottom of the water chamber is laid flat in order at the bottom of the condenser water chamber as the base of the device; two bottom plate connecting steel pipes 104 are symmetrically arranged on the disc spliced ​​by the flange sealing plate 102 at the bottom of the water chamber, and the two bottom plate connecting steel pipes 104 are fixed by the clamps on the flange sealing plate 102 at the bottom of the water chamber; three channel steel cross frames 105 are evenly arranged between the two bottom plate connecting steel pipes 104, and are perpendicular to the bottom plate connecting steel pipes 104, and are fixed to the flange sealing plate 102 at the bottom of the water chamber by bolts; three connecting channel steels 107 are evenly arranged on the three channel steel cross frames 105 and fixed by bolts; two torsion-resistant and bend-resistant bases 101 are fixedly connected to both sides of the channel steel cross frames 105 by bolts; two X0 linear guide rails 103 are fixedly connected to the two torsion-resistant and bend-resistant bases 101 by screws; two torsion-resistant rods 106 are fixedly connected between the two torsion-resistant and bend-resistant bases 101 by bolts. During the flushing process, nozzle module 601 generates a significant reaction force, impacting the device itself. Furthermore, the upward movement and rotation of the nozzle module 601 generates a certain amount of torque, affecting the device's operational stability. Therefore, a torsion- and bending-resistant base is designed to enhance the device's operational stability.

[0026] The X0-axis moving assembly 5 includes: a Z0-axis rotating motor 501; an X0-axis moving motor 502; a Z0-axis base plate 503; a slider 504; a rack 505; and a turntable 506. The Z0-axis base plate 503 is connected to two X0 linear guide rails 103 via four sliders 504 evenly distributed on both sides of the base; the turntable 506 is bolted to the Z0-axis base plate 503; the Z0-axis rotating motor 501 is bolted to one side of the Z0-axis base plate 503; the Z0-axis rotating motor 501 and the turntable 506 are connected via gears; the X0-axis moving motor 502 is bolted to one side of the Z0-axis base plate 503; the rack 505 is screwed to the inner side of one of the torsion and bending-resistant bases 101; and the X0-axis moving motor 502 and the rack 505 are connected via gears. The X0-axis moving assembly 5 can translate along the X0 linear guide rails 103. The Z0 axis column assembly 2 includes: a first column 201; a second column 202; a third column 203; a fourth column 204; a Z0 axis guide rail 205; and a Z0 axis rack 206. The four columns are bolted together; the base of the first column 201 is bolted to the turntable 506; the two Z0-axis guide rails 205 are screwed to the sides of the four column side bosses; and the Z0-axis rack 206 is screwed to one side of the four column side bosses. The Z0-axis column assembly 2 can rotate along the central axis of the turntable 506.

[0027] The Y0-axis moving assembly 3 includes: a Y0-axis fixed frame 301; a Y0-axis moving motor 302; an electric telescopic cylinder 303; a Y0-axis moving frame 304; a B0 rotating motor 305; a Z1-axis swing motor 306; and a Z1-axis swing frame 307. The Y0-axis fixed frame 301 is slidably connected to two Z0-axis guide rails via four sliders; the Y0-axis moving motor 302 is fixed to the Y0-axis fixed frame 301 via bolts; the driving end of the Y0-axis moving motor 302 forms a gear with the Z0-axis rack; the non-driving end of the electric telescopic cylinder 303 is connected to the Z0-axis rack via a screw. The Y0-axis movable frame 304 is bolted to the Y0-axis fixed frame 301. The Y0-axis movable frame 304 flexibly engages with the Y0-axis fixed frame 301 via guide rails and sliders. The drive end of the electric telescopic cylinder 303 is bolted to the Y0-axis movable frame 304. The Z1-axis swing motor 306 is fixed to the Y0-axis movable frame 304. The Z1-axis swing frame 307 is hinged to the Y0-axis movable frame 304. The drive shaft of the Z1-axis swing motor 306 engages with the gear of the Z1-axis swing frame 307. The B0 rotary motor 305 is fixed to the Z1-axis swing frame 307. The Y0 movable assembly 3 can move linearly along the Z0-axis guide rail 205. The Y0-axis movable frame 304 can also move linearly along the Y0 direction.

