Tube bundle tube hole flushing, purging and drying execution device

Abstract

The utility model relates to a tube bundle tube hole flushing, purging and drying execution device which comprises an operation platform, and the operation platform is driven by a three-axis sliding assembly to move. The six-axis robot moves on the operation platform through a third sliding block and sliding rail assembly; a drying execution module, a cleaning execution module, a spraying execution module and a laser marking module are mounted on the operation platform; the tail end of the six-axis robot is detachably connected and matched with all the modules through the robot quick-change module. A second visual positioning system is mounted at the tail end of the six-axis robot; the operation platform is used for installing various devices and allowing workers to walk. The six-axis robot grabs one of the modules through the robot quick-change module according to the process requirement; in the process, a pipe hole in the circular end face of the pipe fitting is recognized through the second visual positioning system, and coordinates are provided for accurate movement of the six-axis robot.

Description

Technical Field

[0001] The utility model relates to an execution device for flushing, purging and drying tube holes of a tube bundle, belonging to the technical field of tube bundle flushing of a steam generator. Background Art

[0002] A steam generator is a device that converts a liquid into steam. It is widely used in the thermal energy field, especially in industrial fields such as nuclear power plants and thermal power plants. It converts the thermal energy in a liquid (such as water) into steam energy to drive a generator or provide thermal energy.

[0003] A steam generator usually consists of a closed container and a series of heat exchange tube bundle assemblies. The liquid is heated in the container to increase its temperature and convert it into steam. In a nuclear power plant, the thermal energy released in the nuclear reactor is transferred to the liquid coolant (usually water) through the tube bundle assembly of the reactor steam generator, causing it to boil and convert into steam. In a thermal power plant, a common method is to bring the high-temperature flue gas generated by combustion into contact with water through a heat exchanger to convert the water into steam.

[0004] At present, in the existing steam generator tube bundle, the final flushing, drying and inspection of cleanliness and other processes are all completed manually, which is not only time-consuming and laborious, but also has poor cleaning effect, low cleaning efficiency, and poses a certain threat to the personal safety of operators. Therefore, a cleaning device is needed for automatic cleaning. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a visual positioning system for the equipment of the final flushing workstation of the tube bundle,

[0006] so as to solve the problems put forward in the above background art.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] An execution device for flushing, purging and drying tube holes of a tube bundle includes:

[0009] An operation platform, which is driven to move through a three-axis sliding component;

[0010] A six-axis robot, which moves on the operation platform through a third slider rail component to approach or move away from the end face of the pipe fitting;

[0011] A drying execution module, a cleaning execution module, a spraying execution module and a laser marking module are installed on the operation platform;

[0012] The end of the six-axis robot is detachably connected and cooperated with the drying execution module, the cleaning execution module, the spraying execution module and the laser marking module through a robot quick-change module;

[0013] A second vision positioning system is installed at the end of the six-axis robot.

[0014] Preferably, the drying execution module includes a drying base body, and a plurality of first telescopic components arranged side by side on the drying base body. An air pressure air gun is installed at the output end of each first telescopic component.

[0015] Preferably, a conical soft pad head is arranged at the air outlet end of the air pressure air gun.

[0016] Preferably, the cleaning execution module includes a cleaning base body, and a plurality of second telescopic components arranged side by side on the cleaning base body. A steam spray gun is installed at the output end of each second telescopic component.

[0017] Preferably, the spraying execution module includes a spraying base body, a plurality of third telescopic components, fourth telescopic components and conical guide pipes arranged side by side on the spraying base body. The third telescopic components and the conical guide pipes are in one-to-one correspondence and cooperation. A side opening for the felt plug / foam plug to enter is formed on the side wall of the conical guide pipe. The third telescopic component extends to push the felt plug / foam plug in the corresponding conical guide pipe out from the end. The telescopic end of the fourth telescopic component is connected to the corresponding conical guide pipe.

[0018] Preferably, the laser marking module includes a marking base body and a laser marking head installed on the marking base body.

