CN111906793A - Tubular heat exchanger cleaning robot capable of preventing deflection - Google Patents

Abstract

The invention discloses a tubular heat exchanger cleaning robot capable of preventing deflection, relates to the field of heat exchanger cleaning, and comprises a movable travelling mechanism and a deflection preventing mechanism. The deflection preventing mechanism comprises a first parallel four-bar linkage, a first vertex angle of the first parallel four-bar linkage is connected with the fixed frame, and one side rod of the first parallel four-bar linkage forming the first vertex angle is fixedly connected with the fixed frame. The third vertex angle is hinged with one end of the second extension arm; the other end of the second extension arm is hinged with the movable walking mechanism. The fourth vertex angle is hinged with one end of the first extension arm; the other end of the first extension arm is hinged with the movable walking mechanism. The side rods forming the third vertex angle and the fourth vertex angle form a parallelogram mechanism together with the movable travelling mechanism, the first extension arm and the second extension arm. The anti-deflection mechanism and the movable travelling mechanism form a double-parallelogram mechanism, so that the movable travelling mechanism can be limited and can only move along the transverse direction or the longitudinal direction without deflection.

Description

Tubular heat exchanger cleaning robot capable of preventing deflection

Technical Field

The invention relates to the technical field of heat exchanger cleaning, in particular to a cleaning robot for a tubular heat exchanger, which can prevent deflection.

Background

Evaporation and heat exchange are widely applied equipment in the production process of the industries such as sugar manufacturing, chemical industry, food, pharmacy, paper making, power generation and the like, the heat exchanger industry in China keeps increasing at a speed of about 10-15% every year, and the scale of the heat exchanger industry in China breaks through 880 hundred million yuan in 2015.

Most of the heat exchangers are heat exchange systems using water as a carrier, and certain salts are crystallized and separated out from water when the temperature rises and are attached to the surface of a heat exchange tube to form scale. The addition of polyphosphate buffers to the cooling water also results in scale precipitation when the PH of the water is high. The scale formed at the initial stage is relatively loose, but as the scale layer is formed, the heat transfer condition is deteriorated, the crystal water in the scale is gradually lost, and the scale layer is hardened and firmly attached to the surface of the heat exchange tube. After an industrial heat exchanger is operated for a period of time, scale is formed on a heat transfer surface, the heat exchange efficiency is seriously influenced, the scale needs to be cleaned regularly, and the scale cleaning method comprises the following steps: high-pressure water cleaning, chemical cleaning and ultrasonic cleaning. At present, in enterprises using heat exchangers in China, 75% of enterprises use high-pressure water cleaning, and 25% of enterprises use chemical cleaning and ultrasonic cleaning.

Chemical cleaning-chemical descaling refers to the acid-base treatment of scale to loosen it and then mechanically remove it. The heat exchanger is generally cleaned by a chemical cleaning method in the mainstream developed countries abroad, and the foreign production process is more advanced than the domestic production process, so that the scale deposition is less than that of the domestic chemical unit, the cleaning frequency is low, but the chemical used in the chemical method has the problems of serious corrosion to metal, difficult cyclic utilization, environmental pollution caused by discharge, high use cost and the like, so that the chemical cleaning method is not popularized in a large scale in China.

The manual pipeline cleaning is a high-pressure water gun descaling method developed in the 80 th of the 20 th century, the trouble of boiling a pot in the chemical descaling process is avoided, a large amount of chemical agents are saved, and the method has the characteristics of low cleaning cost, high speed, high cleaning rate, no damage to cleaned objects, no environmental pollution and the like. At present, chemical descaling and other mechanical descaling methods are basically replaced in China. The cleaning of adopting high pressure water cleaning to shell and tube heat exchanger scaling generally uses the mode of manual poking the pipe to go on, and the washing squirt of manual operation high pressure water jet, cleaning pressure generally are 60~100MPa, and intensity of labour is big, and operational environment is abominable, has very big potential safety hazard, often takes place the industrial injury incident.

The mechanical high-pressure water jet cleaning is not mature enough in the prior art, the mechanical high-pressure water jet cleaning is developed in recent years, but the mechanical high-pressure water jet cleaning is performed by a method of controlling the equipment to work through a database by using a rectangular coordinate or polar coordinate method, the equipment has high failure rate, is unstable in work, is complicated to maintain and has high requirement on the cultural and technical level of operators under severe working environment, single equipment cannot realize multi-gun operation, and the equipment cannot adapt to the work of heat exchangers of various specifications and needs to be specially customized. The applicant succeeded in 2016 and applied for an authorized publication number CN106705746B named as multi-gun tube heat exchanger intelligent cleaning robot to solve the above problems, but found after long-term practical application:

1. because the intelligent cleaning robot for the multi-gun tube heat exchanger is positioned and moved by alternately inserting the first and second telescopic supporting units on the moving and traveling mechanism into the tubes, when the robot moves to an area without tubes, part of the supporting units can not be inserted into the tubes for positioning to cause the whole deflection of the robot, and the robot moves after deflection to cause track deviation and even the supporting units can not be accurately inserted into the preset tubes, so that the cleaning work is influenced.

2. There are not the tubulation heat exchanger of clearance for a long time, often have several tubulations that are totally blockked up by the scaling, because the wiper mechanism among the many rifle tubulation heat exchanger intelligence cleaning robot is that the hose is connected with the cleaning gun, through the lift of receiving and releasing realization cleaning gun to the hose, that is to say, its decline is only realized depending on the weight of cleaning gun and partial hose, after the cleaning gun inserts the tubulation that is blockked up, because the weight that descends is limited, can't puncture the scaling of blocking up in the tubulation, consequently, whole cleaning work has been influenced.