[0028] The Z1-axis rotation assembly 4 includes: a B0 rotation frame 401; a Z1-axis swing arm 402; a Z1-axis linear guide 403; a Z1-axis timing belt 404; and a Z1-axis moving motor 405. The B0 rotation frame 401 is coupled to the B0 rotation motor 305 via gears; the Z1-axis swing arm 402 is bolted to the B0 rotation frame 401; two Z1-axis linear guides 403 are fixed to either side of the Z1-axis swing arm 402; and the Z1-axis moving motor 405 is fixed to one end of the Z1-axis swing arm 402. The Z1-axis rotation assembly 4 can rotate along the central axis of the drive shaft of the B0 rotation motor 305. The Z1-axis moving assembly 6 includes: a nozzle module 601; a pipe connector 602; a CCD camera 603; a nozzle module mounting plate 604; a Z1-axis moving slider 605; the nozzle module mounting plate 604 slidably engages with the Z1-axis linear guide 403 via the Z1-axis moving slider 605; a Z1-axis timing belt 404 secured at one end to the nozzle module mounting plate 604; the nozzle module 601 secured to the nozzle module mounting plate 604; and a CCD camera 603 secured to the nozzle module mounting plate 604. The Z1-axis moving motor 405 drives the Z1-axis moving assembly 6 at both ends via the timing belt, achieving symmetrical translation. Preferably, an anti-collision damper 606 is also provided on the nozzle module mounting plate 604 to prevent collisions when the nozzle module 601 moves toward the center.

[0029] The mobile and rotating modules of the device include 7 mobile or rotating modules.

[0030] Among them, the X0-axis moving assembly 5 provides translational motion parallel to the tube sheet direction for the entire device, while providing sufficient strength and rigidity support for the entire device, and is driven by a low-speed, high-torque private motor to improve the walking accuracy of the mechanism.

[0031] The Z0-axis moving assembly 2, Y0-axis moving assembly 3, and Z1-axis moving assembly 4 perform vertical linear motion along the Z-direction (perpendicular to the flange at the bottom of the water chamber) to adjust the height of the Y0-axis moving assembly 3. Given the heavy load on the Z0-axis, a rack and pinion is used to transmit the load. The entire system is constructed as a column. To facilitate installation and transportation, the columns are installed and transported in sections, with locating holes and pins installed at the joints.

[0032] The Y0-axis moving assembly 3 and the Z1-axis moving assembly 6 perform translational linear motion along the Y-axis. The Y0-axis moving assembly 3 is driven by an electric telescopic cylinder 303, whose output shaft is connected to the Y0-axis fixed frame 301 by a buffer mechanism. When the nozzle module 601 begins operating and generates a backward force, the electric telescopic cylinder 303 compresses. When the nozzle module 601 is not operating, the electric telescopic cylinder 303 extends. Consequently, continuous operation of the nozzle module 601 introduces an inherent vibration frequency into the cleaning device, which can affect the cleaning device's accuracy over time. To offset this frequency, a hydraulic damper is added to the buffer mechanism to absorb the vibration energy. Furthermore, when the Y0-axis moving assembly 3 moves forward, it is affected by its own gravity, causing deflection. The corresponding torque also increases as the nozzle module 601 cleans the outer side. To mitigate this deflection, two sets of linear guides are designed on the rear side of the Y axis to reduce deformation caused by the force.

[0033] Among them, the Z1-axis moving assembly 6: the nozzle module 601 performs translational motion in the opposite / toward direction along the length direction of the Z1-axis moving assembly 6.

[0034] Among them, C0 axis rotation: Z0 axis column rotates around the Z direction as the axis.

