CN107560492A - The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment - Google Patents
The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment Download PDFInfo
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- CN107560492A CN107560492A CN201710884382.2A CN201710884382A CN107560492A CN 107560492 A CN107560492 A CN 107560492A CN 201710884382 A CN201710884382 A CN 201710884382A CN 107560492 A CN107560492 A CN 107560492A
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- 239000000498 cooling water Substances 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000009194 climbing Effects 0.000 claims abstract description 50
- 239000000523 sample Substances 0.000 claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 23
- 238000001816 cooling Methods 0.000 claims description 11
- 238000009785 tube rolling Methods 0.000 claims description 9
- 230000009193 crawling Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008278 dynamic mechanism Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 10
- 230000005855 radiation Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008030 elimination Effects 0.000 abstract description 3
- 238000003379 elimination reaction Methods 0.000 abstract description 3
- 239000003245 coal Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 229910052778 Plutonium Inorganic materials 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- OYEHPCDNVJXUIW-UHFFFAOYSA-N plutonium atom Chemical compound [Pu] OYEHPCDNVJXUIW-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Abstract
The invention discloses a kind of remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment, it is related to nuclear power plant's pollutant-removing system field.The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment, including umbrella shape climbing robot, controller, display and high pressure pump group；Umbrella shape climbing robot includes probe, rotary nozzle and drive mechanism；Controller connects display, high pressure pump group, probe and drive mechanism respectively；Operating personnel manipulate controller, judge information in cooling water pipe by probe and display, and then control drive mechanism to open and close, so that umbrella shape climbing robot advances or stopped；And control high pressure pump group to draw water to rotary nozzle, and then water is ejected into cooling water pipe inner surface from rotary nozzle, to take out stains.The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment of the present invention, harm of the nuclear radiation to human body is not only avoid, and high-efficient cleaning is observed except incrustation in cooling water pipe and to elimination effect.
Description
Technical field
The present invention relates to nuclear power plant's pollutant-removing system field, and in particular to the removing of nuclear power plant's cooling water pipe inner surface attachment
Device and sweep-out method.
Background technology
Nuclear power plant is a kind of high-energy, the power plant of few feed consumption.So that a generated energy is 1,000,000 kilowatts of power plant as an example, such as
Fruit burns coal, need to consume 7000~8000 tons or so of coal daily, to consume within 1 year more than 200 ten thousand tons.It is annual only to consume if using nuclear power plant instead
1.5 tons of fissioning uraniums or plutonium, once reload continuously to be run 1 year with full power.The transport and storage of Power Plant Fuel can be greatly reduced
Send one's regards to topic.Therefore, within considerably long one period from now on, nuclear power plant is by as the main energy sources of power industry.And nuclear power plant exists
During nuclear energy is converted into heat energy, cooling system plays a very important role.
Completed, there is no automatic by artificial completely when existing nuclear power plant is purged to cooling water pipe inner surface attachment
Cleaning technique, cause cleaning efficiency low, cleaning quality is poor, and nuclear radiation has certain harm to human body.
The content of the invention
In view of the above-mentioned problems, it is necessary to provide remove device and the removing of a kind of nuclear power plant's cooling water pipe inner surface attachment
Method, not only avoid harm of the nuclear radiation to human body, and can also high-efficient cleaning except incrustation in cooling water pipe and to elimination effect
Observed in good time.
