Suspension type condenser online cleaning robot

Abstract

The utility model discloses an on-line cleaning robot for a suspension type condenser. The on-line cleaning robot comprises a vertical machine, a horizontal machine, a filling device and a propelling device, the vertical machine fixed in the condenser water chamber has a vertical lifting function in the condenser water chamber; the horizontal machine hung on the vertical machine can be controlled by the vertical machine to vertically ascend and descend in the condenser water chamber, and the horizontal machine has the function of horizontally moving in the condenser water chamber. The filling device and the propelling device are installed on the horizontal machine and can be controlled by the horizontal machine to horizontally move in the condenser water chamber, the filling device is communicated with the cleaning medium supply device arranged outside the condenser water chamber through a follow-up pipeline, and the filling device is driven by the propelling device to advance to be in sealed butt joint with a condenser pipe plate. Different cleaning media are uniformly injected into a heat exchange tube in a condenser water chamber. The device is simple in structure, accurate in positioning, convenient in pipe distribution and high in recoil resistance, and the cleaning coverage rate is up to more than 90%.

Description

Technical Field

[0001] The utility model belongs to the field of condenser cleaning, and specifically relates to a hanging condenser online cleaning robot and a cleaning method. Background Art

[0002] The condenser online cleaning device is a special device for cleaning the condenser cooling pipes during the operation of the steam turbine generator set. It is a device that can be cleaned without stopping the machine. The performance of the device directly affects the cleanliness and heat transfer efficiency of the condenser. It is an indispensable device for improving the economy of the power plant and ensuring the safe operation of the condenser. However, due to the driving mode and structural design, the previous online cleaning devices cannot adapt well to the underwater environment and have low reliability. In particular, the water quality of power plant units using open seawater and river water for cooling is complex, and there are a lot of sludge, domestic garbage and marine organisms, which leads to the phenomenon that the online cleaning device cannot operate normally from time to time, and the cleaning effect and purpose cannot be achieved at all. The utility model is a new solution proposed to the above problems. Summary of the invention

[0003] The utility model provides a suspended condenser online cleaning robot to solve the deficiencies in the prior art.

[0004] The utility model is implemented according to the following technical solutions:

[0005] A suspended condenser online cleaning robot, comprising:

[0006] A vertical machine fixed in the condenser water chamber is configured to be able to perform vertical lifting and lowering in the condenser water chamber;

[0007] A horizontal machine suspended on the vertical machine can be controlled by the vertical machine to move vertically in the condenser water chamber, and the horizontal machine is configured to be able to move horizontally in the condenser water chamber;

[0008] The filling device and the propulsion device are installed on the horizontal machine and can be controlled by the horizontal machine to move horizontally in the condenser water chamber. The filling device is connected to the cleaning medium supply device arranged outside the condenser water chamber through a follow-up pipeline. The propulsion device drives the filling device forward to achieve sealed docking with the condenser tube plate, and different cleaning media can be evenly injected into multiple, one row or multiple rows of heat exchange tubes in the condenser water chamber.

[0009] In some embodiments, the vertical machine comprises:

[0010] A four-column gantry has a wire rope fixing frame in the middle of two symmetrically arranged gantry columns, on which a pipe block and a wire rope lifting lug are installed;

[0011] Two lifting devices with vertical telescopic function are respectively installed in two gantry columns, and rolling parts are installed on the top of the lifting devices;

[0012] One end of the steel wire rope is connected to the steel wire rope lifting lug on the steel wire rope fixing frame, and the other end of the steel wire rope passes around the rolling component and extends downward to be connected to the horizontal machine. The steel wire rope is driven to move through the lifting device, thereby driving the horizontal machine to lift and lower.

[0013] In some embodiments, the lifting device is a single-outlet oil cylinder that rises when liquid is introduced and descends by its own weight when liquid is returned. The single-outlet oil cylinder has built-in magnetostrictive displacement sensors and magnetic rings, and the electronic compartment and hydraulic oil inlet are placed outside the condenser water chamber; the cylinder barrel of the single-outlet oil cylinder is fixed on the gantry column, and a rolling component is installed on the piston rod.

