CN200948597Y - Submerged intelligent cleaning robot for large-scale condensing plant - Google Patents
Submerged intelligent cleaning robot for large-scale condensing plant Download PDFInfo
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- CN200948597Y CN200948597Y CN 200620052297 CN200620052297U CN200948597Y CN 200948597 Y CN200948597 Y CN 200948597Y CN 200620052297 CN200620052297 CN 200620052297 CN 200620052297 U CN200620052297 U CN 200620052297U CN 200948597 Y CN200948597 Y CN 200948597Y
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Abstract
The utility model discloses a large scale condensing equipment underwater intelligent cleaning robot, which comprises a control member and a cleaning member connected with the control member. A travel member is arranged at the bottom of the cleaning member. One end of a small arm of the small arm assembly on the cleaning member is assembled on a small arm driving shaft, while a spray gun body and an image collecting device are arranged at the other end of the small arm. The spray gun body is connected with a cleaning medium source by a communicating pipe. A small arm driving shaft is connected with a small arm driving device which is connected with the control member by a small arm photoelectric encoder. One end of a big arm of the big arm assembly is connected with the small arm driving shaft, while the other end of the big arm is connected with the big arm driving shaft. The big arm driving shaft is connected with a big arm driving device which is connected with the control member by a big arm photoelectric encoder. The big arm driving shaft is positioned on a turning gear assembly which is positioned at the travel member. With the advantage of simple structure, extensive application scope and great automation, the utility model can self-moved to fulfill the on line cleaning in the water chamber.
Description
Technical field
The utility model is mainly concerned with condenser cleaning equipment field, refers in particular to a kind of underwater intelligent purification robot for large-scale condensing plant, and it is applicable to the on-line cleaning of the large condenser of industries such as electric power, chemical industry, pharmacy.
Background technology
At present, the condenser of using in industrial circle generally adopts water-cooled and mode such as air-cooled, wherein adopt water-cooled mostly, and the cooling water majority is directly to take from natural water sources such as river, river, lake, sea, follow reasons such as chemical reaction during, heat exchange unholiness, cause the condenser pipe inwall to gather to be unfavorable for the dirt that conducts heat owing to cooling water.The existence of dirt can cause a series of harm: 1, sharply reduced the heat transfer coefficient of condenser, caused condenser vacuum to reduce, exerting oneself of Steam Turbine decreases, thereby reduced the efficient of steam turbine generator; 2, increase the resistance to water-flow of cooling circulating water system, caused the energy consumption of water circulating pump to increase; 3, cause condenser pipe to stop up, have a strong impact on the equipment operation; 4, condenser tube corrosion failure, accidents caused easily.
In different applications, condenser also has characteristics separately, but the operating efficiency that its main function all is the raising system.Condenser is the most important cooler in firepower, atomic power plant, the good and bad heat exchange efficiency that directly influences the power plant of its switching performance.Because the major limitation bottleneck of condenser heat conduction is in the water side of pipeline, therefore to the cleaning timely and effectively of condensing plant, can not only prevent pernicious production accident to take place, and can improve the operating efficiency of condenser, can play huge energy-saving and cost-reducing effect.
Methods such as general main employing is at present manually disclosed and washed, glueballs cleaning, Chemical cleaning and Cleaning by High Pressure Water Jet.1, shuts down artificial, mechanical system cleaning.When overhaul of steam turbine, the steam turbine condenser pipe of old-fashioned low pressure low capacity (take locknut fixedly connected) more, the method that brushes dirt is manually beaten, is disclosed in normal employing.This method labour intensity is big, needs shutdown operation, damages unit easily.2, the antiscale of glueballs on-line cleaning, scale removal.Ball cleaning apparatus is made up of parts such as ball screen, secondary filter, ball collector, glueballs delivery pump and electrical control cabinets.Big unit is adopted unit system, and promptly each side of condenser is used respectively one of ball screen, ball collector, glueballs delivery pump; For the shared system of the common employing of little unit system.Elder generation was putting into ball collector than the sponge glueballs of the big 1～2mm of cooling tube internal diameter when glueballs cleaned, glueballs is admitted to circulating water inlet under the effect of Rubber ball pump, along with flowing of recirculated water, glueballs is squeezed in the condenser tube and cleans, glueballs enters ball screen with recirculated water after by condenser tube, extracted out by the glueballs delivery pump subsequently, enter ball collector again.So circulation, glueballs is constantly cleaned the condenser inwall and is made it to keep clean.Use glueballs to clean and have following shortcoming: can exist in the condenser cleaning process, condenser is stopped up, the rate of recovery of glueballs is lower, often reasonable system, and ball collecting rate is also below 80%, and the poorest situation can not receive ball at all.Then can not remove fully for the crystallisation fouling that forms by chemical reaction.3, Chemical cleaning.According to unlike material condenser needs, select suitable cleansing medium, corrosion inhibiter and activator for use, the regulation clean range and system in, follow certain cleaning quality control criterion, adopt certain cleaning (comprising the circulation dosing) that condenser is cleaned.Chemical cleaning must strictly be controlled corrosion rate (less than 1g/m
