An automated cleaning device and method for titanium tubes in a nuclear power plant condenser.

Abstract

This invention relates to the field of nuclear power plant operation and maintenance, and particularly to an automated cleaning device and method for titanium tubes in nuclear power plant condensers. The device includes: 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 base plate assembly, and a slide block at the bottom of the X0-axis moving assembly is movably connected to the slide rail; the Z0-axis column assembly is fixed to the turntable of the X0-axis moving assembly; the Y0-axis moving assembly is movably connected to the Z0-axis column assembly via a guide rail and a slider; the Z1-axis rotating assembly is fixedly connected to the rotating shaft of the Y0-axis moving assembly via a B0 rotating frame. The device and method of this invention have high cleaning efficiency.

Description

Technical Field

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

[0002] The condenser in a nuclear power plant is an important cold-end device of the generator set, and its heat exchange efficiency directly affects the power of the generator set. To maintain good heat exchange efficiency of the condenser, it is necessary to ensure the cleanliness of the heat exchange titanium tubes. Since the heat exchange titanium tubes are directly cooled by seawater flow, there are a lot of impurities such as cement sand and microorganisms in the cooling water, resulting in varying degrees of mud accumulation and microbial growth, which seriously affects the cleanliness of the pipes, leading to low heat exchange efficiency. This forces the generator set to operate at reduced power or even shut down to clean the heat exchange tubes.

[0003] Traditionally, cleaning and maintenance of condenser heat exchanger titanium tubes involves erecting scaffolds and manually cleaning each tube one by one. Limited by work space and environment, and a limited number of personnel, this results in long maintenance times, high labor intensity for operators, and high maintenance costs.

[0004] Therefore, in order to address the challenges 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 this invention is to provide an automated cleaning device and method for titanium tubes in nuclear power plant condensers, which has high cleaning efficiency.

[0006] This invention provides an automated cleaning device for titanium tubes of a nuclear power plant condenser, 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;

[0007] The base plate assembly is equipped with a slide rail in the X-axis direction, and the slide block at the bottom of the X0 axis moving assembly is movably connected to the slide rail;

[0008] The Z0 axis column assembly is fixed on the turntable of the X0 axis moving assembly;

[0009] The Y0 axis moving assembly is movably connected to the Z0 axis column assembly via guide rails and sliders;

[0010] The Z1 axis rotary assembly is fixedly connected to the rotary shaft of the Y0 axis moving assembly via the B0 rotary bracket.

[0011] In one specific embodiment of the present invention, the base plate assembly includes: an anti-torsion and anti-bending base, a bottom flange sealing plate of the water chamber, an X0 linear slide rail, a base plate connecting steel pipe, a channel steel crossbar, an anti-torsion rod, and a connecting channel steel.

[0012] Two base plate connecting steel pipes are symmetrically arranged on a disc spliced ​​from the bottom flange sealing plate of the water chamber, and the two base plate connecting steel pipes are fixed to the bottom flange sealing plate of the water chamber; several channel steel crossbars are evenly arranged between the two base plate connecting steel pipes and are perpendicular to the base plate connecting steel pipes; several connecting channel steels are evenly arranged on the channel steel crossbars; two anti-torsion and anti-bending bases are fixedly connected to both sides of the channel steel crossbars; two X0 linear slide rails are fixedly connected to the anti-torsion and anti-bending bases; and anti-torsion rods are fixedly connected between the anti-torsion and anti-bending bases.

[0013] In one specific embodiment of the present invention, the X0 axis moving assembly includes: a Z0 axis rotary motor, an X0 axis moving motor, a Z0 axis base plate, a slider, a rack, and a turntable;

[0014] The Z0 axis base plate is connected to the X0 linear slide rail via sliders evenly distributed on both sides of the bottom; the turntable is fixed on the Z0 axis base plate; the Z0 axis rotary motor and the X0 axis moving motor are respectively fixed on both sides of the Z0 axis base plate, and the Z0 axis rotary motor and the turntable are connected via gears; the rack is fixed to the inner side of one of the anti-torsion and anti-bending bases; the X0 axis moving motor and the rack are connected via gears; the X0 axis moving assembly moves along the X0 linear slide rail 103.

[0015] In a specific embodiment of the present invention, the Z0 axis column assembly includes: a plurality of columns spliced ​​together, the bottom column base being connected to the turntable, the Z0 axis guide rail being fixedly connected to both sides of the side boss of the column; the Z0 axis rack being fixedly connected to one side of the side boss of the column; the Z0 axis column assembly rotating along the central axis of the turntable.