[0035] Among them, C1 axis rotation: the nozzle module rotates around the Z direction as the axis.

[0036] Among them, B0 axis rotation: the nozzle module rotates around the Y0 direction. The internal structure of the water chamber is heterogeneous and has three beams. The control system will control the 7 moving or rotating modules in a linked manner to ensure that the nozzle module can successfully complete obstacle avoidance during the cleaning process to ensure that it will not cause bumps and damage to the water chamber, while covering all titanium tubes in the set cleaning area. The embodiment of the present invention discloses a method for flushing titanium tubes of a nuclear power plant condenser, such as Figure 10 As shown, the following steps are included: Step 1: Establishing a conversion relationship between the condenser titanium tube coordinate system {F} and the coordinate system {B} of the nuclear power plant condenser titanium tube automatic cleaning device described in the above technical solution; like Figure 8 As shown, determine the three-dimensional coordinates of any three points in the condenser titanium tube coordinate system; Installing the flushing device inside the condenser, and moving the cleaning device to the zero point of the coordinate system of the nuclear power plant condenser titanium tube automatic cleaning device; Move the cleaning device execution end to point A on the plane of the titanium tube to be flushed, and record the coordinates AO (x1, y1, z1) of point A in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point B on the plane of the titanium tube to be cleaned, and record the coordinates BO (x2, y2, z2) of point B in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point C on the plane of the titanium tube to be flushed, and record the coordinates CO (x3, y3, z3) of point C in the cleaning device coordinate system; The theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system are known. The coordinate system of A, B, and C in the nuclear power plant condenser titanium tube automatic cleaning device is obtained through measurement. The transformation matrix is ​​calculated by the two sets of coordinates to establish the association between the two coordinate systems.

[0037] The coordinates of all titanium tubes in the cleaning device are automatically calculated, that is, the association between the condenser titanium tube coordinate system and the cleaning device coordinate system is completed.

[0038] To reduce the workload of manual positioning, the zero point position of each axis is preset, and the obstacle avoidance coordinates of the mechanical axes are determined to prevent contact with the workpiece during obstacle avoidance. When determining the three points, the robot automatically completes a rough stroke, and then completes the precise positioning through manual teaching. Manual teaching is used to move the robot end effector to the three preset points.