2H) and total etching extent (less than 10g/m
2) the corrosion condenser pipe; Because condenser is had corrosiveness, Chemical cleaning has shortened the condenser pipe life-span; Cause generations such as device damage, personal injury and cleaning quality accident easily, have a strong impact on Expected Results, bring tremendous loss for safety in production and economical operation; Contaminated environment does not meet environmental friendly principle.4, Cleaning by High Pressure Water Jet.So-called high-pressure water jet is that ordinary tap water is pressurized to hundreds of and even thousands of atmospheric pressures by high-pressure pump, then by special nozzle, with the concentrated current of one energy height of high speed ejection.It can remove various dirts and tamper in the pipe.The current that utilize this strand to have huge energy clean and are Cleaning by High Pressure Water Jet.The Technolgy of High Pressure Water jet Cleaning has following advantage: it is low 1. to clean cost; 2. cleaning performance is good: when pipe blow-through and heat exchanger endoporus, can dirt and tamper full scale clearance in the pipe is clean, and can see metal body, realize that high-quality cleans; 3. cleaning speed is fast; 4. non-environmental-pollution; 5. metal there is not any corrosiveness; 6. wide application, the position that the direct projection of every water jet energy is arrived, no matter be pipeline and container intracavity, or equipment surface, also no matter be hard foulant, or solid tamper, all can make it hightail parent, thoroughly clean up, this kind cleaning method does not all have specific (special) requirements to equipment material, characteristic, shape and dirt kind, so its application is very extensive.At present, though high pressure water jet has above these advantages, need compressor emergency shutdown when cleaning condenser, if unit is not shut down, the cleaning workman need put on diving dress could carry out work under water.
The utility model content
The technical problems to be solved in the utility model just is: at the technical problem that prior art exists, the utility model provide a kind of simple in structure, applied widely, automaticity is high, can finish the underwater intelligent purification robot for large-scale condensing plant of on-line cleaning automatically.
For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of underwater intelligent purification robot for large-scale condensing plant, it comprises controlling organization and the wiper mechanism that links to each other with controlling organization, it is characterized in that: the bottom of described wiper mechanism is provided with walking mechanism, wiper mechanism comprises gun body, image collecting device; little arm assembly; big arm assembly; slew gear assembly; communicating pipe and cleansing medium source; described little arm assembly comprises forearm; forearm drive unit and forearm driving shaft; an end of forearm is installed on the forearm driving shaft; be equiped with gun body and image collecting device on the other end of forearm; gun body linked to each other with the cleansing medium source by communicating pipe; the forearm driving shaft links to each other with the forearm drive unit, the forearm drive unit links to each other with controlling organization by the forearm photoelectric encoder; Big arm assembly comprises big arm, big arm drive unit and big arm driving shaft, one end of big arm links to each other with the forearm driving shaft, the other end of big arm links to each other with big arm driving shaft, and big arm driving shaft links to each other with big arm drive unit, and big arm drive unit links to each other with controlling organization by big arm photoelectric encoder; Big arm driving shaft is installed on the slew gear assembly, and the slew gear assembly is installed on the walking mechanism.
Described walking mechanism comprises chassis, driving wheel, driven pulley, vehicle frame, travel driving unit and crawler belt, the chassis is fixed on the vehicle frame, driving wheel and driven pulley are installed on the vehicle frame, and crawler belt is set around on driving wheel and the driven pulley, and driving wheel links to each other with travel driving unit.
The described travel driving unit hydraulic drive mechanism outer with being positioned at hydroecium links to each other, hydraulic drive mechanism comprises compression pump, reservoir, hydraulic efficiency servo-valve and hydraulic cylinder water inlet pipe and water outlet pipe, hydraulic cylinder water inlet pipe and water outlet pipe one end links to each other with travel driving unit, and the other end links to each other with medium in the reservoir by hydraulic efficiency servo-valve and compression pump.