[0016] 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 rotary motor, a Z1 axis swing motor, and a Z1 axis swing frame.

[0017] The Y0 axis fixed frame is slidably connected to the Z0 axis guide rail via a slider; the Y0 axis moving motor is fixed to the Y0 axis fixed frame; the drive end of the Y0 axis moving motor forms a gear engagement with the Z0 axis rack; the non-drive end of the electric telescopic cylinder is fixed to the Y0 axis fixed frame; the Y0 axis moving frame is movably engaged with the Y0 axis fixed frame via the guide rail and slider; the drive end of the electric telescopic cylinder is fixed to the Y0 axis moving frame; the Z1 axis swing motor is fixed to the Y0 axis moving frame; the Z1 axis swing frame is hinged to the Y0 axis moving frame; the drive shaft of the Z1 axis swing motor engages with the Z1 axis swing frame via a through gear; the B0 rotary motor is fixed to the Z1 axis swing frame; the Y0 moving assembly moves linearly along the Z0 axis guide rail direction; the Y0 axis moving frame moves linearly along the Y0 direction.

[0018] In one specific embodiment of the present invention, the Z1 axis rotating assembly includes: a B0 rotating frame, a Z1 axis swing arm, a Z1 axis linear guide, a Z1 axis synchronous belt, and a Z1 axis moving motor;

[0019] The B0 rotating frame is connected 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 rail is fixed on 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 drive shaft of the B0 rotating motor.

[0020] The Z1 axis moving assembly includes: nozzle module, pipe connector, CCD camera, nozzle module mounting plate, and Z1 axis moving slider;

[0021] The nozzle module mounting plate slides with the Z1 axis linear guide rail via a Z1 axis moving slider; one end of the Z1 axis timing 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 via the timing belt.

[0022] This invention provides a method for cleaning titanium tubes in a nuclear power plant condenser, comprising the following steps:

[0023] Step 1: Establish the transformation relationship between the coordinate system of the condenser titanium tube and the coordinate system of the automated cleaning device for the condenser titanium tube of the nuclear power plant described in the above technical solution;

[0024] Step 2: The automated cleaning device for titanium tubes in the nuclear power plant condenser moves to the first column at the top of the working plane, determines whether there are empty titanium tubes to be cleaned in this column, and if so, confirms the initial coordinate position of the hole position of the titanium tube to be cleaned in the current column. The nozzle module moves to the designated position, corrects the nozzle position according to the position compensation method, and performs titanium tube cleaning. After the first point is cleaned, the nozzle module moves towards each other by three hole spacings under the drive of the synchronous belt. After the movement is completed, it continues to traverse the nozzles based on the rules of the linked list to see if there are any points to be cleaned, and sequentially completes the cleaning of all points to be cleaned in this column. After the current column is cleaned, the nozzles are moved to clean the other columns of titanium tubes in the upper half according to the distribution of titanium tube holes.

[0025] The location compensation method is as follows:

[0026] Position the execution end of the automated cleaning device for titanium tubes in the nuclear power plant condenser and record its current coordinates.

[0027] Read the position data of the next pipe end face to be flushed, and calculate the displacement increments Δx and Δy relative to the previous point;

[0028] Execute the displacement increment and record the current coordinate P1 after stopping;

[0029] During the displacement increment process, the image acquisition camera is turned on to acquire images. The image preprocessing method is used to obtain the edge image of the pipe target. The Hough transform method is used to identify the center coordinates P2 of the pipe center in the image.

[0030] Calculate the coordinate offset between P1 and P2; compare whether the error redundancy of the offset is greater than the allowable threshold: if not, start pipeline cleaning; if it is greater, perform coordinate compensation, and record the current coordinates after the Z1 axis moving assembly stops moving after the compensation motion is completed.

[0031] Step 3: The Z1 axis moving assembly of the automated cleaning device for titanium tubes of the nuclear power plant condenser moves to the first column of the lower half; the cleaning method is the same as that of the upper half.

[0032] In a specific embodiment of the present invention, step 1 specifically includes:

[0033] Determine the three-dimensional coordinates of any three points in the coordinate system of the condenser titanium tubes;

[0034] The flushing device is installed inside the condenser, and the cleaning device is moved to the zero point of the coordinate system of the condenser titanium tube cleaning device for nuclear power plants.

[0035] Move the end of the cleaning device to point A on the plane of the titanium tube to be cleaned, and record the coordinates of point A in the coordinate system of the cleaning device as AO (x1, y1, z1).

[0036] Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system.

[0037] Move the end of the cleaning device to point B on the plane of the titanium tube to be rinsed, and record the coordinates of point B in the coordinate system of the cleaning device as BO (x2, y2, z2).

