Feeding system for tube bundle cleaning

Abstract

The utility model relates to a feeding system for cleaning pipe bundles. A vibrating disc uniformly conveys felt plugs / foam plugs in the vibrating disc outwards through a discharging groove in the output end. The floating material distribution mechanism is used for opening and closing the discharge port of the discharge groove; a spraying execution module is mounted at the output tail end of the six-axis robot, and a side opening allowing a felt plug / foam plug to enter is formed in the side wall of a conical material guide pipe in the spraying execution module; disordered felt plugs / foam plugs are regularly and orderly conveyed out in sequence through a vibrating disc, a six-axis robot transfers a spraying execution module to a discharging opening of a discharging groove, and then a floating material distributing mechanism and the spraying execution module are matched to load the felt plugs / foam plugs into the spraying execution module; therefore, the felt plug / foam plug can be automatically supplemented to the spraying execution module; 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 a feeding system for tube bundle cleaning, belonging to the technical field of steam generator tube bundle flushing. Background Technique

[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 stations 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 station, 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] Currently, in the existing steam generator tube bundles, the final flushing, drying, and inspection of cleanliness and other processes are all completed manually. This not only takes time and effort, but also has poor cleaning effects, low cleaning efficiency, and poses a certain threat to the personal safety of operators. Therefore, a cleaning device is needed for automatic cleaning.

[0005] In the cleaning process, there is a process of using a felt plug / foam plug to be inserted into the tube holes of the steam generator. The felt plug / foam plug is a consumable and needs to be replenished. If manual filling is used, the efficiency is relatively slow. Content of the Utility Model

[0006] 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,

[0007] so as to solve the problems raised in the above background technique.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A feeding system for tube bundle cleaning, comprising:

[0010] A vibrating disk, which evenly conveys the felt plugs / foam plugs inside it outward through the discharge chute at the output end;

[0011] A floating material distribution mechanism, which is used to push out the felt plugs / foam plugs at the discharge port at the end of the discharge chute;

[0012] Six-axis robot, a jet execution module is installed at the output end of the six-axis robot, and a side opening for the felt plug / foam plug to enter is provided on the side wall of the conical feed pipe in the jet execution module.

[0013] Preferably, the vibrating disk, the floating material distribution mechanism and the six-axis robot are installed on the operating platform.

[0014] Preferably, the six-axis robot moves on the operating platform through the third slider-rail assembly to approach or move away from the end face of the pipe fitting; a second vision positioning system is installed at the end of the six-axis robot.

[0015] Preferably, the vibrating disk is installed on the air-floating shock-absorbing machine table.

[0016] Preferably, the jet execution module further includes a jet base body and a plurality of third telescopic components and fourth telescopic components installed side by side on the jet base body. The third telescopic components are in one-to-one correspondence and cooperation with the conical feed pipes. The third telescopic component extends to push the felt plug / foam plug in the corresponding conical feed pipe out from the end, and the telescopic end of the fourth telescopic component is connected to the corresponding conical feed pipe.

[0017] Preferably, it further includes a storage bin for storing the felt plug / foam plug; a valve is installed on the material distribution guide groove at the output end of the storage bin.

[0018] Preferably, a belt conveyor is connected between the material distribution guide groove at the output end of the storage bin and the vibrating disk.

[0019] Preferably, the floating material distribution mechanism includes a fifth telescopic component and a pusher. The fifth telescopic component drives the pusher to move by telescoping, and the shape of the pusher is adapted to the discharge port at the end of the discharge chute.

[0020] Compared with the prior art, the present utility model has the following characteristics and beneficial effects:

[0021] The vibrating disk conveys the disordered felt plugs / foam plugs out regularly and orderly. The six-axis robot can not only insert the felt plugs / foam plugs in the jet execution module into the pipe holes on the end face of the pipe fitting within a large range, but also conveniently transfer the jet execution module to the discharge port of the discharge chute. Then, the floating material distribution mechanism and the jet execution module cooperate to load the felt plugs / foam plugs into the interior of the jet execution module, thereby realizing automatic replenishment of the felt plugs / foam plugs for the jet execution module; during this process, the pipe holes on the circular end face of the pipe fitting are identified through the second vision positioning system to provide coordinates for the precise movement of the six-axis robot. Description of the Drawings