Disclosure of Invention

In order to solve the problems, the invention adopts the following technical scheme:

a cleaning robot for a tubular heat exchanger capable of preventing deflection comprises a moving travelling mechanism, a cleaning mechanism and a control unit, wherein the cleaning mechanism and the control unit are fixedly arranged on the moving travelling mechanism; the cleaning mechanism comprises a gun feeding mechanism, a cleaning gun, a pipeline and an anti-deflection mechanism, and the anti-deflection mechanism is hinged with the movable travelling mechanism;

the anti-deflection mechanism comprises a fixed frame, a first parallel four-bar linkage mechanism, a first extension arm and a second extension arm; two adjacent limit poles of first parallel four-bar linkage constitute a apex angle, and four limit poles constitute four apex angles: a first vertex angle, a second vertex angle, a third vertex angle and a fourth vertex angle;

a first vertex angle of the first parallel four-bar linkage mechanism is connected with the fixed frame; one side rod of the first parallel four-bar linkage mechanism forming the first vertex angle is fixedly connected with the fixed frame;

a third vertex angle of the first parallel four-bar linkage mechanism is hinged with one end of the second extension arm; the other end of the second extension arm is hinged with the movable travelling mechanism;

a fourth vertex angle of the first parallel four-bar linkage mechanism is hinged with one end of the first extension arm; the other end of the first extension arm is hinged with the movable travelling mechanism;

the side rods forming the third vertex angle and the fourth vertex angle form a parallelogram mechanism together with the movable travelling mechanism, the first extension arm and the second extension arm.

The anti-deflection mechanism and the moving travelling mechanism form a double-parallelogram mechanism, so that the moving travelling mechanism can be limited, can only move along the transverse direction or the longitudinal direction and cannot rotate in situ, and the phenomenon that the prior art cannot work normally due to deflection during movement is avoided. The anti-deflection mechanism is simple in structure, only comprises a plurality of side rods, and can be very conveniently installed or transferred on site by matching with a fixed frame which can be fixed on the tube nest.

Preferably, the fixing frame comprises a fixing frame chassis, fixing feet and a fixing frame vertical shaft; the fixing frame chassis is provided with the fixing pins, the fixing pins are of rod-shaped structures and can be inserted into the tubes, and at least three fixing pins are arranged and face the same direction respectively; the fixing frame vertical shaft is fixedly arranged on the fixing frame chassis;

the structure can be very conveniently installed and positioned at any position in the tubular heat exchanger, only the fixing pins are inserted into the tubular heat exchanger, and therefore, the operation is simplified, and the working efficiency is improved.

The first parallel four-bar linkage mechanism comprises a first side rod, a second side rod, a third side rod and a fourth side rod;

one end of the first side rod is hinged with the vertical shaft of the fixing frame;

the second side rod is connected with the vertical shaft of the fixed frame, and one end of the second side rod is hinged with one end of the third side rod;

the other end of the third side rod is hinged with one end of the fourth side rod and one end of the second extension arm;

the other end of the fourth side rod is hinged with one end of the first extension arm and the other end of the first side rod.

The second side rod is connected with the vertical shaft of the fixing frame, and other side rods can be rotatably connected, so that other side rods can only rotate around two ends of the fixing side rod, and the whole mechanism can ensure that the travelling mechanisms at two ends of the extension wall cannot rotate by matching with the limiting effect of the fourth side rod.

Preferably, the second side rod is of an L-shaped structure, and the end part of the other end of the second side rod is welded with the fixed frame chassis; the structure is convenient to process and fix, the extension of the vertical shaft of the fixing frame serving as a fulcrum is beneficial to forming a lever, the fixed moment of force is larger, and the whole four-bar mechanism can be effectively prevented from rotating.

The fixing frame base plate is of a disc structure, and the fixing feet are uniformly distributed on the periphery of the fixing frame base plate;

the first extension arm and the first side rod are both made of square tube materials.

The fixing frame base plate is made into a disc structure so as to be convenient to store and move; the first extension arm and the first side rod are made of square tube materials, so that the mechanical strength of the whole structure can be enhanced, a certain weight can be borne, and the first extension arm and the first side rod are not too heavy.

Preferably, the gun feeding mechanism comprises a linear reciprocating motion mechanism, a gun feeding rack and a rotary gun feeding device; the gun feeding rack is fixedly arranged on one side of the linear reciprocating mechanism and is positioned on the same side with the linear moving part of the linear reciprocating mechanism;

the rotary gun feeding device comprises a gun feeding fixing seat, a gun feeding rotating shaft, a first gear, a second gear, a gun frame and a back wheel;

the gun feeding fixing seat is fixedly connected with the linear movable part;

a gun feeding rotating shaft is rotatably arranged on one side of the gun feeding fixing seat, and the first gear and the second gear are respectively fixedly sleeved on the gun feeding rotating shaft;

a gun rack is fixedly arranged on one side of the gun feeding fixing seat, and the back wheel is rotatably arranged on the gun feeding fixing seat; the back wheel is of a dumbbell structure with two convex ends and a concave middle part;

the dumbbell-shaped back wheel and the second gear correspond to each other, and a space capable of penetrating into the cleaning gun is formed between the dumbbell-shaped back wheel and the second gear;

a plurality of teeth are formed on the periphery of the cleaning gun, the teeth form a rack structure along the length direction of the cleaning gun, and the rack is meshed with the second gear;

the first gear is meshed with the gun feeding rack.

The gun feeding rack is fixedly arranged on one side of the linear reciprocating mechanism and is positioned on the same side with the linear moving part of the linear reciprocating mechanism, the structure is simplified firstly, the linear reciprocating mechanism is only required to drive the rotary gun feeding device and can realize the retraction and release of 2 times of stroke under the coordination of the gun feeding rack, and the size of the whole device is effectively reduced.