To achieve these goals, the technical solution adopted by the present invention is as follows：
A kind of remove device of nuclear power plant's cooling water pipe inner surface attachment, including umbrella shape in cooling water pipe are creeped
Robot and the controller, display and the high-pressure pump that are all connected with the umbrella shape climbing robot outside the cooling water pipe
Group；The high pressure pump group includes pipeline, motor, valve group and high-pressure pump, and the high-pressure pump and the valve group are installed in the pipe
On road, the motor is arranged on outside the cooling water pipe and connects the high-pressure pump, and the high pressure pump group is connected by the pipeline
Connect the umbrella shape climbing robot；
The opposite end of the umbrella shape climbing robot is equiped with probe and some rotary nozzles, the probe connection respectively
The display, some rotary nozzles connect the pipeline；The umbrella shape climbing robot is along the relative of its axial direction
Both sides are respectively provided with a umbrella rib structure, and each umbrella rib structure includes the equivalent fixed mount of some numbers, umbrella frame, retractable support lever
And pulley, some fixed mount even circumferentials are arranged on the umbrella shape climbing robot, each described umbrella frame one end is fixed
On the fixed mount and at an angle with the umbrella shape climbing robot shape, each umbrella frame other end connects the cunning
Wheel, the opposite end of each retractable support lever connect the umbrella shape climbing robot and the umbrella frame respectively；The umbrella
Shape climbing robot also includes drive mechanism and transmission mechanism close to the side of the rotary nozzle, close to the rotary nozzle
Pulley connects the drive mechanism by the transmission mechanism；The controller connects the display, the motor, institute respectively
State high-pressure pump, the valve group, the probe and the drive mechanism；
Operating personnel manipulate the controller and by the information described in the probe detection in cooling water pipe, then pass through
The display is shown, and then controls the drive mechanism to be turned on and off according to the information in cooling water pipe, so that the umbrella
Shape climbing robot advances or stopped；The motor and the valve group is controlled to be turned on and off simultaneously, so that the high-pressure pump leads to
Cross the pipeline and water is pumped into some rotary nozzles, water is ejected into the cooling from some rotary nozzles
Water pipe inner surface.
Preferably, the transmission mechanism includes belt pulley, belt, driven pulley, driven wheel support, driven shaft, universal joint, rotation
Rotating shaft and bevel gear, the belt pulley be arranged on the drive mechanism output shaft on, and with the umbrella shape climbing robot
Central axis is coaxial, and the driven pulley is arranged on the lower section of the fixed mount by the driven wheel support and passes through the belt
The belt pulley is connected, the universal joint is by driven pulley described in the driven axis connection, and the rotary shaft is positioned at described driven
Below axle and parallel to the umbrella frame, the bevel gear is located at one end away from the driven shaft, the rotation in the rotary shaft
Rotating shaft one end connects the driven shaft by the universal joint, and the rotary shaft other end is connected close to institute by the bevel gear
State the pulley of rotary nozzle.
Preferably, the umbrella shape climbing robot includes the upper and lower part being connected, and the upper and lower part is respectively installed
There is a umbrella rib structure, the probe is arranged on the one end of the top away from the bottom；The drive mechanism and transmission
Mechanism is arranged on the bottom close to the one end on the top, and the motor shaft of the drive mechanism is rotationally connected with described
Portion, some rotary nozzles are arranged on the one end of the bottom away from the top.
Preferably, the umbrella shape crawling machine passes through controller described in wired connection and the display per capita.
Preferably, the high pressure pump group is provided with tube rolling device, and the tube rolling device connection is arranged on the turning rack of well head.
A kind of sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment, comprises the following steps：
(1) operating personnel control the drive mechanism to open by the controller, and the drive mechanism motion drives institute
Transmission mechanism motion is stated, the transmission mechanism moves and then drives the pulley rotation close to the rotary nozzle, so that the umbrella
Shape climbing robot is creeped in the cooling water pipe；
(2) operating personnel control the probe to open by the controller, and show the spy by the display
The information in the cooling water pipe that head detects；When operating personnel have found there is dirt in the cooling water pipe by the display
When dirty, then the drive mechanism is controlled to close by the controller, so that the pulley close to the rotary nozzle stops operating,
So that the umbrella shape climbing robot stops creeping；
(3) operating personnel control the motor and the valve group to open by the controller, so that the high-pressure pump leads to
Cross the pipeline and water is pumped into some rotary nozzles, some rotary nozzles produce rotation under the jet power of water under high pressure
Turn, and then water is impacted in rotary manner in the cooling water pipe using high pressure cavitation jet from some rotary nozzles
Surface, so as to take out stains；
(4) after the dirt removal that operating personnel are observed by the display in the cooling water pipe is clean, behaviour
Controlling the controller controls the drive mechanism to open, so that the pulley close to the rotary nozzle is rotated further, so that institute
Umbrella shape climbing robot is stated to continue to creep.