Be equiped with one or more sonar sensor on described gun body and the walking mechanism, sonar sensor links to each other with controlling organization.
Described cleansing medium source comprises water medium source and chemical agent medium source, and described chemical agent medium source is the chemical agent reservoir, and the water medium source is the clear water high-pressure hydraulic pump, and the chemical agent reservoir links to each other with communicating pipe with the clear water high-pressure hydraulic pump.
Described forearm and big arm are hollow form, and the signal line that links to each other with controlling organization is installed in forearm and the big arm.
Compared with prior art, advantage of the present utility model just is:
1, the utility model is simple in structure, automaticity is high, design by walking mechanism, cleaning robot can be at the indoor autokinetic movement of Water in Condenser, do not need to install and fix guide rail, applicability is wider, utilize image collecting device and sonar sensor, just can realize the accurate location of robot autonomous motion and nozzle;
2, robot of the present utility model is provided with image collecting device; can guarantee that robot can locate the position of condenser pipe quickly and accurately in the hydroecium environment; promptly to the pore of condenser discern automatically, detection and servo centering location; so that the nozzle of intelligent cleaning robot is accurately aimed at pore, condenser pipe is effectively cleaned.In addition, whether image collecting device can also stop up condenser pipe is carried out identification, to some situations of hydroecium, for example has bigger suspension of volume etc. to discern in the water;
3, robot of the present utility model is provided with sonar sensor, and robot car body is autonomous when mobile in hydroecium, can measure the distance with the hydroecium wall automatically, avoids robot car body and hydroecium wall to bump against; Further the image collecting device with the forearm end combines, and to realize the accurate location to position, condenser hole, when nozzle and tube wall face out of plumb, can calculate the physical location of the rotation parameter and the pore of rotating base by geometry;
4, robot of the present utility model supports Cleaning by High Pressure Water Jet and two kinds of on-line cleaning modes of Chemical cleaning simultaneously, adopts Cleaning by High Pressure Water Jet, to remove the laxity dirt; Adopt Chemical cleaning, to remove crystallisation fouling.The two combination can be removed the dirt in the condenser quickly and efficiently, improves cleaning efficiency;
5, the inner hollow structure that adopts of robot upper-large-arm of the present utility model and forearm, interface channel that can double as fixed signal connecting line, the main work of high-pressure water hose is as high-pressure water pipeline and chemical pipeline.
Description of drawings
Fig. 1 is a main TV structure schematic diagram of the present utility model;
Fig. 2 is a side-looking structural representation of the present utility model;
Fig. 3 is the structural framing principle schematic of the utility model control module;
Fig. 4 is a PLC module erection sequence schematic diagram in the utility model;
Fig. 5 is a PLC module terminals subgraph in the utility model;
Fig. 6 is a workflow schematic diagram of the present utility model.
The specific embodiment
Be described in further details below with reference to the drawings and specific embodiments.
As depicted in figs. 1 and 2, underwater intelligent purification robot for large-scale condensing plant of the present utility model, it comprises controlling organization and the wiper mechanism that links to each other with controlling organization, the bottom of wiper mechanism is provided with walking mechanism, wiper mechanism comprises gun body 52, image collecting device 20; little arm assembly; big arm assembly; slew gear assembly; communicating pipe 22 and cleansing medium source 38; described little arm assembly comprises forearm 3; forearm drive unit 5 and forearm driving shaft 51; end of forearm 3 is installed on the forearm driving shaft 5; be equiped with gun body 52 and image collecting device 20 on the other end of forearm 3; gun body 52 is by linking to each other with cleansing medium source 38 communicating pipe 22; forearm driving shaft 51 links to each other with forearm drive unit 5, forearm drive unit 5 links to each other with controlling organization by forearm photoelectric encoder 4; Big arm assembly comprises big arm 6, big arm drive unit 7 and big arm driving shaft 41, one end of big arm 6 links to each other with forearm driving shaft 51, the other end of big arm 6 links to each other with big arm driving shaft 41, big arm driving shaft 41 links to each other with big arm drive unit 7, and big arm drive unit 7 links to each other with controlling organization by big arm photoelectric encoder 23; Big arm driving shaft 41 is installed on the slew gear assembly, and the slew gear assembly is installed on the walking mechanism.Be equiped with one or more sonar sensor 15 on gun body 52 and the walking mechanism, sonar sensor 15 links to each other with controlling organization.Cleansing medium source 38 comprises water medium source and chemical agent medium source, and the chemical agent medium source is a chemical agent reservoir 26, and the water medium source is a clear water high-pressure hydraulic pump 35, and chemical agent reservoir 26 links to each other with communicating pipe 22 with clear water high-pressure hydraulic pump 35.Gun body 52 adopts the stainless steel tube that can bear 140MPa, terminal install Cleaning by High Pressure Water Jet nozzle 61 (model: the Q16 nozzle), the other end and communicating pipes 22 end magnetic valve 54 join.Nozzle 61 can be chosen the nozzle 61 of suitable shape according to different requirements, to reach best cleaning performance.Forearm 3 and big arm 6 are hollow form, and the signal line 21 that links to each other with controlling organization is installed in forearm 3 and the big arm 6.