[0039] Preferably, the method further includes planning a cleaning path; The specific path planning method is: Create a linked list for each column; According to the linked list, the location of the nozzle module at the point to be cleaned is determined, and according to the linked list rules, whether the nozzle point needs to be cleaned is determined, and then the spray module is controlled to spray water for cleaning; Since the cleaning holes are not regularly distributed in a symmetrical structure, discontinuous vacancies and asymmetric holes need to be identified and processed during the cleaning process. Step 2: The automatic cleaning device for the condenser titanium tube of the nuclear power plant moves to the first row on the upper part of the working plane, and determines whether there is a vacant titanium tube position that needs to be cleaned in the row. If so, the initial coordinate position of the hole position of the titanium tube to be cleaned in the current row is confirmed, and the nozzle module moves to the specified position. The nozzle position is corrected according to the position compensation method, and the titanium tube is cleaned; when the first point position is completed, the nozzle module moves toward each other by 3 hole position spacings under the drive of the synchronous belt; after the movement is completed, based on the rules of the linked list, it continues to traverse whether there is a point to be cleaned under the nozzle, and completes the cleaning of all the points to be cleaned in this row in sequence; after the cleaning of the current row is completed, the nozzle is moved to clean the other rows of titanium tubes in the upper half according to the distribution of the titanium tube holes; Since the movement stroke of the automatic cleaning device for the condenser titanium tube of the nuclear power plant is relatively large, in order to achieve precise movement positioning, it is necessary to implement motion feedback compensation control. The present invention uses a machine vision method to compensate the position of the Z1-axis moving assembly where the nozzle module of the automatic cleaning device for the condenser titanium tube of the nuclear power plant is located after movement; like Figure 9 As shown, the position compensation method is: 1) Through the above coordinate system conversion, the coordinate system of the titanium tube to be cleaned is calibrated, and the center coordinates of the titanium tube to be cleaned are automatically stored in the memory; 2) Positioning the execution terminal of the nuclear power plant condenser titanium tube automatic cleaning device and recording the current coordinate P0 (x, y); 3) Read the position data of the next pipe end face to be flushed and calculate the displacement increments △x and △y relative to the previous point; Execute the displacement increment and record the current coordinate P1 after stopping. When executing the displacement increment, constantly monitor the status of the limit sensor. If the limit switch is triggered, an alarm will be immediately issued to prompt human intervention. If there is no abnormality, send a command to the servo motor driver to control the Z1 axis moving assembly to complete the △x and △y displacement movement. After the Z1 axis moving assembly stops moving, record the current coordinate P1. During the displacement increment process, the image acquisition camera is turned on to acquire images, an image preprocessing method is used to obtain the edge image of the target pipe, and a Hough transform method is used to identify the center coordinate P2 of the pipe in the center of the image; Calculate the coordinate offsets δx and δy between P1 and P2; check whether the error margins of δx and δy are greater than the allowed xmax and ymax thresholds. If not, start pipeline cleaning; if so, coordinate compensation is required to complete the compensation motion; 4) After completing the cleaning of one pipe, return to the previous step and finally complete the cleaning of all end face pipes; Step 3: The Z1 axis moving assembly of the nuclear power plant condenser titanium tube automatic cleaning device moves to the first row at the beginning of the lower half; the cleaning method is the same as the cleaning method of the upper half.

[0040] The titanium tubes to be cleaned consist of 113 columns and 281 rows, dividing the cleaning surface into upper and lower sections. Based on the Z1-axis motion assembly and nozzle structure, the cleaning process is performed row by row, from left to right. Due to the finger-shaped, irregular arrangement of the titanium tubes, the column-based flushing process can result in discontinuous holes, vertical asymmetry, and even the absence of a tube in the current row.

[0041] During the cleaning process, invalid columns or spaces are dynamically skipped for irregular distribution.

[0042] The above embodiments are only intended to help understand the method and core concept of the present invention. It should be noted that, without departing from the principles of the present invention, a number of improvements and modifications may be made to the present invention by those skilled in the art, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0043] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic cleaning device for titanium tubes of condensers in nuclear power plants, characterized in that: include: Base plate assembly, Z0 axis column assembly, Y0 axis moving assembly, Z1 axis rotating assembly, X0 axis moving assembly, Z1 axis moving assembly; A slide rail in the X-axis direction is provided on the bottom plate assembly, and the slide seat at the bottom of the X0-axis moving assembly is movably connected to the slide rail; The Z0-axis column assembly is fixed on the turntable of the X0-axis moving assembly; The Y0-axis moving assembly is movably connected to the Z0-axis column assembly through a guide rail and a slider; The Z1-axis rotating assembly is fixedly connected to the rotating shaft of the Y0-axis moving assembly through the B0 rotating frame.

2. The automatic cleaning device for titanium tubes of condensers in nuclear power plants according to claim 1, characterized in that: The base plate assembly includes: a torsion-resistant and bending-resistant base, a flange sealing plate at the bottom of the water chamber, an X0 linear guide rail, a base plate connecting steel pipe, a channel steel cross frame, an anti-torsion rod, and a connecting channel steel; Two bottom plate connecting steel pipes are symmetrically arranged on a disc spliced ​​by the flange sealing plate at the bottom of the water chamber, and the two bottom plate connecting steel pipes are fixed on the flange sealing plate at the bottom of the water chamber; a number of channel steel cross frames are evenly arranged between the two bottom plate connecting steel pipes, and are perpendicular to the bottom plate connecting steel pipes; a number of connecting channel steels are evenly arranged on the channel steel cross frames; two torsion and bending resistant bases are fixedly connected to both sides of the channel steel cross frames; two X0 linear slide rails are fixedly connected to the torsion and bending resistant bases; and the torsion rod is fixedly connected between the torsion and bending resistant bases.