[0038] Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system.

[0039] Move the end of the cleaning device to point C on the plane of the titanium tube to be rinsed, and record the coordinates of point C in the coordinate system of the cleaning device as CO (x3, y3, z3).

[0040] Given the theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system, the transformation matrix is ​​calculated using two sets of coordinates to establish the relationship between the two coordinate systems.

[0041] In a specific embodiment of the present invention, in the position compensation method, when the displacement increment is executed, the state of the limit sensor is constantly sensed. If the limit switch is triggered, an alarm is immediately triggered and manual intervention is performed. If there is no abnormality, a command is sent to the servo motor driver to control the Z1 axis moving assembly to complete the Δx and Δy displacement movements. After the Z1 axis moving assembly stops moving, the current coordinate P1 is recorded.

[0042] In one specific embodiment of the present invention, during the cleaning process, invalid columns or empty spaces are dynamically skipped for irregular distributions.

[0043] Compared with the prior art, the automated cleaning device and method for titanium tubes of nuclear power plant condensers of the present invention has the following advantages:

[0044] (1) Breakthrough improvement in cleaning efficiency: Through automated coordinate calibration and visual compensation technology, the cleaning cycle is reduced to 16 hours, and the efficiency is improved by more than 10 times. The core is: the three-point teaching method combined with the matrix transformation algorithm can quickly complete the global coordinate calibration of the 113-column × 281-row titanium tube array, avoiding the tedious manual point-by-point positioning; (adaptive path algorithm dynamically manages irregular hole positions through linked list to achieve 3-hole spacing step-to-face movement cleaning, reducing invalid movement paths by 35% compared with the traditional sequential scanning method.

[0045] (2) Innovation in positioning accuracy and reliability: Achieving a positioning accuracy of ±0.5mm through a closed-loop control system: The vision compensation system uses Hough transform to identify the center coordinates of the pipe opening in real time, compares them with the theoretical value to generate δx / δy offset, and controls the compensation error threshold within 0.3mm; The dual feedback mechanism of servo motor and limit sensor ensures that the abnormal trigger rate during the movement of the mechanical axis is less than 0.1%, increasing the cleaning success rate to 99.2%, far exceeding the industry average of 85%. Avoiding missed pipes that may occur during manual rinsing.

[0046] (3) Intelligent adaptability to complex working conditions: The partition scanning strategy divides the plane into upper and lower zones, and combined with the inter-column dynamic detection technology, it effectively handles asymmetric hole arrays; the coordinate storage system based on the linked list structure can update the topological relationship of the hole to be cleaned in real time, adapting to the hole distribution variation within 10% on site; the collaborative motion design of the three nozzle modules optimizes the coverage range through the 3 hole spacing step, reducing the number of reciprocating motions by 60% compared with the single nozzle solution.

[0047] (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 the high-precision laser positioning system, saving 40% on equipment costs; closed-loop automated cleaning avoids 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, requiring only 3 points of teaching to complete the coordinate system transformation, significantly reducing the implementation threshold.

[0048] (5) The multi-coordinate system transformation matrix algorithm provides a general solution for the positioning of mechanical axes in irregular spaces.

[0049] (6) The 7-axis design is used to clean the pipeline. The 7-axis robot has multiple degrees of freedom to complete functional obstacle avoidance and multi-position cleaning, which further saves cleaning operation time and reduces the labor intensity of manual cleaning. Attached Figure Description

[0050] Figure 1 This is a schematic diagram showing the overall structure and working state of the device of the present invention;

[0051] Figure 2 This is a schematic diagram of the base plate assembly structure of the device of the present invention;

[0052] Figure 3 This is a schematic diagram of the Z0 axis column assembly structure of the device of the present invention;

[0053] Figure 4 This is a schematic diagram of the Y0 axis moving assembly structure of the device of the present invention;

[0054] Figure 5 This is a schematic diagram of the Z1 axis rotating assembly structure of the device of the present invention;

[0055] Figure 6 This is a schematic diagram of the Z0 axis base plate assembly structure of the device of the present invention;

[0056] Figure 7 This is a schematic diagram of the Z1 axis moving assembly structure of the device of the present invention;

[0057] Figure 8 This is a flowchart of the coordinate system calibration process for the device of the present invention;

[0058] Figure 9 This is a flowchart of the motion compensation process for the Z1 axis moving assembly of the device of the present invention;

[0059] Figure 10 This is a flowchart of the planar cleaning process of the device of the present invention;

[0060] In the diagram: 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;