Preferably, the linear reciprocating mechanism is a rodless cylinder;

the gun feeding fixing seat is of an L-shaped structure, and a reinforcing rib plate is arranged on the gun feeding fixing seat.

The rodless cylinder is convenient to control, different position sensors can be freely combined on the rodless cylinder, additional design is not needed, and cost is further reduced. The gun feeding fixing seat is in an L-shaped structure and is more stable by adding the reinforcing rib plate.

Preferably, the gun rack is of a U-shaped structure, three back wheels are respectively arranged on the gun rack, and the three back wheels are on the same straight line;

still can rotate on the gun rack and be provided with two anticreep wheels, two anticreep wheels are located the both ends of three back of the body wheel on same straight line respectively and the two corresponds each other, also form one between anticreep wheel and the back of the body wheel and can insert the space of washing rifle.

Through the cooperation of back of the body wheel with the anticreep wheel, can be so that the cleaning gun can not drop easily or skew, including the spacing and the direction of bottom high pressure cleaning anti-splash device for whole mechanism is more stable.

Preferably, the back wheel is provided with a plurality of, three respectively and a set of, and the anticreep wheel that corresponds also is provided with a plurality of, constitutes the multiunit, and every group all inserts the washing rifle, the top of washing rifle all mutual fixed connection.

The multiple groups of back wheels can simultaneously drive the multiple cleaning guns, so that the cleaning efficiency can be improved exponentially.

Preferably, a pipeline bracket is fixedly arranged on the rotary gun feeding device and used for fixing the pipeline;

the pipeline is a hose, one end of the hose is fixedly connected with one end of the cleaning gun, and the other end of the hose is connected with a high-pressure water source.

Because the total stroke of the gun feeding mechanism is longer, the arrangement of the pipeline bracket is favorable for preventing the hose from being bent and blocked.

Preferably, the mobile walking mechanism comprises a first supporting unit, a sliding platform and a second supporting unit; the sliding platform is slidably arranged on the first supporting unit, and the second supporting unit is slidably arranged on the sliding platform;

the first support unit comprises a first support unit bottom plate, a first telescopic support leg, a transverse slide rail, a first deflection-preventing connecting shaft, a connecting block and a second deflection-preventing connecting shaft; the first anti-deflection connecting shaft and the first telescopic supporting leg are fixedly arranged below the first supporting unit bottom plate, a connecting block is fixedly arranged on the side face of the first telescopic supporting leg, and a second anti-deflection connecting shaft is fixedly arranged on the connecting block; the transverse sliding rail is fixedly arranged on the first supporting unit bottom plate; the first deflection preventing connecting shaft is hinged with the other end of the first extension arm; the second deflection preventing connecting shaft is hinged with the other end of the second extension arm;

the sliding platform comprises a sliding platform base, a transverse sliding block, a transverse screw rod motor, a longitudinal rail fixing plate, a longitudinal rail, a longitudinal screw rod motor and a longitudinal movable block;

the sliding platform base is of an L-shaped structure, one side of the sliding platform base is fixedly provided with the transverse screw rod motor, the bottom of the sliding platform base is fixedly provided with the transverse sliding block, and the transverse sliding block is connected with the transverse sliding rail in a sliding manner; the longitudinal moving screw rod motor is fixedly arranged on the sliding platform base, and the longitudinal moving movable block is arranged on the longitudinal moving screw rod motor in a sliding manner; the top of the sliding platform base is fixedly provided with the longitudinal rail fixing plate, and the longitudinal rail is fixedly arranged on the longitudinal rail fixing plate;

the second supporting unit comprises a second supporting unit bottom plate, a longitudinal moving slide block, a second telescopic supporting leg and a high-pressure cleaning anti-splashing device; the bottom surface of the second supporting unit bottom plate is fixedly provided with the longitudinal moving slide block, and the longitudinal moving slide block is connected with the longitudinal rail in a sliding manner; one side of the bottom surface of the second supporting unit bottom plate is also fixedly provided with a second telescopic supporting leg and a high-pressure cleaning anti-splashing device respectively.

The mobile walking mechanism comprises a first supporting unit, a sliding platform and a second supporting unit, and the three are respectively stacked, arranged and combined from bottom to top, and the layered combination is favorable for production and assembly.

Preferably, the number of the longitudinal rails is two, one of the longitudinal rails is fixedly arranged on the longitudinal rail fixing plate, and the other longitudinal rail is fixedly arranged on the other side surface of the sliding platform base.

The longitudinal rails are distributed at 90 degrees, so that the deformation of the units caused by the tension in different directions generated when the units move can be effectively prevented, and the rails adopt circular rails and are most suitable for being matched with the C-shaped sliding blocks.

The anti-deflection mechanism and the mobile travelling mechanism form the double-parallelogram mechanism, so that the mobile travelling mechanism can be limited, can only move along the transverse direction or the longitudinal direction and cannot rotate in situ, and the phenomenon that the prior art cannot work normally due to deflection during movement is avoided. The anti-deflection mechanism is simple in structure, only comprises a plurality of side rods, and can be very conveniently installed or transferred on site by matching with a fixed frame which can be fixed on the tube nest. The gun feeding rack is fixedly arranged on one side of the linear reciprocating mechanism and is positioned on the same side with the linear moving part of the linear reciprocating mechanism, the structure is simplified firstly, the gun feeding device can be retracted and extended by 2 times of stroke only by driving the linear reciprocating mechanism to rotate and matching with the gun feeding rack, and the size of the whole device is effectively reduced.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the embodiment provided by the present invention;

FIG. 2 is a perspective view of another perspective of an embodiment of the present invention;