[0014] In some embodiments, the rolling component includes a pulley bracket installed on the lifting device, bearings symmetrically arranged on both sides of the pulley bracket, and a pulley installed on the bearing and fixed with a retaining ring, and the wire rope and the pulley are slidably matched.

[0015] In some embodiments, the horizontal machine comprises:

[0016] The lifting platform has a symmetrically arranged guide vertical slider on each side, which is used to cooperate with the inner side of the two gantry columns to perform vertical guiding movement;

[0017] Steel wire rope lifting lugs, symmetrically mounted on both sides of the lifting platform, for connecting to the steel wire rope in the vertical machine;

[0018] Pipeline fixing block, fixed on the lifting platform, used to connect pipelines;

[0019] A slide plate is slidably mounted on the lifting platform, and the pouring device is mounted on the slide plate;

[0020] A horizontal driving device is installed in the lifting platform and connected to the pouring device, and is used to drive the pouring device to perform horizontal reciprocating motion on the lifting platform.

[0021] In some embodiments, the horizontal driving device is a horizontal cylinder with a built-in magnetostrictive displacement sensor and a magnetic ring, and the electronic compartment is placed outside the condenser water chamber.

[0022] In some embodiments, the perfusion device comprises:

[0023] A connecting bottom plate fixed on the slide plate in the horizontal machine, the bottom surface of which is provided with a lever double-ear connecting seat connected to the horizontal oil cylinder in the horizontal machine;

[0024] A pair of tripods facing each other are arranged on both sides of the connecting bottom plate;

[0025] a perfusion support, connected to the tripod via the propulsion device;

[0026] The injector is installed on the injector bracket, and is moved up and down by the vertical machine control, and is moved left and right by the horizontal machine control. It is pushed out or retracted by the propulsion device to achieve sealing docking and separation with the condenser tube sheet.

[0027] In some embodiments, the propulsion device is composed of a propulsion cylinder and a guide shaft; the cylinder barrel of the propulsion cylinder is fixed in the tripod, the piston rod of the propulsion cylinder passes through the front plate of the tripod and is connected to the perfusion bracket, a shaft sleeve is installed at the upper and lower ends of the front plate of the tripod, a guide shaft is inserted in the shaft sleeve, and the front end of the guide shaft is connected to the perfusion bracket.

[0028] In some embodiments, the injection bracket is an I-shaped structure, with an injector installed at each of the upper and lower ends of the injection bracket, and the four injectors are connected by a hose; the injector is a square block structure, and the injector is covered with a silicone plate for sealing on the side facing the condenser tube sheet; the silicone plate and the injector are provided with multiple, one or more rows of coaxial injection holes, and the hole spacing is set according to the distribution of the condenser heat exchange tubes; the side of the injector is provided with multiple pipe joints, and the upper two injectors and the lower two injectors are connected together by a three-way valve and a horizontal hose respectively, and then connected to the upper and lower three-way valves through a vertical hose to connect the four injectors together.

[0029] In some embodiments, the follow-up pipeline includes a sensor compensation wire, multiple hydraulic pipes, a cleaning medium pipe and a compressed air pipe; the follow-up pipeline is divided into a vertical follow-up pipeline and a horizontal follow-up pipeline; one end of the vertical follow-up pipeline is connected to the pipeline block of the vertical machine and arranged through the pulley bracket on the vertical machine, and the other end is connected to the pipeline block of the horizontal machine and moves synchronously with the wire rope. The vertical follow-up pipeline can be set on one side or both sides of the vertical machine at the same time; after the horizontal follow-up pipeline is bent 180 degrees, one end is connected to the pipeline block of the horizontal machine, and the other end is connected to the pipeline block of the perfusion device to achieve horizontal follow-up.

[0030] Compared with the prior art, the utility model has the following beneficial effects:

[0031] Through the cooperation of the propulsion device and the injector of the utility model, a variety of cleaning media can be evenly injected into the heat exchange tubes in the condenser water chamber, the cleaning coverage rate is increased to more than 90%, the condenser cleaning rate design value is maintained for a long time, and energy saving and emission reduction are achieved.