[0061] 101. Anti-torsion and anti-bending base; 102. Bottom flange sealing plate of water chamber; 103. X0 linear slide rail; 104. Base plate connecting steel pipe; 105. Channel steel cross frame; 106. Anti-torsion bar; 107. Connecting channel steel;

[0062] 201. First column; 202. Second column; 203. Third column; 204. Fourth column; 205. Z0 axis guide rail; 206. Z0 axis rack;

[0063] 301. Y0 axis fixed frame; 302. Y0 axis moving motor; 303. Electric telescopic cylinder; 304. Y0 axis moving frame; 305. B0 rotary motor; 306. Z1 axis swing motor; 307. Z1 axis swing frame;

[0064] 401. B0 rotating frame; 402. Z1 axis swing arm; 403. Z1 axis linear guide; 404. Z1 axis synchronous belt; 405. Z1 axis moving motor;

[0065] 501. Z0 axis rotary motor; 502. X0 axis moving motor; 503. Z0 axis base plate; 504. Slider; 505. Rack; 506. Turntable;

[0066] 601. Nozzle module; 602. Pipe connector; 603. CCD camera; 604. Nozzle module mounting plate; 605. Z1 axis moving slider; 606. Anti-collision damper. Detailed Implementation

[0067] 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, and not for limiting the present invention.

[0068] An embodiment of the present invention discloses an automated cleaning device for titanium tubes of a nuclear power plant condenser, such as... Figures 1-7 As shown, it includes: base plate assembly 1, Z0 axis column assembly 2, Y0 axis moving assembly 3, Z1 axis rotating assembly 4, X0 axis moving assembly 5, Z1 axis moving assembly 6;

[0069] Base plate assembly 1 serves as the base of the device;

[0070] A slide rail in the X-axis direction is provided on the base plate assembly 1, and the slide block at the bottom of the X0 axis moving assembly 5 is movably connected to the slide rail;

[0071] The Z0 axis column assembly 2 is fixed on the turntable 506 of the X0 axis moving assembly 5;

[0072] The Y0 axis moving assembly 3 is movably connected to the Z0 axis column assembly 2 via a guide rail and a slider.

[0073] The Z1 axis rotary assembly 4 is fixedly connected to the rotary axis of the Y0 axis moving assembly 3 via the B0 rotary bracket.

[0074] The base plate assembly 1 includes: anti-torsion and anti-bending base 101; bottom flange sealing plate of water chamber 102; X0 linear slide rail 103; base plate connecting steel pipe 104; channel steel cross frame 105; anti-torsion bar 106; and connecting channel steel 107. The bottom flange sealing plates 102 of the water chamber are laid flat 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 bottom flange sealing plates 102 of the water chamber, and the two bottom plate connecting steel pipes 104 are fixed by clamps on the bottom flange sealing plates 102 of the water chamber; three channel steel crossbeams 105 are evenly arranged between the two bottom plate connecting steel pipes 104 and perpendicular to the bottom plate connecting steel pipes 104, and are fixed to the bottom flange sealing plates 102 of the water chamber by bolts; three connecting channel steels 107 are evenly arranged on the three channel steel crossbeams 105 and are fixed by bolts; two anti-torsion and anti-bending bases 101 are fixedly connected to both sides of the channel steel crossbeams 105 by bolts; two X0 linear slide rails 103 are fixedly connected to the two anti-torsion and anti-bending bases 101 by screws; two anti-torsion rods 106 are fixedly connected between the two anti-torsion and anti-bending bases 101 by bolts. During the rinsing process of nozzle module 601, the reaction force of nozzle module 601 is relatively large, which will affect the main body of the device. At the same time, the upward movement and rotation will generate a certain torque, affecting the working stability of the device. Therefore, an anti-torsion and anti-bending base is designed to improve the stability of the device during operation.

[0075] The X0 axis moving assembly 5 includes: a Z0 axis rotary motor 501; an X0 axis moving motor 502; a Z0 axis base plate 503; sliders 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 bottom. The turntable 506 is bolted to the Z0 axis base plate 503. The Z0 axis rotary motor 501 is bolted to one side of the Z0 axis base plate 503, and the Z0 axis rotary 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 anti-torsion and anti-bending bases 101. 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 rail 103. Z0 axis column assembly 2 includes: first column 201; second column 202; third column 203; fourth column 204; Z0 axis guide rail 205; Z0 axis rack 206;

[0076] The four columns are fixed together by bolts; the base of the first column 201 is fixed to the turntable 506 by bolts; two Z0 axis guide rails 205 are fixed to both sides of the side bosses of the four columns by screws; the Z0 axis rack 206 is fixed to one side of the side bosses of the four columns by screws. The Z0 axis column assembly 2 can rotate along the central axis of the turntable 506.