Preferably, in step (1), the operation principles of the transmission mechanism are：The drive mechanism motion drives the skin
Belt wheel is rotated, and the belt pulley is rotated by driven pulley described in the belt drive, and then drives the driven shaft to rotate, described
Driven shaft, which rotates, drives the universal joint to rotate, and the universal joint, which rotates, drives the rotary shaft to rotate, and the rotary shaft rotates
So as to drive the pulley rotation close to the rotary nozzle by the bevel gear.
Preferably, in step (2), when being stopped operating close to the pulley of the rotary nozzle, close to stretching for the probe
Contracting support bar freely stretches according to the internal diameter of the cooling water pipe, so that the pulley close to the probe can be stretched by described
Contracting support bar keeps the cooling inside pipe wall fitting to different inner diameters.
Preferably, in step (3), the pipeline is by the turning rack and the tube rolling device in the cooling water pipe
Corner turn.
Preferably, in step (4), when operating personnel observe that the dirt in the cooling water pipe is clear by the display
After clean, further the damaged condition of the cooling water pipe is detected, and is shown by the display.
Due to using above-mentioned technical proposal, the invention has the advantages that：
The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment provided by the invention, operating personnel are led to
Cross controller manipulation umbrella shape climbing robot to creep in cooling water pipe by pulley, and control high-pressure pump to pass through by controller
Water is pumped to some rotary nozzles by pipeline, and then water under high pressure is ejected into cooling water pipe inner surface from some rotary nozzles, from
And play a part of removing cooling water pipe inner surface attachment.Some rotary nozzles produce rotation under the jet power of water under high pressure,
Therefore, rotary nozzle produces cavitation jet, and then it is described rotary nozzle is impacted in rotary manner using high pressure cavitation jet
The inner surface of cooling water pipe, effectively strike area is greatly improved, so as to which high-efficient cleaning is except incrustation in cooling water pipe.Meanwhile operate
Personnel control the information in probe detection cooling water pipe before cleaning and after cleaning by controller and shown by display, convenient
Operating personnel understand and examine the preceding situation of cooling water pipe wash-in and wash rear result, and in place of safety, operation can effectively be kept away operating personnel
Exempt from the harm of pipe kernel Radiation On Human body.
The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment provided by the invention, retractable supports
Bar retractable, pulley can keep the cooling inside pipe wall to different inner diameters to be bonded by retractable support lever, to ensure
Stating umbrella shape climbing robot in pipe can creep in cooling tube by so as to remove all dirts in cooling tube.It is each close
The pulley of rotary nozzle all connects transmission mechanism, and therefore, the pulley of each close rotary nozzle can be transferred through transmission mechanism and drive
Advanced in unison under the driving of motivation structure, so that umbrella shape climbing robot is creeped advance in cooling tube in the pipe.
In summary, the remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment provided by the invention,
Voluntarily high-efficient cleaning is carried out to the dirt in nuclear power plant's cooling tube to remove, not only avoid harm of the nuclear radiation to human body, and can also
High-efficient cleaning is in good time observed except incrustation in cooling water pipe and to elimination effect.
Brief description of the drawings
Fig. 1 is that the connection of the remove device for nuclear power plant's cooling water pipe inner surface attachment that embodiment of the present invention provides is shown
It is intended to；
Fig. 2 is the umbrella shape in the remove device for nuclear power plant's cooling water pipe inner surface attachment that embodiment of the present invention provides
The structural representation of climbing robot；
Fig. 3 is the umbrella shape in the remove device for nuclear power plant's cooling water pipe inner surface attachment that embodiment of the present invention provides
The structural representation of drive mechanism in climbing robot；
Fig. 4 is the umbrella shape in the remove device for nuclear power plant's cooling water pipe inner surface attachment that embodiment of the present invention provides
The structural representation of rotary nozzle in climbing robot；
Fig. 5 is the umbrella shape in the remove device for nuclear power plant's cooling water pipe inner surface attachment that embodiment of the present invention provides
The connection diagram of high pressure pump group and rotary nozzle in climbing robot.