[0032] The movable pulley block of the vertical machine in the utility model solves the difficulties in the previous pipeline layout and avoids various problems of pipe layout usually using drag chains, such as: the fixing method at both ends, the space occupied, the guidance of the hanging part of the drag chain, the wear of the drag chain on the pipeline, the breakage of the drag chain itself and the difficulty in threading the pipe.

[0033] The four-column gantry is backed by multiple tie rods in the condenser water chamber, which effectively improves the structural strength, reduces the material and specification requirements of the columns, and avoids the problem of track deformation and inability to operate the cleaning device due to the reaction force of the propulsion device.

[0034] The vertical lifting device adopts the method of externally placing the bottom of the oil cylinder to reduce the number of pipelines arranged in the water chamber. The single oil inlet and the external sensor electronic compartment improve the online maintainability of the equipment.

[0035] The arrangement of dual lifting cylinders and dual sensors greatly improves the reliability of the equipment, solving the problem that the equipment cannot operate due to failure of one sensor.

[0036] The modular design is realized, and multiple cleaning modes are universal, which greatly reduces the design and production costs. It can further promote the promotion and application of condenser online cleaning in power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0038] In the attached picture:

[0039] Figure 1 This is the general diagram of the condenser online cleaning device;

[0040] Figure 2 This is a schematic diagram of the assembly structure of a four-column gantry;

[0041] Figure 3 It is a schematic diagram of the structure of the vertical lifting device;

[0042] Figure 4 It is a three-dimensional diagram of the horizontal machine structure;

[0043] Figure 5 It is the top view and bottom view of the horizontal machine structure;

[0044] Figure 6 It is a cross-sectional view of the horizontal machine structure;

[0045] Figure 7It is a schematic diagram of the structure of the perfusion device;

[0046] Figure 8 This is the layout diagram of the follow-up pipeline.

[0047] Figures are marked: 1-vertical machine, 2-horizontal machine, 3-pouring device, 4-propulsion device, 5-follow-up pipeline, 6-condenser water chamber;

[0048] 11-four-column gantry, 12-wire rope fixing frame, 13-pipeline block, 14-wire rope lifting lug, 15-lifting device, 16-pulley bracket, 17-wire rope, 18-magnetostrictive displacement sensor, 19-pulley, 110-magnetic ring, 111-wire rope;

[0049] 21-lifting platform, 22-guide vertical slider, 23-wire rope lifting lug, 24-slide plate, 25-horizontal cylinder, 26-magnetostrictive displacement sensor, 27-magnetic ring, 28-pipeline fixing block;

[0050] 31-connecting base plate, 32-lever double-ear connecting seat, 33-tripod, 34-injection bracket, 35-injection device, 36-propelling cylinder, 37-guide shaft, 38-shaft sleeve, 39-injection device, 40-silicone plate, 41-pipe joint;

[0051] 51-vertical follow-up pipeline, 52-horizontal follow-up pipeline, 53-electronic compartment, 54-hydraulic oil inlet.

[0052] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0054] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] like Figure 1 As shown, a suspended condenser online cleaning robot comprises a vertical machine 1, a horizontal machine 2, a filling device 3 and a propulsion device 4; the vertical machine 1 fixed in the condenser water chamber 6 is configured with a function capable of vertical lifting and lowering in the condenser water chamber 6; the horizontal machine 2 suspended on the vertical machine 1 can be controlled by the vertical machine 1 to perform vertical lifting and lowering in the condenser water chamber 6, and the horizontal machine 2 is configured with a function capable of horizontal movement in the condenser water chamber 6; the filling device 3 and the propulsion device 4 are installed on the horizontal machine 2, and can be controlled by the horizontal machine 2 to perform horizontal movement in the condenser water chamber 6, and the filling device 3 is connected to a cleaning medium supply device arranged outside the condenser water chamber 6 through a follower pipeline 5, and the propulsion device 4 drives the filling device 3 forward to achieve sealed docking with the condenser tube sheet, so that different cleaning media can be evenly injected into multiple, one row or multiple rows of heat exchange tubes in the condenser water chamber 6.