[0077] 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 rotary 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 by bolts. The drive end of the Y0 axis moving motor 302 forms a gear engagement with the Z0 axis rack. The non-drive end of the electric telescopic cylinder 303 is open. The Y0 axis moving frame 304 is bolted to the Y0 axis fixed frame 301; the Y0 axis moving frame 304 is movably connected to the Y0 axis fixed frame 301 via a guide rail and a slider; the drive end of the electric telescopic cylinder 303 is bolted to the Y0 axis moving frame 304; the Z1 axis swing motor 306 is fixed to the Y0 axis moving frame 304; the Z1 axis swing frame 307 is hinged to the Y0 axis moving frame 304; the drive shaft of the Z1 axis swing motor 306 is geared to the Z1 axis swing frame 307; the B0 rotary motor 305 is fixed to the Z1 axis swing frame 307. The Y0 moving assembly 3 can move linearly along the Z0 axis guide rail 205. The Y0 axis moving frame 304 can move linearly along the Y0 direction.

[0078] The Z1 axis rotary assembly 4 includes: a B0 rotary frame 401; a Z1 axis swing arm 402; a Z1 axis linear guide rail 403; a Z1 axis synchronous belt 404; and a Z1 axis moving motor 405. The B0 rotary frame 401 is connected to the B0 rotary motor 405 via gears. The Z1 axis swing arm 402 is fixedly connected to the B0 rotary frame 401 by bolts. Two Z1 axis linear guide rails 403 are fixed on both sides of the Z1 axis swing arm 402. The Z1 axis moving motor 405 is fixed to one end of the Z1 axis swing arm 402. The Z1 axis rotary assembly 4 can rotate along the central axis of the drive shaft of the B0 rotary 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; and a Z1-axis moving slider 605. The nozzle module mounting plate 604 is slidably engaged with the Z1-axis linear guide rail 403 via the Z1-axis moving slider 605. One end of the Z1-axis synchronous belt 404 is fixed to the nozzle module mounting plate 604. The nozzle module 601 is fixed to the nozzle module mounting plate 604. The CCD camera 603 is fixed to the nozzle module mounting plate 604. The Z1-axis moving motor 405 drives the Z1-axis moving assemblies 6 at both ends to perform symmetrical translation via the synchronous belt. Preferably, it also includes an anti-collision damper 606 disposed on the nozzle module mounting plate 604 to prevent the nozzle module 601 from colliding when it moves towards the center.

[0079] The device's moving and rotating module comprises seven moving or rotating modules.

[0080] 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. It is driven by a low-speed, high-torque servo motor to improve the walking accuracy of the mechanism.

[0081] The Z0 axis moving assembly 2, Y0 axis moving assembly 3, and Z1 axis moving assembly 4 move vertically along the Z-axis (perpendicular to the bottom flange of the water chamber) to adjust the height of the Y0 axis moving assembly 3. Considering the large load on the Z0 axis, a rack and pinion mechanism is used to transmit the load. The entire assembly is in column form; for ease of installation and transportation, the column is installed in sections, with positioning holes and pins installed at the joints.

[0082] The Y0 axis moving assembly 3 and Z1 axis moving assembly 6 perform linear translational 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 via a buffer mechanism. When the nozzle module 601 starts working and generates a backward force, the electric telescopic cylinder 303 compresses; when the nozzle module 601 is not working, the electric telescopic cylinder 303 extends. Therefore, continuous operation of the nozzle module 601 introduces an inherent vibration frequency into the cleaning device, which can affect its accuracy over long periods. To counteract this frequency, a hydraulic damper is added to the buffer mechanism to absorb the vibration energy. Simultaneously, when the Y0 axis moving assembly 3 moves forward, it is deflected by its own gravity, and the corresponding torque increases as the nozzle module 601 cleans the outer side. To reduce this deflection, two sets of linear guides are designed on the rear side of the Y-axis to minimize deformation caused by the force.

[0083] Among them, the Z1 axis moving assembly 6: the nozzle module 601 moves in opposite directions along the length of the Z1 axis moving assembly 6.

[0084] Among them, C0 axis rotation: Z0 axis column rotates around the Z direction as the axis.

[0085] Among them, C1 axis rotation: the nozzle module rotates around the Z direction as the axis.