[0022] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0023] Figure 2 It is a schematic diagram of the application scenario of the utility model;

[0024] Figure 3 It is a schematic diagram of the vibration discharging and material distributing mechanism of the utility model;

[0025] Figure 4 It is a schematic diagram of the spraying execution module of the utility model;

[0026] Figure 5 It is a schematic diagram of the cooperation between the floating material distributing mechanism and the discharge port of the discharge chute of the utility model;

[0027] Figure 6 It is a schematic diagram of the cooperation among the floating material distributing mechanism, the discharge port of the discharge chute and the spraying execution module of the utility model;

[0028] Figure 7 It is a schematic diagram of the end face of the pipe fitting of the utility model;

[0029] Figure 8 It is a schematic diagram of the discharge chute of the utility model;

[0030] Figure 9 It is a schematic diagram of the pusher of the utility model.

[0031] Among them, the reference numerals are:

[0032] 100, pipe fitting; 200, three-axis sliding assembly; 300, support roller frame;

[0033] 2035, operation platform;

[0034] 300, support roller assembly; 400, six-axis robot; 602, second vision positioning system.

[0035] 800, spraying execution module; 801, spraying base; 802, third telescopic assembly; 803, fourth telescopic assembly; 805, conical guide pipe;

[0036] 810, vibration discharging and material distributing mechanism; 811, storage bin; 812, material distributing guide groove; 813, belt conveyor; 814, vibrating disk; 815, air-floating shock-absorbing machine table; 816, discharge chute; 8161, discharge port;

[0037] 820, floating material distributing mechanism; 821, fifth telescopic assembly; 822, pusher. Detailed implementation manners

[0038] The following describes the present utility model in more detail in conjunction with embodiments.

[0039] As Figures 1 to 9 shown:

[0040] The six-axis robot 400 can be of the model RobotR-2000iC / 165F from FAUNC Corporation, Japan.

[0041] As Figure 1 shown: The X-axis sliding component, Y-axis sliding component, and Z-axis sliding component form the three-axis sliding component 200. The three-axis sliding component 200 drives the operation platform 2035 to move in the X, Y, and Z directions. The Z-axis sliding component in the three-axis sliding component 200 can be omitted. Usually, the installed operation platform 2035 will not move along the Z direction anymore.

[0042] The operation platform 2035 is horizontally arranged and used for installing the spraying execution module 800, vibrating discharging and distributing mechanism 810, floating distributing mechanism 820, and for staff to walk on; a placement rack adapted to the outer contour of the spraying execution module 800 is also arranged on the operation platform 2035. When not in use, the spraying execution module 800 is placed on the corresponding placement rack.

[0043] The third slider rail assembly (not marked in the attached drawing) 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, realizing approaching or departing 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.

[0044] As Figure 7 shown, 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.

[0045] The output end of the six-axis robot 400 is installed 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, thus 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.

[0046] The second vision positioning system 602 identifying the positions of the local pipe holes on the end face of the pipe fitting 100 can provide accurate position coordinates for subsequent processing.

[0047] 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. The robot-side module is installed on the output module of the six-axis robot 400, and the tool-side module is installed on the spraying base 801; thus, the six-axis robot 400 can be switched between the spraying execution module 800 and others.

[0048] As Figure 4 shown, the injection execution module 800 includes an injection base 801, a third telescopic component 802 (telescopic cylinder), a fourth telescopic component 803 (electric push rod), and a conical feeding pipe 805. A plurality (such as three) of conical feeding pipes 805 are arranged in a row at equal intervals on the side wall of the injection base 801. A side opening is provided on the top wall of each conical feeding pipe 805 for inserting an external felt plug / foam plug into the corresponding conical feeding pipe 805. The inside of the conical feeding pipe 805 is hollow and open at both ends. Each of the third telescopic components 802 is independent of each other, and each of the fourth telescopic components 803 is independent of each other. The telescopic end of the fourth telescopic component 803 is connected to the conical feeding pipe 805, and the telescopic end of the third telescopic component 802 relatively extends into the corresponding conical feeding pipe 805. The telescopic directions of the third telescopic component 802 and the fourth telescopic component 803 are the same. The third telescopic component 802 and the fourth telescopic component 803 are connected to an external power source / electrical signal through a tool side module on the injection base 801. When the fourth telescopic component 803 extends, the corresponding conical feeding pipe 805 is in the working position. When the fourth telescopic component 803 shortens, the corresponding conical feeding pipe 805 is in the non-working position, so that several conical feeding pipes 805 can be selected to insert felt plugs / foam plugs into several pipe holes for injection operations. The conical feeding pipe 805 is horizontally arranged with the side opening facing upward.