[0057] A preferred embodiment of the above embodiment with respect to a vertical machine is given below:

[0058] like Figure 2 , Figure 3 As shown, the vertical machine 1 includes a four-column gantry 11, two lifting devices 15 with vertical telescopic function and a wire rope 111; a wire rope fixing frame 12 is respectively provided in the middle of two gantry columns symmetrically arranged on the four-column gantry 11, and a pipe block 13 and a wire rope lifting lug 14 are installed on the wire rope fixing frame 12; the two lifting devices 15 with vertical telescopic function are respectively installed in the two gantry columns, and a rolling component is installed on the top of the lifting device 15; one end of the wire rope 111 is connected to the wire rope lifting lug 14 on the wire rope fixing frame 12, and the other end bypasses the rolling component and extends downward to be connected to the horizontal machine 2, and the wire rope 111 is driven to move through the lifting device 15, thereby driving the horizontal machine 2 to move.

[0059] A further solution is as follows: the lifting device 15 is a single-outlet oil cylinder which rises when liquid enters and descends by its own weight when liquid returns. The single-outlet oil cylinder has a built-in magnetostrictive displacement sensor 18 and a magnetic ring 110, and the electronic compartment 53 and the hydraulic oil inlet 54 are placed outside the condenser water chamber 6; the cylinder barrel of the single-outlet oil cylinder is fixed on the gantry column, and a rolling component is installed on the piston rod.

[0060] A further solution is that the rolling component comprises a pulley bracket 16 mounted on the lifting device 15, bearings symmetrically arranged on both sides of the pulley bracket 16, and a pulley 19 mounted on the bearing and fixed with a retaining ring, and the wire rope 111 is slidably fitted with the pulley 19.

[0061] A preferred embodiment of the above embodiment with respect to a horizontal machine is given below:

[0062] like Figure 4 , Figure 5 , Figure 6 As shown, the horizontal machine 2 includes a lifting platform 21, a wire rope lifting lug 23, a pipeline fixing block 28, a slide plate 24 and a horizontal driving device; a symmetrically arranged guide vertical slider 22 is provided on each side of the lifting platform 21 for cooperating with the inner side surfaces of the two gantry columns for vertical guiding movement; the wire rope lifting lug 23 is symmetrically installed on both sides of the lifting platform 21 for connecting to the wire rope 17 in the vertical machine 1; the pipeline fixing block 28 is fixed on the lifting platform 21 for connecting the pipeline; the slide plate 24 is slidably installed on the lifting platform 21, and the pouring device 3 is installed on the slide plate 24; the horizontal driving device is installed in the lifting platform 21, connected to the pouring device 3, and used to push the pouring device 3 to perform horizontal reciprocating motion on the lifting platform 21.

[0063] A further solution is that the horizontal driving device is a horizontal oil cylinder 25 with a built-in magnetostrictive displacement sensor 26 and a magnetic ring 27 , and the electronic compartment 53 is placed outside the condenser water chamber 6 .

[0064] A preferred embodiment of the above embodiment regarding the perfusion device is given below:

[0065] like Figure 7 As shown, the pouring device 3 includes a connecting base plate 31 fixed on the slide 24 in the horizontal machine 2, a pair of mutually opposed tripods 33, a pouring bracket 34 and a pouring device 35; the bottom surface of the connecting base plate 31 is installed with a lever double-ear connecting seat 32 connected to the horizontal oil cylinder 25 in the horizontal machine 2; a pair of mutually opposed tripods 33 are arranged on both sides of the connecting base plate 31; the pouring bracket 34 is connected to the tripod 33 through a propulsion device 4; the pouring device 39 is installed on the pouring bracket 34, and is controlled by the vertical machine 1 to achieve up and down movement, and is controlled by the horizontal machine 2 to achieve left and right movement, and is pushed out or retracted by the propulsion device 4 to achieve sealed docking and separation with the condenser tube sheet.

[0066] A further solution: the propulsion device 4 is composed of a propulsion cylinder 36 and a guide shaft 37; the cylinder barrel of the propulsion cylinder 36 is fixed in the tripod 33, and the piston rod of the propulsion cylinder 36 passes through the front plate of the tripod 33 and is connected to the perfusion bracket 34, and a shaft sleeve 38 is installed at the upper and lower ends of the front plate of the tripod 33, and a guide shaft 37 is inserted in the shaft sleeve 38, and the front end of the guide shaft 37 is connected to the perfusion bracket 34.