FIG. 3 is a perspective view of another perspective of an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a mobile carriage in an embodiment of the present invention;

FIG. 5 is a front view of an embodiment provided by the present invention;

FIG. 6 is a left side view of FIG. 5;

FIG. 7 is a top view of FIG. 5;

FIG. 8 is a partially exploded view of the mobile walking mechanism in the embodiment provided by the present invention;

FIG. 9 is a schematic perspective view of a cleaning mechanism in an embodiment provided by the present invention;

FIG. 10 is a perspective view of a gun feed mechanism in an embodiment of the present invention;

FIG. 11 is a schematic exploded view of a rotary gun feeder assembly of the gun feeder mechanism of the embodiment of the present invention;

fig. 12 is a disassembled view of the rotary pistol feeder apparatus of the pistol feeding mechanism from another perspective in accordance with the present invention;

FIG. 13 is a perspective view of a rotary pistol feeder apparatus in an embodiment of the present invention;

FIG. 14 is a front view of a rotary pistol feeder apparatus in an embodiment of the present invention;

FIG. 15 is a left side view of a rotary pistol feeder apparatus in an embodiment of the present invention;

FIG. 16 is a top view of a rotary gun carrier according to an embodiment of the present invention;

FIG. 17 is a schematic view of the gun feeder mechanism with the pipe rack and the cleaning gun installed thereon according to an embodiment of the present invention;

FIG. 18 is a schematic view of the connection of the anti-yaw mechanism to the mobile running gear in the embodiment provided by the present invention;

FIG. 19 is a schematic view of the general structure of an anti-yaw mechanism in an embodiment provided by the present invention;

fig. 20 is a top view of an anti-yaw mechanism in an embodiment provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described clearly and completely with reference to fig. 1 to 20 of the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application.

As shown in fig. 1 to 3, the tubular heat exchanger cleaning robot capable of preventing deflection includes a movable traveling mechanism 1, a cleaning mechanism and a control unit 6, wherein the cleaning mechanism and the control unit 6 are fixedly disposed on the movable traveling mechanism 1. The cleaning mechanism comprises a gun feeding mechanism 2, a cleaning gun 3, a pipeline 4 and an anti-deflection mechanism 5, and the anti-deflection mechanism 5 is hinged with the movable travelling mechanism 1.

For convenience and cost saving, the mobile travelling mechanism 1, the cleaning mechanism and the control unit 6 can be directly applied with an authorization notice number CN106705746B named as a multi-gun tube heat exchanger intelligent cleaning robot, and only the anti-deflection mechanism 5 and a device connected with the mechanism are added on the basis.

As shown in fig. 18 to 20, the anti-deflection mechanism 5 includes a fixed frame 50, a first parallel four-bar linkage 51, and a first extension arm 520 and a second extension arm 521. As shown in fig. 20, when looking down the first parallel four-bar linkage 51, two adjacent side bars form a vertex angle, and four side bars form four vertex angles, namely, a first vertex angle, a second vertex angle, a third vertex angle, and a fourth vertex angle.

The first vertex angle of the first parallel four-bar linkage 51 is connected with the fixed frame 50, one of the side bars is rotatably connected, and the other side bar is fixedly connected, namely, one of the side bars of the first parallel four-bar linkage 51 forming the first vertex angle is fixedly connected with the fixed frame 50.

The third vertex angle of the first parallel four-bar linkage 51 is hinged to one end of the second extender arm 521. The other end of the second extension arm 521 is hinged to the mobile traveling mechanism 1.

The fourth vertex angle of the first parallel four-bar linkage 51 is hinged to one end of the first extension arm 520. The other end of the first extension arm 520 is hinged to the mobile traveling mechanism 1.

The side bar forming the third vertex and the fourth vertex forms a parallelogram mechanism 52 together with the traveling mechanism 1, the first extension arm 520, and the second extension arm 521.

More specifically, as shown in fig. 19 and 20, the first parallel four-bar linkage 51 includes a first side lever 510, a second side lever 511, a third side lever 512, and a fourth side lever 513. One end of the first side bar 510 is hinged to the stationary frame vertical shaft 502. The second side rod 511 is fixedly connected with the fixed frame vertical shaft 502, and one end of the second side rod 511 is hinged with one end of the third side rod 512. The other end of the third leg 512 is hinged to one end of the fourth leg 513 and one end of the second extension arm 521. The other end of the fourth side bar 513 is hinged to one end of the first extension arm 520 and the other end of the first side bar 510.

As shown in fig. 19, the fixing frame 50 includes a fixing frame chassis 500, fixing legs 501 and a fixing frame vertical shaft 502. The fixing frame chassis 500 is provided with fixing legs 501, the fixing legs 501 are rod-shaped structures and can be inserted into the tubes, and at least three fixing legs 501 are arranged and respectively arranged towards the same direction; a fixed frame vertical shaft 502 is fixedly arranged on the fixed frame chassis 500.

The structure can be very conveniently installed and positioned at any position in the tubular heat exchanger, only the fixing pin 501 is required to be inserted into the tubular heat exchanger, so that too many operations are not required, the operation is simplified, and the working efficiency is improved. The second side rod 511 is connected with the fixed frame vertical shaft 502, and other side rods can be rotatably connected, so that other side rods can only rotate around two ends of the fixed side rod, and the whole mechanism can ensure that the travelling mechanisms at two ends of the extension wall cannot rotate by matching the limiting action of the fourth side rod. The anti-deflection mechanism 5 and the moving travelling mechanism 1 form a double-parallelogram mechanism, so that the moving travelling mechanism 1 can be limited, can only move along the transverse direction or the longitudinal direction and cannot rotate in situ, and the phenomenon that the prior art cannot work normally due to deflection during movement is avoided. The anti-deflection mechanism 5 has a simple structure, is composed of a plurality of side rods, and can be very conveniently installed or transferred on site by matching with a fixed frame 50 which can be fixed on a tube array.