[0086] In this process, the nozzle module rotates around the Y0 axis. The water chamber has an irregular internal structure and three crossbeams. The control system coordinates the movement of seven moving or rotating modules to ensure the nozzle modules can smoothly avoid obstacles during cleaning, preventing collisions and damage to the water chamber while simultaneously covering all titanium tubes within the designated cleaning area. This invention discloses a method for flushing titanium tubes in a nuclear power plant condenser. Figure 10 As shown, the following steps are included:

[0087] Step 1: Establish the transformation relationship between the condenser titanium tube coordinate system {F} and the coordinate system {B} of the automated cleaning device for condenser titanium tubes in the nuclear power plant described in the above technical solution;

[0088] like Figure 8 As shown, determine the three-dimensional coordinates of any three points in the condenser titanium tube coordinate system;

[0089] The flushing device is installed inside the condenser, and the cleaning device is moved to the zero point of the coordinate system of the automated cleaning device for titanium tubes of the nuclear power plant condenser.

[0090] Move the end of the cleaning device to point A on the plane of the titanium tube to be cleaned, and record the coordinates of point A in the coordinate system of the cleaning device as AO (x1, y1, z1).

[0091] Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system.

[0092] Move the end of the cleaning device to point B on the plane of the titanium tube to be rinsed, and record the coordinates of point B in the coordinate system of the cleaning device as BO (x2, y2, z2).

[0093] Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system.

[0094] Move the end of the cleaning device to point C on the plane of the titanium tube to be rinsed, and record the coordinates of point C in the coordinate system of the cleaning device as CO (x3, y3, z3).

[0095] Given the theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system, and the coordinates of A, B, and C in the nuclear power plant condenser titanium tube automated cleaning device coordinate system obtained by measurement, the two coordinate systems are associated by calculating the transformation matrix through the two sets of coordinates.

[0096] The coordinates of all titanium tubes in the cleaning device are automatically calculated, thus completing the association between the condenser titanium tube coordinate system and the cleaning device coordinate system.

[0097] To reduce the workload of manual positioning, a zero-point position is preset for each axis, and the obstacle avoidance coordinates of the mechanical axis are determined to avoid contact with the workpiece during obstacle avoidance. When determining the three points, the robot arm automatically completes a coarse stroke, followed by precise positioning through manual teaching. The robot's end effector is then moved to the three preset points through manual teaching.

[0098] Preferably, it also includes planning the cleaning path;

[0099] The specific methods for path planning are as follows:

[0100] Create a linked list for each column;

[0101] Based on the linked list, the location of the nozzle module to be cleaned is determined, and whether the nozzle needs to be cleaned is determined according to the rules of the linked list, thereby controlling whether the spray module sprays water for cleaning.

[0102] Since the cleaning holes are not structurally symmetrically and regularly distributed, it is necessary to identify and handle discontinuous vacancies and asymmetrical holes during the cleaning process.

[0103] Step 2: The automated cleaning device for titanium tubes in the nuclear power plant condenser moves to the first column at the top of the working plane, determines whether there are empty titanium tubes to be cleaned in this column, and if so, confirms the initial coordinate position of the hole position of the titanium tube to be cleaned in the current column. The nozzle module moves to the designated position, corrects the nozzle position according to the position compensation method, and performs titanium tube cleaning. After the first point is cleaned, the nozzle module moves towards each other by three hole spacings under the drive of the synchronous belt. After the movement is completed, it continues to traverse the nozzles based on the rules of the linked list to see if there are any points to be cleaned, and sequentially completes the cleaning of all points to be cleaned in this column. After the current column is cleaned, the nozzles are moved to clean the other columns of titanium tubes in the upper half according to the distribution of titanium tube holes.

[0104] Since the automatic cleaning device for titanium tubes of the nuclear power plant condenser has a large stroke, in order to achieve precise motion positioning, motion feedback compensation control is required. This invention uses machine vision to compensate for the position of the Z1 axis moving assembly where the nozzle module of the automatic cleaning device for titanium tubes of the nuclear power plant condenser after the movement.

[0105] like Figure 9 As shown, the position compensation method is as follows:

[0106] 1) Through the above coordinate system transformation, the coordinate system of the titanium tube on the end face to be cleaned is calibrated, and the center coordinates of the titanium tube on the end face to be cleaned are automatically stored in memory;

[0107] 2) Position the execution end of the automated cleaning device for titanium tubes of the nuclear power plant condenser and record the current coordinates P0(x,y).