[0067] A further solution is as follows: the injection bracket 34 is an I-shaped structure, and a injector 39 is installed at both ends of the upper part and the lower part of the injection bracket 34, and the four injectors 39 are connected by a hose; the injector 39 is a square block structure, and the injector 39 is covered with a silicone plate 40 for sealing on the side facing the condenser tube sheet; the silicone plate 40 and the injector 39 are provided with a plurality of coaxial liquid injection holes, one row or more rows, and the hole spacing is set according to the distribution of the condenser heat exchange tubes; a plurality of pipe joints are provided on the side of the injector 39, and the upper two injectors 39 and the lower two injectors 39 are connected together through a three-way valve and a horizontal hose respectively, and then connected to the upper and lower three-way valves through a vertical hose to connect the four injectors 39 together.

[0068] Further solutions: Figure 8 As shown, the follow-up pipeline 5 includes a sensor compensation wire, multiple hydraulic pipes, a cleaning medium pipe and a compressed air pipe; the follow-up pipeline 5 is divided into a vertical follow-up pipeline 51 and a horizontal follow-up pipeline 52; one end of the vertical follow-up pipeline 51 is connected to the pipeline block of the vertical machine 1, arranged through the pulley bracket on the vertical machine, and the other end is connected to the pipeline block of the horizontal machine 2, and moves synchronously with the wire rope 17. The vertical follow-up pipeline 51 can be set on one side or both sides of the vertical machine 1 at the same time; after the horizontal follow-up pipeline 52 is bent 180 degrees, one end is connected to the pipeline block of the horizontal machine 2, and the other end is connected to the pipeline block of the perfusion device 3 to achieve horizontal following.

[0069] The online cleaning process of the above-mentioned hanging condenser online cleaning robot is given below:

[0070] When using cleaning fluid for chemical rapid cleaning, the horizontal drive device can be eliminated and only vertical positioning is performed. The cleaning method is as follows:

[0071] The vertical machine 1 drives the horizontal machine 2 to move upward or downward. When the injector 35 rises or falls to a row of heat exchange tubes, the horizontal machine 2 moves, and the propulsion device 4 propels the injector 35 forward, so that the injector 35 is sealed and fitted with the heat exchange tube openings of a row; the injection pump is started to inject the cleaning liquid into the condenser heat exchange tube through the outer pipeline of the water chamber-process hole door-hard pipe in the water chamber-vertical machine pipeline block-follow-up pipe (hose)-horizontal machine pipeline block-hard pipe-short hose-injector flange-injector injection hole to clean the heat exchange tube. The action is repeated until all the condenser heat exchange tubes are cleaned and the cleaning device is reset.

[0072] When using high-pressure water or compressed air for cleaning, due to equipment limitations, the entire row cannot be cleaned. The cleaning method is as follows:

[0073] The vertical machine 1 drives the horizontal machine 2 to move upward or downward. When the injector 35 rises or falls to a row of heat exchange tubes, the horizontal machine 2 moves, and the propulsion device 4 propels the injector 35 forward, so that the injector 35 is sealed and fitted with a group of heat exchange tube openings; the high-pressure pump or compressor is started to inject the working medium into the condenser heat exchange tube through the water chamber outer pipeline-process hole door-water chamber hard pipe-vertical machine pipeline block-follow-up pipe (hose)-horizontal machine pipeline block-hard pipe-short hose-injector flange-injector nozzle to clean the heat exchange tube. After completing a group, start the horizontal drive device, move horizontally to the next group for cleaning, repeat the action until a row is cleaned, start the vertical machine lifting device to position to the previous or next row of heat exchange tubes, and repeat the action until all the condenser heat exchange tubes are cleaned, and reset the cleaning device.

[0074] In summary, the utility model discloses a suspended condenser online cleaning robot, comprising a vertical machine and a suspended horizontal machine, on which a filling device is arranged; the filling device can realize precise vertical lifting (Y direction) positioning through the vertical machine, and can realize precise horizontal movement (X direction) positioning through the horizontal machine, and the propulsion device arranged on the filling device can realize the propulsion, sealing and retraction (Z direction) of the filling device, thereby completing the condenser cleaning work.