In one embodiment, as shown in fig. 19, the second side bar 511 has an L-shaped structure, and the other end thereof is welded to the fixing frame chassis 500. Such a structure is convenient for processing and fixing, and the extension of the structure along the vertical shaft 502 of the fixing frame as a fulcrum is beneficial to forming a lever, the fixed moment of force is larger, and the rotation of the whole four-bar mechanism can be effectively prevented.

The fixing frame chassis 500 is a disc structure, and is made of an iron plate, and fixing legs 501 are uniformly distributed on the periphery thereof. The fixed legs can be welded or connected by bolts so as to be convenient to detach and fix.

In addition, the first extension arm 520 and the first side bar 510 are made of a square pipe material. The fixing frame chassis 500 is made into a disc structure for convenient storage and movement; the first extension arm 520 and the first side bar 510 are made of square tube material, which can enhance the mechanical strength of the whole structure and can bear a certain weight without being too heavy.

In one embodiment, as shown in fig. 10-17, the gun feeding mechanism 2 includes a linear reciprocating mechanism 20, a gun feeding rack 21 and a rotary gun feeding device 22. The gun feeding rack 21 is fixedly disposed at one side of the linear reciprocating mechanism 20, and is disposed at the same side and in parallel with the linear moving portion 200 of the linear reciprocating mechanism 20. The gun feeding rack 21 is a straight strip rack.

As shown in fig. 13 to 16, the rotary gun feeder 22 includes a gun feeder holder 220, a gun feeder shaft 221, a first gear 222, a second gear 223, a gun rack 224, and a backing wheel 225.

The gun feeding fixing seat 220 is in an L-shaped structure, a reinforcing rib plate is arranged on the gun feeding fixing seat, and the gun feeding fixing seat 220 is fixedly connected with the linear movable part 200.

One side of the gun feeding fixing seat 220 is rotatably provided with a gun feeding rotating shaft 221, and the gun feeding rotating shaft 221 is fixedly sleeved with a first gear 222 and a second gear 223 respectively.

A gun rack 224 is fixedly arranged on one side of the gun feeding fixing seat 220, the gun rack 224 is in a U-shaped structure, three back wheels 225 are respectively arranged on the gun rack 224, and the three back wheels 225 are arranged on the same straight line. The back wheel 225 is a dumbbell structure with two ends protruding and the middle concave. The dumbbell-shaped back wheel 225 and the second gear 223 correspond to each other, and a space into which the washing gun 3 can be inserted is formed therebetween.

The cleaning gun 3 has a plurality of teeth formed on its outer periphery, and the plurality of teeth form a rack structure along the length direction of the cleaning gun, and the rack is engaged with the second gear 223. The first gear 222 is engaged with the gun feeding rack 21.

The gun rack 224 can also be rotatably provided with two anti-dropping wheels 226, the two anti-dropping wheels 226 are respectively positioned at two ends of three back wheels 225 on the same straight line and correspond to each other, and a space capable of being inserted into the cleaning gun 3 is also formed between the anti-dropping wheels 226 and the back wheels 225. Through the cooperation of back wheel 225 and anticreep wheel 226, can be so that cleaning gun 3 can not drop easily or skew, including the spacing and the direction of bottom high pressure cleaning anti-splash device for whole mechanism is more stable.

The gun feeding rack 21 is fixedly arranged on one side of the linear reciprocating mechanism 20 and is positioned on the same side with the linear movable part 200 of the linear reciprocating mechanism 20, the structure is firstly simplified, only the linear reciprocating mechanism 20 is required to drive the rotating gun feeding device 22, and the gun feeding rack 21 is matched to retract and release 2 times of stroke, so that the size of the whole device is effectively reduced.

In one embodiment, the linear reciprocating mechanism 20 is a rodless cylinder. The rodless cylinder is convenient to control, different position sensors can be freely combined on the rodless cylinder, additional design is not needed, and cost is further reduced.

In one embodiment, the back wheel 225 is provided with a plurality of three sets, and the corresponding anti-falling wheel 226 is also provided with a plurality of sets, each set is inserted into the cleaning gun 3, and the tops of the cleaning guns 3 are all fixedly connected with each other. The multiple sets of back wheels 225 can simultaneously drive multiple cleaning guns, thus improving the cleaning efficiency by times.

In one embodiment, a pipe support 23 is further fixedly disposed on the rotary gun feeding device 22, and the pipe support 23 is used for fixing the pipe 4. The pipeline 4 is a hose, one end of the hose is fixedly connected with one end of the cleaning gun 3, and the other end of the pipeline 4 is connected with a high-pressure water source. The arrangement of the pipe support 23 is advantageous for preventing the hose from being bent and blocked because the total stroke of the gun feeding mechanism is relatively long.

For ease of assembly and adjustment, in one embodiment, as shown in fig. 4-8, the mobile walking mechanism 1 is further optimized, and comprises a first supporting unit 10, a sliding platform 11 and a second supporting unit 12. A sliding platform 11 is slidably disposed on the first supporting unit 10, and a second supporting unit 12 is slidably disposed on the sliding platform 11.

