Tube Cleaning Robot With Adjustable Traction Assemblies
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Solution Overview
Problem
Existing robots for cleaning the exterior of heat exchanger tubes face challenges in accommodating varying tube spacings and accessing furnaces with small or no access holes, as they are not adaptable to different furnace models or tube configurations, leading to inefficiencies and potential damage during cleaning.
Innovation Solution
A robot with adjustable traction assemblies that can change track width independently, allowing it to fit through small access holes and adapt to different tube spacings and configurations, ensuring stable contact and efficient cleaning, even on bent tubes, by using a mechanism with a threaded shaft and motor for precise adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a fixed track width design, then the structure is simple, but it cannot adapt to different tube spacings and furnace access hole sizes
Solution Approach 1:
The traction assemblies are made movable relative to the carriage in a direction transverse to the travel direction, allowing the track width to be dynamically adjusted. This enables the robot to adapt to different tube spacings and access hole sizes while maintaining a relatively simple overall structure.
Solution Approach 2:
The robot is divided into separate functional modules: the carriage for transport, the lance for cleaning, and the movable traction assemblies for engagement. This segmentation allows the track width to be adjusted by moving the traction assemblies independently without affecting the entire robot structure.
2Reliability
If the traction assemblies are made wider to ensure stable contact with tubes, then the robot is more stable, but it cannot access furnaces with small access holes
Solution Approach 1:
The traction assemblies can be moved transversely relative to the carriage, allowing the robot to reduce its track width for accessing small furnaces and then expand it for stable contact with tubes during cleaning operations.
Solution Approach 2:
The robot can adjust its track width before entering the furnace to ensure it fits through small access holes, and then adjust it again once inside to optimize contact with the tubes for stable cleaning operation.
3Reliability
If the robot uses fixed traction assemblies, then the device is simpler, but it cannot compensate for tube bending or warping
Solution Approach 1:
The movable traction assemblies allow the robot to dynamically adjust its configuration in response to tube bending or warping, maintaining reliable contact with the tubes while cleaning. Each traction assembly can move independently to compensate for irregularities in the tube path.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The adjustable track width enables the robot to maintain efficient cleaning performance across various furnace models and tube configurations, minimizing access hole size and reducing the risk of falling off bent tubes, while ensuring accurate fluid jet direction and stable robot trajectory.
Implementation Method 1
a mechanism with a threaded shaft and motor for precise adjustment
Implementation Method 2
threaded shaft and motor for precise adjustment
Implementation Method 3
The wheels may be fitted with tires or more preferably with a continuous caterpillar track. The use of a continuous track enables maximum contact between the traction assembly and the tube of the furnace.
Implementation Method 4
two or more wheels driven by the motor
Data Source
AI summary
A robot is disclosed for cleaning the exterior of tubes of a heat exchanger. The robot comprises a lance for directing a jet of fluid into spaces between the tubes, a carriage for transporting the lance in a direction of travel parallel to axes of the tubes of the heat exchanger, and traction assemblies for engaging the tubes to enable the carriage to be advanced along the tubes, wherein the traction assemblies are each moveable relative to the carriage in a direction transverse to that of travel in order to change the track width of the robot.