[0075] The vertical machine consists of a four-column gantry fixed in the condenser water chamber, a lifting device and two sets of wire rope movable pulley pairs.

[0076] The horizontal machine consists of a lifting platform, wire rope lifting eyes, vertical sliders, slide plates, horizontal cylinders, and pipeline fixing blocks.

[0077] The injection device consists of a connecting base plate, a tripod, an injection bracket, an injector and a propulsion device.

[0078] The injection device is arranged on the horizontal machine through the connection bottom plate and the guide slide plate, and is moved left and right in the condenser water chamber through the horizontal driving device; the injection device is arranged on the tripod through the guide shaft, and the injection device is driven by the propulsion device to achieve sealing docking or separation between the injection device and the condenser tube sheet. The injection device is connected to the cleaning medium supply device arranged outside the condenser water chamber through the follower pipe. The injection device uniformly injects the cleaning medium into several, one or more rows of heat exchange tubes in the condenser water chamber to achieve online cleaning of the heat exchange tubes; the cleaning medium can be: chemical cleaning liquid, high-pressure water or compressed air;

[0079] When the utility model adopts the rapid chemical cleaning mode, the horizontal driving device can be cancelled and only vertical positioning is performed.

[0080] The lifting device in the vertical machine is suspended and connected with the horizontal machine through a wire rope movable pulley pair to realize the upward and downward movement and positioning of the horizontal machine in the condenser water chamber. The propulsion device placed on the tripod pushes the injector onto the condenser tube sheet or resets it and retracts it.

[0081] The lifting device in the vertical machine and the moving device in the horizontal machine of the utility model both adopt magnetic displacement sensors to realize accurate two-dimensional positioning, and then the propulsion device is used to realize the sealing docking between the injector and the condenser tube sheet, and the cleaning medium is evenly injected into the heat exchange tubes in the condenser water chamber, thereby completing the online cleaning of the condenser;

[0082] The utility model has a simple structure, accurate positioning, convenient pipe layout, strong anti-recoil force, and a cleaning coverage rate of over 90%. It provides good technical support for realizing online cleaning of power plant condensers, maintaining the design value of condenser cleaning rate for a long time, and achieving energy conservation and emission reduction.

[0083] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0084] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present utility model and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by the present application.

[0085] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model has been disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this patent can make some changes or modify the technical content suggested above into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the content of the technical solution of the utility model still falls within the scope of the solution of the utility model.

Claims

1. A suspended condenser online cleaning robot, characterized in that: include: A vertical machine fixed in the condenser water chamber is configured to be able to perform vertical lifting and lowering in the condenser water chamber; A horizontal machine suspended on the vertical machine can be controlled by the vertical machine to move vertically in the condenser water chamber, and the horizontal machine is configured to be able to move horizontally in the condenser water chamber; The filling device and the propulsion device are installed on the horizontal machine and can be controlled by the horizontal machine to move horizontally in the condenser water chamber. The filling device is connected to the cleaning medium supply device arranged outside the condenser water chamber through a follow-up pipeline. The propulsion device drives the filling device forward to achieve sealed docking with the condenser tube sheet, and different cleaning media are evenly injected into one or more rows of heat exchange tubes in the condenser water chamber.

2. The hanging condenser online cleaning robot according to claim 1, characterized in that: The vertical machine comprises: A four-column gantry has a wire rope fixing frame in the middle of two symmetrically arranged gantry columns, on which a pipe block and a wire rope lifting lug are installed; Two lifting devices with vertical telescopic function are respectively installed in two gantry columns, and rolling parts are installed on the top of the lifting devices; One end of the steel wire rope is connected to the steel wire rope lifting lug on the steel wire rope fixing frame, and the other end of the steel wire rope passes around the rolling component and extends downward to be connected to the horizontal machine. The steel wire rope is driven to move through the lifting device, thereby driving the horizontal machine to lift and lower.

3. The hanging condenser online cleaning robot according to claim 2, characterized in that: The lifting device is a single-outlet oil cylinder that rises when liquid is inflowing and descends by its own weight when liquid is returned. The single-outlet oil cylinder has a built-in magnetostrictive displacement sensor and a magnetic ring. The electronic compartment and the hydraulic oil inlet are placed outside the condenser water chamber. The cylinder barrel of the single oil cylinder is fixed on the gantry column, and a rolling component is installed on the piston rod.