In the present embodiment, forearm 3 is fixed on the forearm driving shaft 51 by the forearm flange, and forearm driving shaft 51 is installed in behind bearing, end cap, sealing ring in the threeway bearing 47, and threeway bearing 47 is fixed on the upper end of big arm 6 by flange.The forearm drive unit adopts hydraulic motor, is used for driving forearm 3 rotations, achieves 360 ° of rotations.Forearm 3 rotary courses: (model: Siemens S7-313) anglec of rotation parameter of measuring according to forearm photoelectric encoder 4 is controlled the electrohydraulic servo valve of forearm drive unit 4 to the Programmable Logic Controller PLC of controlling organization; forearm 3 drives rotation by forearm drive unit 4; its anglec of rotation size feeds back to PLC by forearm photoelectric encoder 4 signals coaxial with it through shaping, frequency multiplication phase discriminator, constitutes closed-loop control system.The image collecting device 20 that install at forearm 3 tops is the Underwater Camera of a band light source, the relative position of Underwater Camera and gun body 52 front end nozzles 61 immobilizes, be mainly used under water to the pore feature of condenser pipe 2 and the identification of position, the image information of pore is delivered to the industrial computer of controlling organization by image pick-up card, and the pore center position coordinates after industrial computer will calculate is delivered to PLC; Whether Underwater Camera can also stop up condenser is carried out identification, and some situations (for example, the bigger suspension of volume etc. being arranged in the water) of hydroecium 24 are discerned.Sonar sensor 15 is installed over against tube bank place in forearm 3 tops, when nozzle 61 and tube bank face out of plumb, the sonar sensor 15 at this place is delivered to PLC analog quantity input module over against two place's sonar sensors, 15 range findings of tube bank from parameter with the side of robot car body walking mechanism, PLC will calculate the nozzle 61 terminal actual position coordinateses and the anglec of rotation of slew gear assembly, so that determine nozzle 61 plane of motions.Communicating pipes 22, the magnetic valve 54 of end was fixed on the top of forearm 3, was used for preventing that some foreign material or the planktonic organism of water do not stopped up communicating pipe 22 when cleaning robot from not working.Big arm 6 is connected on the big arm driving shaft 41 by the flange under the big arm 6, and big arm driving shaft 41 is installed in behind bearing, end cap, sealing ring in the big arm bearing 40, and big arm bearing 40 links to each other with big arm drive unit 7, big arm photoelectric encoder 23.Big arm drive unit 7 adopts fluid pressure drive device, is used for driving big arm driving shaft 41, thereby drives 360 ° of rotations that big arm 6 is realized up and down.Big arm 6 rotary courses: the anglec of rotation parameter that the PLC of controlling organization measures according to big arm photoelectric encoder 23 is controlled the electrohydraulic servo valve of big arm drive unit 7, big arm 6 drives rotation by big arm drive unit 7, its anglec of rotation size feeds back to PLC by big arm photoelectric encoder 23 signals coaxial with it through shaping, frequency multiplication phase discriminator, constitutes closed-loop control system.The slew gear assembly comprises driven wheel 45, driven gear 46, supporting disk 44, power transmission shaft 43 and rotating base hydraulic motor 42.The rotation of slew gear assembly drives driven wheel 45 by rotating base hydraulic motor 42, thereby the power transmission shaft 43 that is contained in the driven gear 46 is rotated, drive the rotation of whole swivel base assembly like this, can realize the rotating of certain angle scope, this system is the hydraulic gyration servo-drive system, can be used to the hydraulic gyration device is carried out accurate FEEDBACK CONTROL.Crawler type walking mechanism in the present embodiment is by hydraulic-driven, guiding mechanism by the crawler belt inboard and driving wheel engagement and transferring power.Walking mechanism comprises chassis 10, driving wheel 17, driven pulley 34, vehicle frame 33, travel driving unit 60 and crawler belt 16, chassis 10 is fixed on the vehicle frame 33, driving wheel 17 and driven pulley 34 are installed on the vehicle frame 33, crawler belt 16 is set around on driving wheel 17 and the driven pulley 34, driving wheel 17 links to each other with travel driving unit 60, can drive the rolling of crawler belt 16.Vehicle frame 33 tops are provided with bogie wheel 39, are used for being responsible for supporting the crawler belt 16 of top, and the bogie wheel 19 of vehicle frame 33 belows is responsible for the weight support of whole vehicle frame 33, and track frame 59 is connected the equipment that is installed on the chassis 10 that supports with vehicle frame 33.Travel driving unit 60 