[0019] Compared with the prior art, the utility model has the following characteristics and beneficial effects:

[0020] An operation platform is arranged on the three-axis sliding component. The operation platform is used for installing various devices and for the staff to walk. At the same time, a drying execution module, a cleaning execution module, a spraying execution module and a laser marking module are arranged on the operation platform. The six-axis robot grabs one of the modules through the robot quick-change module according to the required process requirements. During this process, the pipe holes on the round end face of the pipe fitting are identified by the second vision positioning system, providing coordinates for the precise movement of the six-axis robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional schematic diagram of the utility model;

[0022] Figure 2 is a schematic diagram of the application occasion of the utility model;

[0023] Figure 3 is a schematic diagram of the drying execution module of the utility model;

[0024] Figure 4 is a schematic diagram of the laser marking module of the utility model;

[0025] Figure 5It is a schematic diagram of the utility model injection execution module;

[0026] Figure 6 It is a schematic diagram of the utility model cleaning execution module;

[0027] Figure 7 It is a schematic diagram of the end face of the utility model pipe fitting.

[0028] Among them, the reference numerals are:

[0029] 100, pipe fitting; 200, three-axis sliding assembly; 300, support roller frame;

[0030] 2035, operation platform;

[0031] 300, support roller assembly; 400, six-axis robot; 602, second vision positioning system.

[0032] 500, drying execution module; 501, drying matrix; 502, first telescopic assembly; 503, air compressor air gun; 504, conical soft pad head;

[0033] 700, cleaning execution module; 701, cleaning matrix; 702, second telescopic assembly; 703, steam spray gun;

[0034] 800, injection execution module; 801, injection matrix; 802, third telescopic assembly; 803, fourth telescopic assembly; 805, conical guide pipe;

[0035] 900, laser marking module; 901, marking matrix; 902, laser marking head;

[0036] 1001, tool side module. Specific embodiments

[0037] The present utility model will be described in more detail below in conjunction with embodiments.

[0038] As Figures 1 to 7 shown:

[0039] The six-axis robot 400 can adopt the model RobotR-2000iC / 165F of Japan's FAUNC Corporation.

[0040] As Figure 1 shown: The X-axis sliding assembly, Y-axis sliding assembly and Z-axis sliding assembly form the three-axis sliding assembly 200. The three-axis sliding assembly 200 drives the operation platform 2035 to move in the X, Y, and Z directions. The Z-axis sliding assembly in the three-axis sliding assembly 200 can be omitted. Usually, the installed operation platform 2035 will not move along the Z direction anymore.

[0041] The operation platform 2035 is horizontally arranged and used for installing the drying execution module 500, the cleaning execution module 700, the spraying execution module 800, the laser marking module 900 and for staff to walk on; there are also placement racks arranged on the operation platform 2035 that are in one-to-one correspondence and adapted to the outer contours of the drying execution module 500, the cleaning execution module 700, the spraying execution module 800 and the laser marking module 900. When not in use, the drying execution module 500, the cleaning execution module 700, the spraying execution module 800 and the laser marking module 900 are placed on the corresponding placement racks.

[0042] The third slider rail assembly (not marked in the attached drawings) can adopt a gear-rack transmission structure or a ball screw-nut pair transmission structure. The third slider rail assembly drives the six-axis robot 400 to move along the Z direction on the operation platform 2035 to approach or move away from the end face of the pipe fitting 100. When not in use, the six-axis robot 400 can be moved to the corner to facilitate the activities of the staff on the operation platform 2035.

[0043] Most of the pipe holes on the end face of the pipe fitting 100 need to be cleaned. The pipe fitting 100 is hoisted and rotated to the support roller rack 300 by an external tool.

[0044] The output end of the six-axis robot 400 is equipped with a second vision positioning system 602. The second vision positioning system 602 can be moved to the vicinity of the end face of the pipe fitting 100 to be cleaned through the six-axis robot 400. The visual field range of the second vision positioning system 602 is small, thereby improving the accuracy of visual recognition. As Figure 7 shown, the diameter of the pipe holes on the end face of the pipe fitting 100 to be cleaned is relatively small compared to the outer diameter of the pipe fitting 100.

[0045] The second vision positioning system 602 identifies the positions of the local pipe holes on the end face of the pipe fitting 100, which can provide accurate position coordinates for subsequent processing.

[0046] The robot quick-change module is an existing product that can connect different media such as gas, electrical signals, liquid, etc. from the robot arm to the end effector. The robot quick-change module includes a robot-side module and a tool-side module 1001. The robot-side module is installed at the output end of the six-axis robot 400, and the tool-side module 1001 is installed on the drying substrate 501, the cleaning substrate 701, the spraying substrate 801 and the marking substrate 901; thus enabling the six-axis robot 400 to switch between the drying execution module 500, the cleaning execution module 700, the spraying execution module 800 and the laser marking module 900.