As shown in fig. 8, the first support unit 10 includes a first support unit base plate 100, a first telescopic support leg 101, a lateral slide rail 102, a first deflection preventing connection shaft 103, a connection block 104, and a second deflection preventing connection shaft 105. A first anti-deflection connecting shaft 103 and a first telescopic supporting leg 101 are fixedly arranged below the first supporting unit bottom plate 100, a connecting block 104 is fixedly arranged on the side surface of the first telescopic supporting leg 101, and a second anti-deflection connecting shaft 105 is fixedly arranged on the connecting block 104; a transverse slide rail 102 is fixedly arranged on the first supporting unit bottom plate 100; the first anti-deflection connecting shaft 103 is hinged with the other end of the first extension arm 520; the second anti-deflection connecting shaft 105 is hinged to the other end of the second extension arm 521.

The sliding platform 11 comprises a sliding platform base 110, a traverse slide block 111, a traverse screw motor 112, a longitudinal rail fixing plate 113, a longitudinal rail 114, a longitudinal screw motor 115 and a longitudinal moving movable block 116. The sliding platform base 110 is in an L-shaped structure, a transverse screw rod motor 112 is fixedly arranged on one side of the sliding platform base 110, a transverse sliding block 111 is fixedly arranged at the bottom of the sliding platform base 110, and the transverse sliding block 111 is connected with the transverse sliding rail 102 in a sliding manner; a longitudinal movement screw rod motor 115 is fixedly arranged on the sliding platform base 110, and a longitudinal movement movable block 116 is arranged on the longitudinal movement screw rod motor 115 in a sliding manner; the top of the sliding platform base 110 is fixedly provided with a longitudinal rail fixing plate 113, and a longitudinal rail 114 is fixedly arranged on the longitudinal rail fixing plate 113.

The second supporting unit 12 comprises a second supporting unit bottom plate 120, a longitudinal moving slide block 121, a second telescopic supporting leg 122 and a high-pressure cleaning anti-splashing device 123; a longitudinal slide block 121 is fixedly arranged on the bottom surface of the second supporting unit bottom plate 120, and the longitudinal slide block 121 is connected with the longitudinal rail 114 in a sliding manner; a second telescopic support leg 122 and a high pressure cleaning anti-spatter device 123 are respectively and fixedly arranged on one side of the bottom surface of the second support unit bottom plate 120. The high-pressure cleaning anti-splash device 123 can be used indiscriminately or for reference, the name of the disclosure CN208567632U is the high-pressure cleaning anti-splash device for the heat exchanger.

The mobile walking mechanism 1 comprises a first supporting unit 10, a sliding platform 11 and a second supporting unit 12, and the three are respectively stacked, arranged and combined from bottom to top, and the layered combination is favorable for production and assembly.

In addition, two longitudinal rails 114 are provided, one is fixedly disposed on the longitudinal rail fixing plate 113, and the other is fixedly disposed on the other side surface of the sliding platform base 110. The longitudinal rails 114 are arranged at 90 degrees, so that the deformation of the units caused by the tension in different directions generated when the units move can be effectively prevented, and the rails adopt circular rails and are most suitable for matching with C-shaped sliders.

When the tubular heat exchanger is cleaned, the entire robot is first carried into the tubular heat exchanger, then the traveling mechanism 1, the cleaning mechanism, and the control unit 6 are placed at the cleaning initial position, and the first and second extendable support legs 101 and 122 are inserted into the tubular heat exchanger so that the entire machine is erected. The fixing legs 501 of the fixing frame 50 of the anti-deflection mechanism 5 are then inserted into the column tubes and fixed in the same manner. Finally, the pipeline and the cable are connected, and the robot can be started to work at the moment.

When the robot works, the control unit 6 controls the linear movable part 200 of the rodless cylinder type linear reciprocating mechanism 20 to move downwards, at this time, the linear movable part 200 drives the rotary gun feeding device 22 to move downwards, the first gear 222 on the rotary gun feeding device 22 rotates anticlockwise under the action of the gun feeding rack 21, and simultaneously drives the gun feeding rotating shaft 221 and the second gear 223 to rotate anticlockwise. Because second gear 223 and the cleaning gun 3 intermeshing that is equipped with the rack, cleaning gun 3 is also driven and moves down, if cleaning gun 3 has many, and the equal fixed connection of upper end of many cleaning guns moreover, then can move down simultaneously and insert in the tubulation, has just can realize having washd the inside of tubulation through the washing of high pressure water. When the tube is blocked, the cleaning gun 3 is driven by the second gear 223 to move downwards, so that the cleaning gun has certain force, and the blocked scale can be easily washed away.

After the completion of one cleaning, the control unit 6 controls the linear movable section 200 to move upward, and similarly, the cleaning gun 3 is lifted and drawn out of the tubular column by the gun feeding rack 21, the first gear 222, the gun feeding rotary shaft 221, and the second gear 223. The stroke of the cleaning gun 3 is twice as long as that of the linear movable portion 200 in the entire process. The structure reduces the volume of the robot.

After the cleaning gun 3 is lifted, the mobile travelling mechanism 1 starts to move to the next position for cleaning. When the robot moves, the second telescopic supporting leg 122 is controlled to retract firstly, the structure of the second telescopic supporting leg 122 is the same as that of a moving travelling mechanism of an authorized notice number CN106705746B named as a multi-gun tubular heat exchanger intelligent cleaning robot and an authorized notice number CN106643278B named as a tubular heat exchanger cleaning robot, and both the structures adopt a telescopic structure of matching an air cylinder with an internal spring. After the second telescopic support leg 122 retracts, the traverse screw rod motor 112 on the control sliding platform 11 rotates, and the whole control sliding platform 11 moves to the right by integral times of the number of tubes relative to the first support unit 10. After the movement is completed, the second telescopic support leg 122 is extended and inserted into the tubes, then the first telescopic support leg 101 is controlled to retract, and then the traverse screw motor 112 is controlled to rotate reversely, at this time, since the second support unit 12 is fixed, the first support unit 10 is moved to the right by an integral multiple of the number of tubes by the traverse screw motor 112. After reaching the position, the first telescopic support leg 101 extends out and is inserted into the tube nest, and the lower part of the cleaning gun can be controlled to clean again.