[0049] When not in use, the injection execution module 800 and other modules are all within the moving range of the six-axis robot 400. The conical feeding pipe 805 is adapted to the pipe hole on the end face of the pipe fitting 100.

[0050] As Figure 5 shown, the floating material distribution mechanism 820 includes a fifth telescopic component 821 (telescopic cylinder) and a pusher 822 installed at the telescopic end of the fifth telescopic component 821.

[0051] As Figure 3 shown, the vibrating material discharging and distributing mechanism 810 includes a material bin 811, a belt conveyor 813, a vibrating disk 814, an air-floating shock-absorbing machine table 815, and a discharging chute 816. The material bin 811 is used to store felt plugs / foam plugs. A valve (electric control valve) is installed on the material distribution guide groove 812 at the bottom output end of the material bin 811. The belt conveyor 813 is horizontally arranged. The felt plugs / foam plugs in the material bin 811 are discharged to the belt conveyor 813 through the material distribution guide groove 812, and the felt plugs / foam plugs on it are conveyed to the vibrating disk 814 through the belt conveyor 813. It also includes a sensor for monitoring the number of felt plugs / foam plugs in the vibrating disk 814. When the number of felt plugs / foam plugs in the vibrating disk 814 is small, the valve is started to replenish the felt plugs / foam plugs for the vibrating disk 814.

[0052] The vibrating disk 814 is installed on the top of the air-floating shock-absorbing machine platform 815 to reduce the vibration generated during operation, thereby reducing the vibration transmitted to the operating platform 2035. An inclined downward straight discharge chute 816 is provided at the output end of the vibrating disk 814, and the vibrating disk 814 regularly conveys the felt plugs / foam plugs inside to the discharge chute 816. As Figure 8 shown, the inclined lower end of the discharge chute 816 is provided with an end discharge port 8161;

[0053] The conveying direction of the felt plugs / foam plugs on the discharge chute 816 is different from the telescopic direction of the fifth telescopic assembly 821. Under normal conditions, the felt plugs / foam plugs on the discharge chute 816 will not fall out of the discharge port 8161 without external force.

[0054] As Figure 8 、 9 shown, the shape of the discharge port 8161 is adapted to the shape of the pusher 822, so that when the fifth telescopic assembly 821 expands and contracts, the pusher 822 can push a felt plug / foam plug installed in the discharge port 8161 outwards. The moving direction of the felt plugs / foam plugs on the discharge chute 816 is perpendicular to the opening directions at both ends of the discharge port 8161.

[0055] Working principle:

[0056] The larger-sized pipe fitting 100 is lifted by an external tool onto the support roller rack 300, such that the end face of the pipe fitting 100 with the pipe hole faces the operating platform 2035.

[0057] The three-axis sliding assembly 200 drives the operating platform 2035 to move along the X and Y directions to a suitable position, and 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.

[0058] The six-axis robot 400 switches between the spraying execution module 800 and other modules through the robot quick-change module.

[0059] The six-axis robot 400 grabs the spraying execution module 800. The second vision positioning system 602 provides guidance for the precise movement of the six-axis robot 400. The free end of the conical guide pipe 805 is inserted into the pipe hole on the end face of the pipe fitting 100, and the third telescopic assembly 802 extends to push the felt plug / foam plug inside the conical guide pipe 805 into the pipe hole. It should be noted that the felt plugs / foam plugs can be manually supplemented to the conical guide pipe 805 by workers, or automatically supplemented by other external devices.

[0060] At the same time, there is only one felt plug / foam plug inside the conical guide pipe 805, and it needs to be replenished after use.