[0047] As Figure 3As shown in the figure, the drying execution module 500 includes a drying base 501, a first telescopic component 502 (telescopic cylinder), an air pressure air gun 503, and a conical soft pad head 504 (flexible elastic deformation). A plurality of (such as three) first telescopic components 502 are arranged in a one-word pattern at equal intervals on the side wall of the drying base 501. The first telescopic components 502 are independent of each other. The telescopic ends of the first telescopic components 502 are installed with corresponding air pressure air guns 503. The air outlet ends of the air pressure air guns 503 are installed with conical soft pad heads 504. The air inlet ends of the air pressure air guns 503 are connected to the tool side module 1001 on the drying base 501. An external air source supplies air to the air pressure air guns 503 through the tool side module 1001. The first telescopic components 502 are also connected to an external power source / air source through the tool side module 1001. When the first telescopic component 502 extends, the corresponding air pressure air gun 503 is in the working position. When the first telescopic component 502 shortens, the corresponding air pressure air gun 503 is in the non-working position. Thus, it is possible to select how many air pressure air guns 503 blow air and dry several pipe holes simultaneously.

[0048] As Figure 4 shown in the figure, the laser marking module 900 includes a marking base 901 and a laser marking head 902. The laser marking head 902 is electrically connected to the tool side module 1001 on the drying base 501. An external power source and electrical signal supply power and provide electrical signals to the laser marking head 902 through the tool side module 1001.

[0049] As Figure 5 shown in the figure, the spraying execution module 800 includes a spraying base 801, a third telescopic component 802 (telescopic cylinder), a fourth telescopic component 803 (electric push rod), and a conical guide pipe 805. A plurality of (such as three) conical guide pipes 805 are arranged in a one-word pattern at equal intervals on the side wall of the spraying base 801. Each conical guide pipe 805 has a side opening on its top wall for inserting an external felt plug / foam plug into the corresponding conical guide pipe 805. The conical guide pipe 805 is hollow with openings at both ends. The third telescopic components 802 are independent of each other, and the fourth telescopic components 803 are independent of each other. The telescopic ends of the fourth telescopic components 803 are connected to the conical guide pipes 805. The telescopic ends of the third telescopic components 802 relatively extend into the corresponding conical guide pipes 805. The telescopic directions of the third telescopic components 802 and the fourth telescopic components 803 are the same. The third telescopic components 802 and the fourth telescopic components 803 are connected to an external power source / electrical signal through the tool side module 1001 on the spraying base 801. When the fourth telescopic component 803 extends, the corresponding conical guide pipe 805 is in the working position. When the fourth telescopic component 803 shortens, the corresponding conical guide pipe 805 is in the non-working position. Thus, it is possible to select how many conical guide pipes 805 insert felt plugs / foam plugs into several pipe holes for spraying operations. The conical guide pipes 805 are horizontally arranged with the side openings facing upward.

[0050] As Figure 6 shown, the cleaning execution module 700 includes a cleaning base 701, a second telescopic assembly 702 (telescopic cylinder), and a steam spray gun 703 (high-pressure steam spray gun). A plurality (such as three) of second telescopic assemblies 702 are arranged in a one-word pattern at equal intervals on the side wall of the cleaning base 701. Each of the second telescopic assemblies 702 is independent of each other. The telescopic end of the second telescopic assembly 702 is connected to the corresponding steam spray gun 703. The second telescopic assembly 702 and the corresponding steam spray gun 703 are connected to an external power source / gas source / water source through the tool side module 1001 on the cleaning base 701. When the second telescopic assembly 702 extends, the corresponding steam spray gun 703 is in the working position. When the second telescopic assembly 702 contracts, the corresponding steam spray gun 703 is in the non-working position. Thus, it is possible to select how many steam spray guns 703 spray water vapor / liquid water into several pipe holes for water washing operations.

[0051] It also includes solenoid valves for controlling the on / off of each steam spray gun 703 and air pressure spray gun 503. When not in use, the drying execution module 500, the cleaning execution module 700, the spraying execution module 800, and the laser marking module 900 are all within the moving range of the six-axis robot 400. The steam spray gun 703, the air pressure spray gun 503, and the conical feed pipe 805 are all adapted to the pipe holes on the end face of the pipe fitting 100.

[0052] Working principle:

[0053] The relatively large pipe fitting 100 is hoisted onto the support roller rack 300 by an external tool, such that the end face of the pipe fitting 100 with pipe holes faces the operation platform 2035.