In accompanying drawing, 1- umbrella shape climbing robots, 2- controllers, 3- displays, 4- high pressure pump groups, 41- motors, 42- high pressures
Pump, 43- valve groups, 44- pipelines, 5- probes, 6- rotary nozzles, 71- tops, 72- bottoms, 8- umbrella rib structures, 81- fixed mounts, 82-
Umbrella frame, 83- retractable support levers, 84- pulleys, 9- transmission mechanisms, 91- belt pulleys, 92- belts, 93- driven pulleys, 94- driven pulleys
Support, 95- driven shafts, 96- universal joints, 97- rotary shafts, 98- bevel gears, 10- drive mechanisms.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please referring also to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, embodiment of the present invention are provided in a kind of nuclear power plant's cooling water pipe
The remove device of surface attachments, including umbrella shape climbing robot 1 in cooling water pipe and outside the cooling water pipe
The controller 2, display 3 and high pressure pump group 4 that are all connected with umbrella shape climbing robot 1.Umbrella shape climbing robot 1 is by wired
Connect controller 2 and display 3.High pressure pump group 4 includes motor 41, high-pressure pump 42, valve group 43 and pipeline 44, high-pressure pump 42 and valve
Group 43 is installed on pipeline 44, and motor 41 is arranged on outside the cooling water pipe and connects high-pressure pump 42, and high pressure pump group 4 passes through pipe
Road 44 connects umbrella shape climbing robot 1.In the present embodiment, high pressure pump group 4 is provided with tube rolling device (not shown), the pipe crimping
Device connects the turning rack (not shown) for being arranged on well head.The pipeline 44 and umbrella shape climbing robot 1 of high pressure pump group 4 connect respectively
The signal line of controller 2 and display 3, enter cooling water pipe in after due to motor because, it is necessary to pipeline 44 can turn to
Flexible, the signal line is also in this way, therefore, pipeline 44 and the signal line pass through the tube rolling device and the steering
Support can be turned to and stretched in cooling tube.
The opposite end of umbrella shape climbing robot 1 is equiped with probe 5 and some rotary nozzles 6, the connection display of probe 5 respectively
Device 3, some connecting pipes 44 of rotary nozzle 6.In the present embodiment, some rotary nozzles 6 include two.Umbrella shape crawling machine
Opposite sides of the people 1 along its axial direction is respectively provided with a umbrella rib structure 8, and it is equivalent that each umbrella rib structure 8 includes some numbers
Fixed mount 81, umbrella frame 82, retractable support lever 83 and pulley 84.Some even circumferentials of fixed mount 81 are arranged in umbrella shape crawling machine
On people 1, each one end of umbrella frame 82 is fixed on fixed mount 81 and, each umbrella frame 82 at an angle with the shape of umbrella shape climbing robot 1
The other end connects pulley 84.The opposite end of each retractable support lever 83 connects umbrella shape climbing robot 1 and umbrella frame 82 respectively.
Umbrella shape climbing robot 1 also includes transmission mechanism 9 and drive mechanism 10 close to the side of two rotary nozzles 6.Close to two rotations
The pulley 84 for turning shower nozzle 6 connects drive mechanism 10 by transmission mechanism 9.Controller 2 connects display 3, motor 41, high pressure respectively
Pump 42, valve group 43, probe 5 and drive mechanism 10.In the present embodiment, umbrella shape climbing robot 1 includes the top being connected
71 and bottom 72, top 71 and bottom 72 umbrella rib structure 8 is respectively installed, the umbrella rib structure 8 on top 71 includes five umbrella frames 82,
The umbrella rib structure 8 of bottom 72 includes three umbrella frames 82.Probe 5 is arranged on the one end of top 71 away from bottom 72.Drive mechanism 10
Bottom 72 is arranged on close to the one end on top 71 with transmission mechanism 9, and the motor shaft of drive mechanism 10 is rotationally connected with top 71,
Two rotary nozzles 6 are arranged on the one end of bottom 72 away from top 71.