When the movable travelling mechanism 1 moves longitudinally, in the same way, the second telescopic supporting leg 122 is controlled to retract, the longitudinal movement screw rod motor 115 on the sliding platform 11 is controlled to rotate, and the whole sliding platform 11 is controlled to move forwards by integral times of the number of tubes relative to the first supporting unit 10. After the movement is completed, the second telescopic support leg 122 is extended and inserted into the tubulation, then the first telescopic support leg 101 is controlled to retract, then the longitudinal screw rod motor 115 is controlled to rotate reversely, at this time, because the second support unit 12 is fixed, the first support unit 10 moves forwards by integral times of the number of the tubulation by the distance of the tubulation number under the action of the transverse screw rod motor 112

The moving process can also refer to the operation mode of the moving walking mechanism named as the tubular heat exchanger cleaning robot under the publication number CN106643278B which is applied and authorized by the applicant at 2016, 12, 29.

During the whole horizontal or longitudinal movement, the fixed foot 501 and the fixed frame vertical shaft 502 are always kept fixed, the second side rod 511 is also kept fixed, and only the first side rod 510 and the third side rod 512 can rotate along the two ends of the second side rod 511 or rotate along the fixed frame vertical shaft 502. Under the restriction of the second side bar 511, the fourth side bar 513 can only be kept parallel to the second side bar 511 all the time, that is, the third and fourth corners of the first parallel four-bar linkage 51 can only horizontally translate, and the first and fourth corners are respectively hinged with the first and second extension arms 520 and 521, thereby ensuring that the mobile walking mechanism 1 can only guarantee the posture of lateral movement or longitudinal movement but can not rotate all the time.

According to the invention, the anti-deflection mechanism 5 and the mobile travelling mechanism 1 form a double-parallelogram mechanism, so that the mobile travelling mechanism 1 can be limited, can only move along the transverse direction or the longitudinal direction and cannot rotate in situ, and the phenomenon that the prior art cannot work normally due to deflection during movement is avoided. The anti-deflection mechanism 5 has a simple structure, is composed of a plurality of side rods, and can be very conveniently installed or transferred on site by matching with a fixed frame 50 which can be fixed on a tube array. The gun feeding rack 21 is fixedly arranged on one side of the linear reciprocating mechanism 20 and is positioned on the same side with the linear movable part 200 of the linear reciprocating mechanism 20, the structure is simplified firstly, only the linear reciprocating mechanism 20 is required to drive the rotating gun feeding device 22 and can realize the retraction and release of 2 times of stroke under the matching of the gun feeding rack 21, and the size of the whole device is effectively reduced.

Claims (10)

1. A tubular heat exchanger cleaning robot capable of preventing deflection comprises a moving travelling mechanism (1), a cleaning mechanism and a control unit (6), wherein the cleaning mechanism and the control unit (6) are fixedly arranged on the moving travelling mechanism (1); the cleaning mechanism comprises a gun feeding mechanism (2), a cleaning gun (3) and a pipeline (4), and is characterized in that:

also comprises an anti-deflection mechanism (5);

the anti-deflection mechanism (5) comprises a fixed frame (50), a first parallel four-bar linkage mechanism (51), a first extension arm (520) and a second extension arm (521);

a first vertex angle of the first parallel four-bar linkage (51) is connected with the fixed frame (50); one side rod of a first parallel four-bar linkage (51) forming the first top corner is fixedly connected with the fixed frame (50);

the third top corner of the first parallel four-bar linkage (51) is hinged with one end of the second extension arm (521); the other end of the second extension arm (521) is hinged with the mobile travelling mechanism (1);

a fourth top corner of the first parallel four-bar linkage (51) is hinged with one end of the first extension arm (520); the other end of the first extension arm (520) is hinged with the mobile walking mechanism (1);

the side rods forming the third vertex angle and the fourth vertex angle form a parallelogram mechanism (52) together with the movable travelling mechanism (1), the first extension arm (520) and the second extension arm (521).

2. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 1, wherein:

the fixing frame (50) comprises a fixing frame chassis (500), fixing feet (501) and a fixing frame vertical shaft (502); the fixing frame chassis (500) is provided with the fixing feet (501), the fixing feet (501) are in rod-shaped structures and can be inserted into the tubes, and at least three fixing feet (501) are arranged and face the same direction respectively; the upper surface of the fixed frame chassis (500) is fixedly provided with the fixed frame vertical shaft (502);

the first parallel four-bar linkage (51) comprises a first side rod (510), a second side rod (511), a third side rod (512) and a fourth side rod (513);

one end of the first side rod (510) is hinged with the fixed frame vertical shaft (502);

the second side rod (511) is connected with the fixed frame vertical shaft (502), and one end of the second side rod (511) is hinged with one end of the third side rod (512);

the other end of the third side rod (512) is hinged with one end of the fourth side rod (513) and one end of a second extension arm (521);

the other end of the fourth side rod (513) is hinged with one end of the first extension arm (520) and the other end of the first side rod (510).

3. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 1, wherein:

the second side rod (511) is of an L-shaped structure, and the end part of the other end of the second side rod is welded with the fixed frame chassis (500);

the fixing frame chassis (500) is in a disc structure, and the fixing feet (501) are uniformly distributed on the periphery of the fixing frame chassis;

the first extension arm (520) and the first side rod (510) are both made of square tube materials.

4. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 1, wherein:

the gun feeding mechanism (2) comprises a linear reciprocating motion mechanism (20), a gun feeding rack (21) and a rotary gun feeding device (22); the gun feeding rack (21) is fixedly arranged on one side of the linear reciprocating mechanism (20) and is positioned on the same side with the linear movable part (200) of the linear reciprocating mechanism (20);

the rotary gun feeding device (22) comprises a gun feeding fixing seat (220), a gun feeding rotating shaft (221), a first gear (222), a second gear (223), a gun frame (224) and a back wheel (225);

the gun feeding fixing seat (220) is fixedly connected with the linear movable part (200);

a gun feeding rotating shaft (221) is rotatably arranged on one side of the gun feeding fixing seat (220), and the first gear (222) and the second gear (223) are respectively fixedly sleeved on the gun feeding rotating shaft (221);

a gun rack (224) is fixedly arranged on one side of the gun feeding fixing seat (220), and the back wheel (225) is rotatably arranged on the gun feeding fixing seat; the back wheel (225) is of a dumbbell structure with two convex ends and a concave middle part;

the dumbbell-shaped back wheel (225) and the second gear (223) correspond to each other, and a space capable of penetrating into the cleaning gun (3) is formed between the two gears;

a plurality of teeth are arranged on the periphery of the cleaning gun (3), the teeth form a rack structure along the length direction of the cleaning gun, and the rack is meshed with the second gear (223);

the first gear (222) is meshed with the gun feeding rack (21).

5. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 4, wherein:

the linear reciprocating mechanism (20) is a rodless cylinder;

the gun feeding fixing seat (220) is of an L-shaped structure, and a reinforcing rib plate is arranged on the gun feeding fixing seat.

6. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 4, wherein:

the gun rack (224) is of a U-shaped structure, three back wheels (225) are respectively arranged on the gun rack, and the three back wheels (225) are arranged on the same straight line;

the gun rack (224) can be rotatably provided with two anti-dropping wheels (226), the two anti-dropping wheels (226) are respectively positioned at two ends of three back wheels (225) on the same straight line and correspond to each other, and a space capable of being inserted into the cleaning gun (3) is formed between the anti-dropping wheels (226) and the back wheels (225).

7. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 6, wherein:

the back wheel (225) is provided with a plurality of, is three a set of respectively, and the anticreep wheel (226) that corresponds also is provided with a plurality of, constitutes the multiunit, and every group all inserts cleaning gun (3), the equal mutual fixed connection in top of cleaning gun (3).

8. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 4, wherein:

a pipeline support (23) is also fixedly arranged on the rotary gun feeding device (22), and the pipeline support (23) is used for fixing the pipeline (4);

the pipeline (4) is a hose, one end of the hose is fixedly connected with one end of the cleaning gun (3), and the other end of the pipeline (4) is connected with a high-pressure water source.

9. The tubular heat exchanger cleaning robot capable of preventing deflection of claim 1, wherein:

the mobile walking mechanism (1) comprises a first supporting unit (10), a sliding platform (11) and a second supporting unit (12); the sliding platform (11) is slidably arranged on the first supporting unit (10), and the second supporting unit (12) is slidably arranged on the sliding platform (11);

the first supporting unit (10) comprises a first supporting unit bottom plate (100), a first telescopic supporting leg (101), a transverse sliding rail (102), a first deflection preventing connecting shaft (103), a connecting block (104) and a second deflection preventing connecting shaft (105); the lower surface of the first supporting unit bottom plate (100) is fixedly provided with the first anti-deflection connecting shaft (103) and a first telescopic supporting leg (101), the side surface of the first telescopic supporting leg (101) is fixedly provided with a connecting block (104), and the connecting block (104) is fixedly provided with a second anti-deflection connecting shaft (105); the transverse sliding rails (102) are fixedly arranged on the first supporting unit bottom plate (100); the first deflection preventing connecting shaft (103) is hinged with the other end of the first extension arm (520); the second deflection preventing connecting shaft (105) is hinged with the other end of the second extending arm (521);

the sliding platform (11) comprises a sliding platform base (110), a transverse sliding block (111), a transverse screw rod motor (112), a longitudinal rail fixing plate (113), a longitudinal rail (114), a longitudinal screw rod motor (115) and a longitudinal moving movable block (116);

the sliding platform base (110) is of an L-shaped structure, one side of the sliding platform base is fixedly provided with the traverse screw rod motor (112), the bottom of the sliding platform base (110) is fixedly provided with the traverse sliding block (111), and the traverse sliding block (111) is connected with the transverse sliding rail (102) in a sliding manner; the longitudinal movement screw rod motor (115) is fixedly arranged on the sliding platform base (110), and the longitudinal movement movable block (116) is arranged on the longitudinal movement screw rod motor (115) in a sliding manner; the top of the sliding platform base (110) is fixedly provided with the longitudinal rail fixing plate (113), and the upper surface of the longitudinal rail fixing plate (113) is fixedly provided with the longitudinal rail (114);

the second supporting unit (12) comprises a second supporting unit bottom plate (120), a longitudinal moving slide block (121), a second telescopic supporting leg (122) and a high-pressure cleaning anti-splashing device (123); the bottom surface of the second supporting unit bottom plate (120) is fixedly provided with the longitudinal moving slide block (121), and the longitudinal moving slide block (121) is connected with the longitudinal rail (114) in a sliding manner; one side of the bottom surface of the second supporting unit bottom plate (120) is also fixedly provided with a second telescopic supporting leg (122) and a high-pressure cleaning anti-splashing device (123).

10. The tube heat exchanger cleaning robot capable of preventing deflection of claim 9, wherein:

two longitudinal rails (114) are arranged, one is fixedly arranged on the longitudinal rail fixing plate (113), and the other is fixedly arranged on the other side surface of the sliding platform base (110).

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