hydraulic drive mechanism outer with being positioned at hydroecium links to each other, hydraulic drive mechanism comprises compression pump 11, reservoir 12, hydraulic efficiency servo-valve 13 and hydraulic cylinder water inlet pipe and water outlet pipe 14, hydraulic cylinder water inlet pipe and water outlet pipe 14 1 ends link to each other with travel driving unit 60, and the other end links to each other with medium in the reservoir 12 by hydraulic efficiency servo-valve 13 and compression pump 11.,, deliver in the drive unit 60 the running water pressurization by compression pump 11 through hydraulic cylinder water inlet pipe and water outlet pipe 14 by the control of hydraulic efficiency servo-valve 13, thus the motion of realization driving wheel 17 and driven pulley 34.Crawler body utilizes the front wheel driving mode, left and right sides two-wheeled is drive respectively, PLC is according to front-wheel anglec of rotation parameter control left and right wheels hydraulic motor electrohydraulic servo valve, crawler belt 16 is rotated by the two-wheeled fluid motor-driven, its anglec of rotation size feeds back to PLC by the photoelectric encoder signal coaxial with it through shaping, frequency multiplication phase discriminator, constitutes closed-loop control system.Adopt the advantage of front wheel driving mode: driving wheel 17 is less than the wearing and tearing of rear drive, and crawler belt 16 is in 17 process from the wall to the driving wheel, and the foreign material that carry on the crawler belt 16 can be washed away preferably.Another advantage of crawler belt 16 structures is: can bring certain reaction force to robot during Cleaning by High Pressure Water Jet, cause robot car body chassis 10 to depart from the predeterminated level track, the structure of crawler belt 16 can be resolved this problem owing to can increase frictional force with ground.The chassis 10 main effects of walking mechanism are carrying slew gear assembly and wiper mechanism.10 front end, rear end and sonar sensor 15 all has been installed on the chassis over against a side of tube bank.The sonar sensor 15 of front and back end (model: S18U) be mainly used in the distance of surveying with hydroecium 24 walls, avoid colliding with hydroecium 24 walls, when robot car body apart from hydroecium 24 walls during less than a certain setting value (adjustable), corresponding sonar sensor 15 sends interrupt requests to PLC, have no progeny in the PLC response, stop to continue to move to hydroecium 24 walls.The sonar sensor 15 of robot car body side and the sonar sensor 15 at forearm 3 tops range finding are separately delivered to PLC analog quantity input module from parameter, PLC will calculate the nozzle 61 terminal actual position coordinateses and the anglec of rotation of slew gear assembly, so that determine nozzle 61 plane of motions.The clear water high-pressure hydraulic pump 35 in water medium source is mainly used in continuous generation required water under high pressure when adopting the Cleaning by High Pressure Water Jet mode, and hydraulic pressure is 60～130MPa (decide according to concrete cleaning requirement), by pressure sensor (model: PPM241Z) measurement.Chemical agent reservoir 26 links to each other with communicating pipe 22 with clear water high-pressure hydraulic pump 35, in the Chemical cleaning mode, store acid solution in the chemical agent reservoir 26, three kinds of chemical agents of alkali lye and corrosion inhibiter, need three measuring tanks, liquid level sensor 28 (model: PTX1730 series called putting-into-type liquid level meter all is installed in each measuring tank, 316 stainless steel materials), when liquid level during less than a certain setting value (adjustable), send interrupt requests by corresponding liquid level sensor 28 to PLC, have no progeny in the PLC response, send control signal to corresponding measuring pump motor (model: JW-0.85/2.5 measuring pump, plunger type).In the present embodiment, controlling organization adopts distributed control mode, is made up of a host computer and Duo Tai slave computer, and every slave computer is responsible for controlling a hydroecium 24.Slave computer is placed in the scene, is arranged in the switch board 25, and its core is Programmable Logic Controller PLC (referring to Fig. 3, Fig. 4 and Fig. 5) and Underwater Camera, controls the regular event of walking mechanism and wiper mechanism respectively.Host computer is positioned at master-control room, its core is industrial control computer IPC, be responsible for the preset parameter and the condition monitoring of definite, the slave computer of collections of condenser duty parameter, sealing factor calculating, water under high pressure pressure, flow, detergent concentration, scavenging period, cleaning frequency, have functions such as dynamic demonstration, history data store, report printing.Communicate by corresponding interface between the upper and lower machine.