In the present embodiment, transmission mechanism 9 include belt pulley 91, belt 92, driven pulley 93, driven wheel support 94, from
Moving axis 95, universal joint 96, rotary shaft 97 and bevel gear 98.Belt pulley 91 is arranged on the output shaft of drive mechanism 10, and and umbrella
The central axis of shape climbing robot 1 is coaxial, and driven pulley 93 is arranged on the lower section of fixed mount 81 by driven wheel support 94 and led to
Cross belt 92 and connect belt pulley 91, universal joint 96 connects driven pulley 93 by driven shaft 95, and rotary shaft 97 is located under driven shaft 95
Just and parallel to umbrella frame 82, bevel gear 98 is located at one end away from driven shaft 95 in rotary shaft 97, and the one end of rotary shaft 97 passes through ten thousand
To the connection driven shaft 95 of section 96, the other end of rotary shaft 97 connects the pulley 84 close to two rotary nozzles 6 by bevel gear 98.
Operating personnel manipulate controller 2 and by the information in the detection of probe 5 cooling water pipe, then pass through display
3 displays, and then be turned on and off according to the information control drive mechanism 10 in cooling water pipe, so that before umbrella shape climbing robot 1
Enter or stop；Controlled motor 41 and valve group 43 are turned on and off simultaneously, so that water is pumped to two by high-pressure pump 42 by pipeline 44
Individual rotary nozzle 6, water is finally set to be ejected into the cooling water pipe inner surface from two rotary nozzles 6.
A kind of sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment, comprises the following steps：
(1) operating personnel control drive mechanism 10 to open by controller 2, and the motion of drive mechanism 10 drives transmission mechanism 9
Motion, transmission mechanism 9 moves and then drives the pulley 84 close to two rotary nozzles 6 to rotate, so that umbrella shape climbing robot 1 exists
Creeped in the cooling water pipe；The operation principles of transmission mechanism 9 are：The motion of drive mechanism 10 drives belt pulley 91 to rotate, belt
Wheel 91 drives driven pulley 93 to rotate by belt 92, and then drives driven shaft 95 to rotate, and driven shaft 95, which rotates, drives universal joint 96
Rotate, universal joint 96, which rotates, drives rotary shaft 97 to rotate, and rotary shaft 97 is rotated so as to be driven by bevel gear 98 close to two rotations
The pulley 84 for turning shower nozzle 6 rotates；
(2) operating personnel are opened by the control of controller 2 probe 5, and the institute detected by the display of display 3 probe 5
State the information in cooling water pipe；When operating personnel have found to have dirt in the cooling water pipe by display 3, then pass through control
Device 2 controls drive mechanism 10 to close, so that the pulley 84 close to two rotary nozzles 6 stops operating, so that umbrella shape creeper
Device people 1 stops creeping；When being stopped operating close to the pulley 84 of two rotary nozzles 6, because retractable support lever 83 is flexible, by
Inwardly compressing during pressure, outwards uphold during no external force, elastic retractable support lever 83 adjusts external diameter according to the big freedom in minor affairs of caliber,
Therefore the retractable support lever 83 close to probe 5 freely stretches according to the internal diameter of the cooling water pipe, so that the cunning close to probe 5
Wheel 84 can keep the cooling inside pipe wall to different inner diameters to be bonded by retractable support lever 83；
(3) operating personnel are opened by the controlled motor 41 of controller 2 and valve group 43, so that high-pressure pump 42 will by pipeline 44
Water pumps to two rotary nozzles 6, and two rotary nozzles 6 produce rotation under the jet power of water under high pressure, and then make water from two
Rotary nozzle 6 impacts the inner surface of the cooling water pipe using high pressure cavitation jet in rotary manner, so as to take out stains；Pipe
Turned by the corner of the turning rack and the tube rolling device in the cooling water pipe in road 44；
(4) when operating personnel by display 3 observe the cooling water pipe in dirt removal it is clean after, manipulation control
Device 2 processed controls drive mechanism 10 to open, so that the pulley 84 close to two rotary nozzles 6 is rotated further, so that umbrella shape is creeped
Robot 1 continues to creep.When operating personnel by display 3 observe the cooling water pipe in dirt removal it is clean after,
Further the damaged condition of the cooling water pipe is detected, and shown by display 3.