[0108] 3) Read the position data of the next pipe end face to be flushed, and calculate the displacement increments Δx and Δy relative to the previous point;

[0109] The displacement increment is executed, and the current coordinate P1 after stopping is recorded. While executing the displacement increment, the status of the limit sensor is constantly monitored. If the limit switch is triggered, an alarm is immediately triggered, requiring manual intervention. If there is no abnormality, a command is sent to the servo motor driver to control the Z1 axis moving assembly to complete the Δx and Δy displacement movements. After the Z1 axis moving assembly stops moving, the current coordinate P1 is recorded.

[0110] During the displacement increment process, the image acquisition camera is turned on to acquire images. The image preprocessing method is used to obtain the edge image of the pipe target. The Hough transform method is used to identify the center coordinates P2 of the pipe center in the image.

[0111] Calculate the coordinate offsets δx and δy between P1 and P2; compare whether the error redundancy of δx and δy is greater than the allowable xmax and ymax thresholds. If not, start pipeline cleaning; if it is greater, coordinate compensation is required to complete the compensation movement.

[0112] 4) After cleaning one pipe, return to the previous step to complete the cleaning of all end face pipes;

[0113] Step 3: The Z1 axis moving assembly of the automated cleaning device for titanium tubes of the nuclear power plant condenser moves to the first column of the lower half; the cleaning method is the same as that of the upper half.

[0114] The entire titanium tube face to be cleaned consists of 113 columns and 281 rows, dividing the cleaning plane into upper and lower parts. Based on the Z1 axis moving assembly and nozzle structure design, the cleaning process proceeds column by column from left to right. Due to the finger-shaped and irregular distribution of the titanium tubes, discontinuous or asymmetrical holes, or even situations where the current column does not require cleaning, may occur during the column-by-column rinsing process.

[0115] During the cleaning process, invalid columns or empty spaces are dynamically skipped for irregular distributions.

[0116] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0117] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated cleaning device for titanium tubes in a nuclear power plant condenser, 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; The base plate assembly is equipped with a slide rail in the X-axis direction, and the slide block 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 via guide rails and sliders; The Z1 axis rotary assembly is fixedly connected to the rotary axis of the Y0 axis moving assembly via the B0 rotary bracket; The Z0 axis column assembly includes: several columns spliced ​​together, the bottom column base being connected to the turntable, the Z0 axis guide rail being fixedly connected to both sides of the side boss of the column; the Z0 axis rack being 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. 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 rotary 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 via a slider; the Y0 axis moving motor is fixed to the Y0 axis fixed frame; the drive end of the Y0 axis moving motor forms a gear engagement with the Z0 axis rack; the non-drive end of the electric telescopic cylinder is fixed to the Y0 axis fixed frame; the Y0 axis moving frame is movably engaged with the Y0 axis fixed frame via the guide rail and slider; the drive end of the electric telescopic cylinder is fixed to the Y0 axis moving frame; the Z1 axis swing motor is fixed to the Y0 axis moving frame; the Z1 axis swing frame is hinged to the Y0 axis moving frame; the drive shaft of the Z1 axis swing motor engages with the Z1 axis swing frame via a through gear; the B0 rotary motor is fixed to the Z1 axis swing frame; the Y0 moving assembly moves linearly along the Z0 axis guide rail direction; the Y0 axis moving frame moves linearly along the Y0 direction; The Z1 axis rotary assembly includes: B0 rotary frame, Z1 axis swing arm, Z1 axis linear guide, Z1 axis synchronous belt, and Z1 axis moving motor; The B0 rotating frame is connected 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 rail is fixed on 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 drive shaft of the B0 rotating motor. The Z1 axis moving assembly includes: nozzle module, pipe connector, CCD camera, nozzle module mounting plate, and Z1 axis moving slider; The nozzle module mounting plate slides with the Z1 axis linear guide rail via a Z1 axis moving slider; one end of the Z1 axis timing 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 via the timing belt.

2. The automated cleaning device for titanium tubes of nuclear power plant condensers according to claim 1, characterized in that, The base plate assembly includes: an anti-torsion and anti-bending base, a bottom flange sealing plate of the water chamber, an X0 linear slide rail, a base plate connecting steel pipe, a channel steel crossbar, an anti-torsion rod, and a connecting channel steel. Two base plate connecting steel pipes are symmetrically arranged on a disc spliced ​​from the bottom flange sealing plate of the water chamber, and the two base plate connecting steel pipes are fixed to the bottom flange sealing plate of the water chamber; several channel steel crossbars are evenly arranged between the two base plate connecting steel pipes and are perpendicular to the base plate connecting steel pipes; several connecting channel steels are evenly arranged on the channel steel crossbars; two anti-torsion and anti-bending bases are fixedly connected to both sides of the channel steel crossbars; two X0 linear slide rails are fixedly connected to the anti-torsion and anti-bending bases; and anti-torsion rods are fixedly connected between the anti-torsion and anti-bending bases.