3. The automatic cleaning device for titanium tubes of condensers in nuclear power plants according to claim 2, characterized in that: The X0-axis moving assembly includes: a Z0-axis rotating motor, an X0-axis moving motor, a Z0-axis base plate, a slider, a rack, and a turntable; The Z0-axis base plate is connected to the X0 linear guide rail through sliders evenly distributed on both sides of the bottom; the turntable is fixed on the Z0-axis base plate; the Z0-axis rotating motor and the X0-axis moving motor are respectively fixed on both sides of the Z0-axis base plate, and the Z0-axis rotating motor and the turntable are connected through gears; the rack is fixed on the inner side of one of the torsion and bending-resistant bases; the X0-axis moving motor and the rack are connected through gears; the X0-axis moving assembly translates along the direction of the X0 linear guide rail 103.

4. The automatic cleaning device for titanium tubes of condensers in nuclear power plants according to claim 3, characterized in that: The Z0-axis column assembly includes: a plurality of columns spliced ​​together, the bottom column base is connected to the turntable, the Z0-axis guide rail is fixedly connected to both sides of the column side boss; the Z0-axis rack is fixedly connected to one side of the column side boss; the Z0-axis column assembly rotates along the central axis of the turntable.

5. The automatic cleaning device for titanium tubes of condensers in nuclear power plants according to claim 4, characterized in that: The Y0-axis moving assembly includes: a Y0-axis fixed frame, a Y0-axis moving motor, an electric telescopic cylinder, a Y0-axis moving frame, a B0 rotating motor, a Z1-axis swing motor, and a Z1-axis swing frame; The Y0-axis fixed frame is slidably connected to the Z0-axis guide rail through a slider; the Y0-axis moving motor is fixed on the Y0-axis fixed frame; the driving end of the Y0-axis moving motor forms a gear with the Z0-axis rack; the non-driving end of the electric telescopic cylinder is fixed on the Y0-axis fixed frame; the Y0-axis moving frame is movably matched with the Y0-axis fixed frame through the guide rail and the slider; the driving end of the electric telescopic cylinder is fixed on the Y0-axis moving frame; the Z1-axis swing motor is fixed on the Y0-axis moving frame; the Z1-axis swing frame is hinged to the Y0-axis moving frame; the driving shaft of the Z1-axis swing motor cooperates with the Z1-axis swing frame's connecting gear; the B0 rotating motor is fixed on the Z1-axis swing frame; the Y0 moving assembly makes a linear translation along the direction of the Z0-axis guide rail; the Y0-axis moving frame makes a linear translation along the Y0 direction.

6. The automatic cleaning device for titanium tubes of condensers in nuclear power plants according to claim 5, characterized in that: The Z1 axis rotation assembly includes: B0 rotation frame, Z1 axis swing arm, Z1 axis linear guide, Z1 axis synchronous belt, Z1 axis moving motor; The B0 rotating frame is coupled to the B0 rotating motor via gears; the Z1 axis swing arm is fixedly connected to the B0 rotating frame; the Z1 axis linear guide rails are fixed to both sides of the Z1 axis swing arm; the Z1 axis moving motor is fixed to one end of the Z1 axis swing arm; the Z1 axis rotating assembly rotates along the central axis of the B0 rotating motor drive shaft; The Z1 axis moving assembly includes: nozzle module, pipe joint, CCD camera, nozzle module mounting plate, and Z1 axis moving slider; The nozzle module mounting plate slides with the Z1-axis linear guide through the Z1-axis moving slider; one end of the Z1-axis synchronous belt is fixed to the nozzle module mounting plate; the nozzle module is fixed to the nozzle module mounting plate; the CCD camera is fixed to the nozzle module mounting plate; the Z1-axis moving motor drives the Z1-axis moving assemblies at both ends to perform symmetrical translation through the synchronous belt.