Described above is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, the equal change completed or modification change under the technical spirit suggested by all present invention, all should belong to
Cover the scope of the claims in the present invention.
Claims (10)
- A kind of 1. remove device of nuclear power plant's cooling water pipe inner surface attachment, it is characterised in that：Including in cooling water pipe Umbrella shape climbing robot and the controller, the display that are all connected with the umbrella shape climbing robot outside the cooling water pipe With high pressure pump group；The high pressure pump group includes pipeline, motor, valve group and high-pressure pump, and the high-pressure pump and the valve group are respectively mounted On the pipeline, the motor is arranged on outside the cooling water pipe and connects the high-pressure pump, and the high pressure pump group passes through institute State pipeline and connect the umbrella shape climbing robot；The opposite end of the umbrella shape climbing robot is equiped with probe and some rotary nozzles respectively, described to pop one's head in described in connection Display, some rotary nozzles connect the pipeline；Opposite sides of the umbrella shape climbing robot along its axial direction One umbrella rib structure is respectively installed, each umbrella rib structure includes equivalent fixed mount, umbrella frame, retractable support lever and the cunning of some numbers Wheel, some fixed mount even circumferentials are arranged on the umbrella shape climbing robot, and each described umbrella frame one end is fixed on institute On fixed mount and at an angle with the umbrella shape climbing robot shape, each umbrella frame other end connection pulley is stated, often The opposite end of one retractable support lever connects the umbrella shape climbing robot and the umbrella frame respectively；The umbrella shape is creeped Robot also includes drive mechanism and transmission mechanism close to the side of the rotary nozzle, and the pulley close to the rotary nozzle leads to Cross the transmission mechanism and connect the drive mechanism；The controller connects the display, the motor, the high pressure respectively Pump, the valve group, the probe and the drive mechanism；Operating personnel manipulate the controller and by the information described in the probe detection in cooling water pipe, then by described Display is shown, and then controls the drive mechanism to be turned on and off according to the information in cooling water pipe, so that the umbrella shape is climbed Row robot advances or stopped；The motor and the valve group is controlled to be turned on and off simultaneously, so that the high-pressure pump passes through institute State pipeline and water is pumped into some rotary nozzles, water is ejected into the cooling water pipe from some rotary nozzles Inner surface.
- 2. the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 1, it is characterised in that：The transmission Mechanism includes belt pulley, belt, driven pulley, driven wheel support, driven shaft, universal joint, rotary shaft and bevel gear, the belt pulley On the output shaft of the drive mechanism, and, the driven pulley coaxial with the central axis of the umbrella shape climbing robot The lower section of the fixed mount is arranged on by the driven wheel support and the belt pulley is connected by the belt, it is described universal By driven pulley described in the driven axis connection, the rotary shaft is located at driven shaft lower section and parallel to the umbrella frame section, The bevel gear is located at one end away from the driven shaft in the rotary shaft, and described rotary shaft one end is connected by the universal joint The driven shaft is connect, the rotary shaft other end connects the pulley close to the rotary nozzle by the bevel gear.