[0061] The six-axis robot 400 drives a group of mobile conical guide pipes 805 in the injection execution module 800 to the feeding position, such as Figure 6 As shown, at this time, the three tapered material guide tubes 805 are located at the same level and the side openings are facing upward.

[0062] Afterwards, the fifth telescopic component 821 shortens and drives the pusher 822 to move and push a felt plug / foam plug installed in the discharge port 8161 outward to the inside of the tapered guide tube 805, and then the fifth telescopic component 821 extends and resets, and the subsequent felt plug / foam plug falls into the discharge port 8161. Then the six-axis robot 400 drives the other movable tapered guide tubes 805 in the injection execution module 800 to move to the feeding position, and repeats the above actions.

[0063] Further, the felt plug / foam plug in the discharge port 8161 can enter the interior of the tapered material guide tube 805 in two ways;

[0064] First, the pushing member 822 moves to push a felt plug / foam plug installed in the discharge port 8161 outward to the top of the side opening of the tapered material guide tube 805, and under the action of gravity, the felt plug / foam plug falls into the tapered material guide tube 805 through the side opening; the third telescopic component 802 can be extended a short distance to push the felt plug / foam plug in the tapered material guide tube 805 to move a short distance away from the side opening;

[0065] Second, when the conical material guide tube 805 moves to the material filling position, the end opening of the conical material guide tube 805 is aligned with the opening of the discharge port 8161, and the pushing piece 822 moves to push a felt plug / foam plug installed in the discharge port 8161 directly into the interior of the conical material guide tube 805 through the end opening of the conical material guide tube 805.

[0066] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0067] In the description of the present invention, 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 or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

Claims

1. A feeding system for tube bundle cleaning, characterized in that, Including: A vibrating disk (814) that evenly conveys the felt plugs / foam plugs inside it outwards through the discharge chute (816) at the output end; A floating material distribution mechanism (820) that is used to push out the felt plugs / foam plugs at the discharge port (8161) at the end of the discharge chute (816); A six-axis robot (400) with a jet execution module (800) installed at the output end. A side opening for the felt plugs / foam plugs to enter is provided on the side wall of the conical guide pipe (805) in the jet execution module (800).

2. The feeding system for tube bundle cleaning according to claim 1, characterized in that: The vibrating disk (814), the floating material distribution mechanism (820) and the six-axis robot (400) are installed on the operation platform (2035).

3. The feeding system for tube bundle cleaning according to claim 2, wherein: The six-axis robot (400) moves on the operation platform (2035) through a third slider-rail assembly to approach or move away from the end face of the pipe fitting (100); A second vision positioning system (602) is installed at the end of the six-axis robot (400).

4. The feeding system for tube bundle cleaning according to claim 1, wherein: The vibrating disk (814) is installed on an air-floating shock-absorbing machine table (815).

5. The feeding system for tube bundle cleaning according to claim 1, wherein: The jet execution module (800) further includes a jet base body (801) and a number of third telescopic components (802) and fourth telescopic components (803) installed side by side on the jet base body (801). The third telescopic components (802) and the conical guide pipes (805) are in one-to-one correspondence and cooperation. The third telescopic components (802) extend to push out the felt plugs / foam plugs inside the corresponding conical guide pipes (805) from the end, and the telescopic ends of the fourth telescopic components (803) are connected to the corresponding conical guide pipes (805).

6. The feeding system for tube bundle cleaning according to claim 1, characterized in that: It also includes a material bin (811) that is used to store the felt plugs / foam plugs; A valve is installed on the material distribution guide groove (812) at the output end of the material bin (811).

7. The feeding system for tube bundle cleaning according to claim 6, wherein: A belt conveyor line (813) is connected between the material distribution guide groove (812) at the output end of the material bin (811) and the vibrating disk (814).

8. The feeding system for tube bundle cleaning according to claim 1, characterized in that: The floating material distribution mechanism (820) includes a fifth telescopic component (821) and a pusher (822). The fifth telescopic component (821) drives the pusher (822) to move by telescoping, and the shape of the pusher (822) is adapted to the discharge port (8161) at the end of the discharge chute (816).

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