4. The hanging condenser online cleaning robot according to claim 2, characterized in that: The rolling component comprises a pulley bracket installed on the lifting device, bearings symmetrically arranged on both sides of the pulley bracket, and a pulley installed on the bearing and fixed by a retaining ring, and the steel wire rope is slidably matched with the pulley.

5. The hanging condenser online cleaning robot according to claim 1, characterized in that: The horizontal machine comprises: The lifting platform has a symmetrically arranged guide vertical slider on each side, which is used to cooperate with the inner side of the two gantry columns to perform vertical guiding movement; Steel wire rope lifting lugs, symmetrically mounted on both sides of the lifting platform, for connecting to the steel wire rope in the vertical machine; Pipeline fixing block, fixed on the lifting platform, used to connect pipelines; A slide plate is slidably mounted on the lifting platform, and the pouring device is mounted on the slide plate; A horizontal driving device is installed in the lifting platform and connected to the pouring device, and is used to drive the pouring device to perform horizontal reciprocating motion on the lifting platform.

6. The hanging condenser online cleaning robot according to claim 5, characterized in that: The horizontal driving device is a horizontal oil cylinder with a built-in magnetostrictive displacement sensor and a magnetic ring, and the electronic compartment is placed outside the condenser water chamber.

7. The hanging condenser online cleaning robot according to claim 1, characterized in that: The perfusion device comprises: A connecting bottom plate fixed on the slide plate in the horizontal machine, the bottom surface of which is provided with a lever double-ear connecting seat connected to the horizontal oil cylinder in the horizontal machine; A pair of tripods facing each other are arranged on both sides of the connecting bottom plate; a perfusion support, connected to the tripod via the propulsion device; The injector is installed on the injector bracket, and is moved up and down by the vertical machine control, and is moved left and right by the horizontal machine control. It is pushed out or retracted by the propulsion device to achieve sealing docking and separation with the condenser tube sheet.

8. The hanging condenser online cleaning robot according to claim 7, characterized in that: The propulsion device consists of a propulsion cylinder and a guide shaft; the cylinder barrel of the propulsion cylinder is fixed in the tripod, the piston rod of the propulsion cylinder passes through the front plate of the tripod and is connected to the perfusion bracket, a shaft sleeve is installed at the upper and lower ends of the front plate of the tripod, a guide shaft is inserted in the shaft sleeve, and the front end of the guide shaft is connected to the perfusion bracket.

9. The hanging condenser online cleaning robot according to claim 7, characterized in that: The perfusion support is an I-shaped structure, and a perfusion device is installed at both ends of the upper part and the lower part of the perfusion support, and the four perfusion devices are connected through a hose; The injector is a square block structure, and a silicone plate for sealing is covered on the side of the injector facing the condenser tube sheet; one or more rows of coaxial injection holes are provided on the silicone plate and the injector, and the hole spacing is set according to the distribution of the condenser heat exchange tubes; The sides of the injectors are provided with a plurality of pipe joints. The upper two injectors and the lower two injectors are connected together through three-way valves and horizontal hoses respectively, and then connected to the upper and lower three-way valves through vertical hoses to connect the four injectors together.

10. The hanging condenser online cleaning robot according to claim 1, characterized in that: The follow-up pipeline includes a sensor compensation wire, a plurality of hydraulic pipes, a cleaning medium pipe and a compressed air pipe; The follow-up pipeline is divided into a vertical follow-up pipeline and a horizontal follow-up pipeline; One end of the vertical follow-up pipeline is connected to the pipeline block of the vertical machine and arranged through the pulley bracket on the vertical machine. The other end is connected to the pipeline block of the horizontal machine and moves synchronously with the wire rope. The vertical follow-up pipeline can be set on one side or both sides of the vertical machine at the same time. After the horizontal follow-up pipeline is bent through 180 degrees, one end is connected to the pipeline block of the horizontal machine, and the other end is connected to the pipeline block of the pouring device to achieve horizontal follow-up.

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