3. The automated cleaning device for titanium tubes of nuclear power plant condensers according to claim 2, characterized in that, The X0 axis moving assembly includes: a Z0 axis rotary 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 slide rail via sliders evenly distributed on both sides of the bottom; the turntable is fixed on the Z0 axis base plate; the Z0 axis rotary motor and the X0 axis moving motor are respectively fixed on both sides of the Z0 axis base plate, and the Z0 axis rotary motor is connected to the turntable via gear engagement; the rack is fixed to the inner side of one of the anti-torsion and anti-bending bases; the X0 axis moving motor is connected to the rack via gear engagement; the X0 axis moving assembly moves along the X0 linear slide rail direction.

4. A method for cleaning titanium tubes in a nuclear power plant condenser, characterized in that, Includes the following steps: Step 1: Establish the transformation relationship between the coordinate system of the condenser titanium tube and the coordinate system of the automated cleaning device for the condenser titanium tube of the nuclear power plant as described in any one of claims 1 to 3; Step 2: The automated cleaning device for titanium tubes of the nuclear power plant condenser moves to the first column at the top of the working plane, determines whether there are empty titanium tubes that need to be cleaned in the column, and if so, confirms the initial coordinate position of the hole position of the titanium tube to be cleaned in the current column, moves the nozzle module to the designated position, corrects the nozzle position according to the position compensation method, and performs titanium tube cleaning. Once the first point is completed, the nozzle module moves towards each other at a distance of 3 hole positions 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 are any points to be cleaned under the nozzle, and sequentially completes the cleaning of all points to be cleaned in this column; after the cleaning of the current column is completed, according to the distribution of titanium tube holes, the nozzle is moved to clean the other columns of titanium tubes in the upper half. The location compensation method is as follows: Position the execution end of the automated cleaning device for titanium tubes in the nuclear power plant condenser and record its current coordinates. Read the position data of the next pipe end face to be flushed, and calculate the displacement increments Δx and Δy 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. The image preprocessing method is used to obtain the edge image of the pipe target. The Hough transform method is used to identify the center coordinates P2 of the pipe center in the image. Calculate the coordinate offset between P1 and P2; compare whether the error redundancy of the offset is greater than the allowable threshold: if not, start pipeline cleaning; if it is greater, perform coordinate compensation, and record the current coordinates after the Z1 axis moving assembly stops moving after the compensation motion is completed. Step 3: The Z1 axis moving assembly of the automated cleaning device for titanium tubes of the nuclear power plant condenser moves to the first column of the lower half; the cleaning method is the same as that of the upper half.

5. The method for cleaning titanium tubes in a nuclear power plant condenser according to claim 4, characterized in that, Step 1 specifically includes: Determine the three-dimensional coordinates of any three points in the coordinate system of the condenser titanium tubes; The flushing device is installed inside the condenser, and the cleaning device is moved to the zero point of the coordinate system of the condenser titanium tube cleaning device for nuclear power plants. Move the end of the cleaning device to point A on the plane of the titanium tube to be rinsed, and record the coordinates of point A in the coordinate system of the cleaning device as AO(x1, y1, z1). Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system. Move the end of the cleaning device to point B on the plane of the titanium tube to be rinsed, and record the coordinates of point B in the coordinate system of the cleaning device as BO(x2, y2, z2). Install the flushing device inside the condenser and move the cleaning device to the zero point of the cleaning device coordinate system. Move the end of the cleaning device to point C on the plane of the titanium tube to be rinsed, and record the coordinates of point C in the coordinate system of the cleaning device as CO(x3, y3, z3); Given the theoretical coordinates of A, B, and C in the condenser titanium tube coordinate system, the transformation matrix is ​​calculated using two sets of coordinates to establish the relationship between the two coordinate systems.

6. The method for cleaning titanium tubes in a nuclear power plant condenser according to claim 4, characterized in that, In the position compensation method, when the displacement increment is executed, the status of the limit sensor is constantly monitored. If the limit switch is triggered, an alarm is immediately triggered and manual intervention is performed. If there is no abnormality, a command is sent to the servo motor driver to control the Z1 axis moving assembly to complete the Δx and Δy displacement movements. After the Z1 axis moving assembly stops moving, the current coordinate P1 is recorded.

7. The method for cleaning titanium tubes in a nuclear power plant condenser according to claim 4, characterized in that, During the cleaning process, invalid columns or empty spaces are dynamically skipped for irregular distributions.

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