7. A method for cleaning titanium tubes of a nuclear power plant condenser, characterized in that: The following steps are involved: Step 1: establishing a conversion relationship between the condenser titanium tube coordinate system and the coordinate system of the nuclear power plant condenser titanium tube automatic cleaning device according to any one of claims 1 to 6; Step 2: The automatic cleaning device for the condenser titanium tube of the nuclear power plant moves to the first row on the upper part of the working plane, and determines whether there is a vacant titanium tube position that needs to be cleaned in the row. If so, the initial coordinate position of the titanium tube hole to be cleaned in the current row is confirmed, the nozzle module moves to the specified position, and the nozzle position is corrected according to the position compensation method, and the titanium tube is cleaned; When the first point is completed, the nozzle module moves towards each other by 3 hole spacings driven by the synchronous belt; After the movement is completed, the nozzle continues to traverse based on the rules of the linked list to see if there are any points to be cleaned under the nozzle, and the cleaning of all the points to be cleaned in this row is completed in a cycle; after the current row is cleaned, the nozzle is moved to clean other rows of titanium tubes in the upper half according to the distribution of the titanium tube holes; The position compensation method is: Positioning the execution end of the nuclear power plant condenser titanium tube automatic cleaning device and recording the current coordinates; Read the position data of the next pipe end face to be flushed and calculate the displacement increments △x and △y relative to the previous point; Execute the displacement increment and record the current coordinate P1 after stopping; During the displacement increment process, the image acquisition camera is turned on to acquire images, an image preprocessing method is used to obtain the edge image of the target pipe, and a Hough transform method is used to identify the center coordinate P2 of the pipe in the center of the image; Calculate the coordinate offset between P1 and P2; check whether the error margin of the offset is greater than the allowed threshold: if not, start pipeline cleaning; if it is, perform coordinate compensation, and record the current coordinates after the Z1 axis moving assembly stops moving after the compensation movement is completed; Step 3: The Z1 axis moving assembly of the nuclear power plant condenser titanium tube automatic cleaning device moves to the first row at the beginning of the lower half; the cleaning method is the same as the cleaning method of the upper half.

8. The method for cleaning titanium tubes of a nuclear power plant condenser according to claim 7, characterized in that: The step 1 specifically includes: Determine the three-dimensional coordinates of any three points in the condenser titanium tube coordinate system; Installing the flushing device inside the condenser, and moving the cleaning device to the zero point of the coordinate system of the condenser titanium tube cleaning device for a nuclear power plant; Move the cleaning device execution end to point A on the plane of the titanium tube to be flushed, and record the coordinates AO (x1, y1, z1) of point A in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point B on the plane of the titanium tube to be cleaned, and record the coordinates BO (x2, y2, z2) of point B in the cleaning device coordinate system; Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system; Move the cleaning device execution end to point C on the plane of the titanium tube to be flushed, and record the coordinates CO (x3, y3, z3) of point C in the cleaning device coordinate system; The theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system are known. The transformation matrix is ​​calculated by two sets of coordinates to establish the association between the two coordinate systems.

9. The method for cleaning titanium tubes of a nuclear power plant condenser according to claim 7, characterized in that: In the position compensation method, when executing the displacement increment, the status of the limit sensor is constantly sensed. If the limit switch is triggered, an alarm is immediately issued and human intervention is performed. If there is no abnormality, an instruction is sent to the servo motor driver to control the Z1-axis moving assembly to complete the △x and △y displacement movements, and the current coordinate P1 is recorded after the Z1-axis moving assembly stops moving.

10. The method for cleaning titanium tubes of a nuclear power plant condenser according to claim 7, characterized in that: During the cleaning process, invalid columns or spaces are dynamically skipped for irregular distribution.

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