[0054] The three-axis sliding assembly 200 drives the operation platform 2035 to move along the X and Y directions to a suitable position. The third slider rail assembly drives the six-axis robot 400 to approach the end face of the pipe fitting 100 along the Z direction.

[0055] The six-axis robot 400 switches between the drying execution module 500, the cleaning execution module 700, the spraying execution module 800, and the laser marking module 900 through the robot quick-change module. The second vision positioning system 602 provides guidance for the precise movement of the six-axis robot 400.

[0056] The six-axis robot 400 grabs the cleaning execution module 700, and the free end of the steam spray gun 703 is inserted into the pipe hole on the end face of the pipe fitting 100, and the steam spray gun 703 performs water washing on the pipe hole.

[0057] The six-axis robot 400 grasps the injection execution module 800. The free end of the conical guide pipe 805 is inserted into the pipe hole on the end face of the pipe fitting 100. The third telescopic assembly 802 extends to push the felt plug / foam plug in the conical guide pipe 805 into the pipe hole. It should be noted that the felt plug / foam plug in the conical guide pipe 805 can be manually supplemented by humans, or automatically supplemented by other external devices.

[0058] The six-axis robot 400 grasps the drying execution module 500. The free end of the air pressure gun 503 is inserted into the pipe hole on the end face of the pipe fitting 100. At this time, the conical soft pad head 504 at the free end of the air pressure gun 503 abuts against the end face of the pipe fitting 100 to improve the airtightness. The air pressure gun 503 blows air into the pipe hole to remove the water droplets attached to the pipe wall to achieve drying. Otherwise, the air flow sprayed by the air pressure gun 503 can also push the felt plug / foam plug to move in the pipe hole and spray out from the other end, thereby realizing the blowing and cleaning of the pipe wall by the felt plug / foam plug.

[0059] The six-axis robot 400 grasps the laser marking module 900. The laser marking head 902 performs laser marking on the area near the cleaned pipe hole to make a mark.

[0060] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "inner", "outer", "upper", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0061] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the term "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, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present utility model can be understood according to specific circumstances.

[0062] Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

Claims

1. A tube bundle tube hole flushing, purging and drying execution device, characterized in that: include: An operating platform (2035), wherein the operating platform (2035) is driven to move by a three-axis sliding assembly (200); The six-axis robot (400) moves on the operating platform (2035) via the third slider rail assembly to approach or move away from the end face of the pipe (100); The operating platform (2035) is equipped with a drying execution module (500), a cleaning execution module (700), a spraying execution module (800) and a laser marking module (900); The end of the six-axis robot (400) is detachably connected and matched with the drying execution module (500), the cleaning execution module (700), the spraying execution module (800) and the laser marking module (900) through a robot quick-change module; A second visual positioning system (602) is installed at the end of the six-axis robot (400).

2. A tube bundle tube hole flushing, purging and drying execution device according to claim 1, characterized in that: The drying execution module (500) comprises a drying base (501) and a plurality of first telescopic components (502) installed in parallel on the drying base (501), and an air compressor gun (503) is installed at the output end of each first telescopic component (502).

3. The tube bundle hole flushing, purging and drying execution device according to claim 2, characterized in that: The air outlet end of the compressed air gun (503) is provided with a conical soft cushion head (504).

4. The tube bundle hole flushing, purging and drying execution device according to claim 1, characterized in that: The cleaning execution module (700) comprises a cleaning base (701) and a plurality of second telescopic components (702) installed in parallel on the cleaning base (701), and a steam spray gun (703) is installed at the output end of each second telescopic component (702).

5. The tube bundle hole flushing, purging and drying execution device according to claim 1, characterized in that: The injection execution module (800) includes an injection base (801) and a plurality of third telescopic components (802), a fourth telescopic component (803) and a conical material guide tube (805) installed in parallel on the injection base (801), the third telescopic component (802) and the conical material guide tube (805) are matched one by one, and the side wall of the conical material guide tube (805) is provided with a side opening for the felt plug / foam plug to enter, the third telescopic component (802) is extended to push the felt plug / foam plug in the corresponding conical material guide tube (805) out from the end, and the telescopic end of the fourth telescopic component (803) is connected to the corresponding conical material guide tube (805).

6. The tube bundle tube hole flushing, purging and drying execution device according to claim 1, characterized in that: The laser marking module (900) comprises a marking substrate (901) and a laser marking head (902) mounted on the marking substrate (901).

Images