- 3. the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 1, it is characterised in that：The umbrella shape Climbing robot includes the upper and lower part being connected, and the upper and lower part is respectively provided with a umbrella rib structure, the spy Head is arranged on the one end of the top away from the bottom；The drive mechanism and transmission mechanism are arranged on the bottom close to institute The one end on top is stated, and the motor shaft of the drive mechanism is rotationally connected with the top, some rotary nozzles are arranged on The one end of the bottom away from the top.
- 4. the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 1, it is characterised in that：The umbrella shape Crawling machine passes through controller described in wired connection and the display per capita.
- 5. the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 1, it is characterised in that：The high pressure Pump group is provided with tube rolling device, and the tube rolling device connection is arranged on the turning rack of well head.
- 6. a kind of sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment, it is characterised in that including following Step：(1) operating personnel control the drive mechanism to open by the controller, and the drive mechanism motion drives the biography Dynamic mechanism kinematic, the transmission mechanism moves and then drives the pulley rotation close to the rotary nozzle, so that the umbrella shape is climbed Row robot creeps in the cooling water pipe；(2) operating personnel control the probe to open by the controller, and show that the probe is visited by the display The information in the cooling water pipe measured；When operating personnel have found there is dirt in the cooling water pipe by the display When, then control the drive mechanism to close by the controller, so that the pulley close to the rotary nozzle stops operating, from And the umbrella shape climbing robot is set to stop creeping；(3) operating personnel control the motor and the valve group to open by the controller, so that the high-pressure pump passes through institute To state pipeline and water is pumped into some rotary nozzles, some rotary nozzles produce rotation under the jet power of water under high pressure, And then the interior table for making water use high pressure cavitation jet to impact the cooling water pipe in rotary manner from some rotary nozzles Face, so as to take out stains；(4) after the dirt removal that operating personnel are observed by the display in the cooling water pipe is clean, institute is manipulated Stating controller controls the drive mechanism to open, so that the pulley close to the rotary nozzle is rotated further, so that the umbrella Shape climbing robot continues to creep.
- 7. the sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 6, its feature exist In：In step (1), the operation principles of the transmission mechanism are：The drive mechanism motion drives the pulley rotation, described Belt pulley is rotated by driven pulley described in the belt drive, and then drives the driven shaft to rotate, the driven shaft rotational band The dynamic universal joint rotates, and the universal joint, which rotates, drives the rotary shaft to rotate, and the rotary shaft is rotated so as to by described Bevel gear drives the pulley rotation close to the rotary nozzle.
- 8. the sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 6, its feature exist In：In step (2), when being stopped operating close to the pulley of the rotary nozzle, close to the probe retractable support lever according to The internal diameter of the cooling water pipe freely stretches, so that the pulley close to the probe can be kept by the retractable support lever Cooling inside pipe wall fitting to different inner diameters.
- 9. the sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 6, its feature exist In：In step (3), the pipeline is turned by the corner of the turning rack and the tube rolling device in the cooling water pipe It is curved.
- 10. the sweep-out method of the remove device of nuclear power plant's cooling water pipe inner surface attachment as claimed in claim 6, its feature exist In：In step (4), after the dirt removal that operating personnel are observed by the display in the cooling water pipe is clean, Further the damaged condition of the cooling water pipe is detected, and shown by the display.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884382.2A CN107560492A (en) | 2017-09-26 | 2017-09-26 | The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884382.2A CN107560492A (en) | 2017-09-26 | 2017-09-26 | The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment |
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| CN107560492A true CN107560492A (en) | 2018-01-09 |
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| CN201710884382.2A Pending CN107560492A (en) | 2017-09-26 | 2017-09-26 | The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN205424279U (en) * | 2015-12-16 | 2016-08-03 | 西南科技大学 | Can be practical in inside and outside pipeline robot of crawling |
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| CN107061924A (en) * | 2017-03-02 | 2017-08-18 | 山东科技大学 | It is a kind of to clear up robot from tapered pipeline |
| CN207439250U (en) * | 2017-09-26 | 2018-06-01 | 桂林净美机电有限公司 | The remove device of nuclear power plant's cooling water pipe inner surface attachment |
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