Automatic cleaning system in the controlling organization comprises Cleaning by High Pressure Water Jet subsystem and Chemical cleaning subsystem on function.This system's basic functional principle is as follows: during the condenser operation, automatic cleaning system is monitored the fouling degree of condenser in real time.When sealing factor during, promptly start Cleaning by High Pressure Water Jet greater than a certain setting value.Cleaning by High Pressure Water Jet can effectively be removed laxity in the pipe, but then can not remove fully crystallisation fouling in managing, and therefore, if sealing factor does not reach requirement yet, then starts Chemical cleaning after the Cleaning by High Pressure Water Jet, removes fully until crystallisation fouling.
1, Cleaning by High Pressure Water Jet subsystem
(1) .PLC system
The PLC system is made up of Siemens's module, comprises power module (PS307), CPU module (S7-313), digital quantity input/output module (SM323), analog quantity input module (SM331), analog output module (SM332).Siemens frequency converter MicroMaster430) and the high-pressure hydraulic pump motor PLC system is used for obtaining water under high pressure force value and control various magnetic valves, electrohydraulic servo valve, frequency converter (model:; In addition, for display status information and fault message, designed LCDs.
(2). the shaping of photoelectric encoder, frequency multiplication and phase discriminator
Native system adopts incremental optical-electricity encoder as wash machine shoulder joint angular displacement sensor, characteristics such as it has the resolution ratio height, response speed is fast, volume is little, in light weight, adverse environment resistant.The precision of photoelectric encoder or resolution ratio depend mainly on the umber of pulse of revolution output.
In view of field conditions, the photoelectric encoder output pulse signal generally is being mingled with the interference burr, and is when long distance is transmitted, especially obvious; And because cleaning arm can be subjected to the impact of cooling water flow and high-pressure water jet in hydroecium, influenced by mechanical oscillation during the photoelectric encoder rotation, also has power surges, common mode disturbances etc., it is unstable that the existence of these interference all may cause counting appearance, therefore also designed to enter and carried out the shaping processing before computer is counted.
(3). the positioning control of nozzle 61
In order to guarantee that each root condenser pipe all can obtain cleaning, the accurate location of nozzle 61 is bases of native system operate as normal.Purging system adopts Underwater Camera, as the joint driver part, and is equipped with electrohydraulic servo valve and photoelectric encoder is formed closed-loop control system with hydraulic motor.Position fixing process is: the image that Underwater Camera is captured is delivered to industrial computer through image pick-up card, deliver to PLC through the position coordinate parameters of after the industrial computer processing tube bank of condenser being arranged, PLC finishes the path planning of cleaning arm according to the tube bank position coordinate parameters; In addition, on software, be provided with the position error that the gap compensation program causes owing to the machine driving gap with compensation, in order to have reduced mechanical shock, the method for soft start, soft braking is taked in the driving of hydraulic motor, all these have all guaranteed the accurate positioning control of nozzle.
(4). control
Cleaning pressure value according to pressure sensor is measured starts the high-pressure hydraulic pump motor, and regulates frequency converter, makes water under high pressure pressure reach setting value.Treat that the nozzle location finishes nozzle and condenser pipe centering.Afterwards, the magnetic valve on forearm top and water under high pressure go out the water solenoid valve successive relay trip, begin condenser is carried out Cleaning by High Pressure Water Jet.Cleaning finishes, and next root condenser pipe is located in the nozzle walking.
(5). state, fault message detect
During online Cleaning by High Pressure Water Jet, nozzle moves and locatees all and carry out in airtight hydroecium, so the fault detect of correlation behavior information and critical piece is indispensable.Status information mainly comprises the position of nozzle in hydroecium, positioning accuracy, gun body action situation etc.Fault message mainly comprises encoder fault, hydraulic system fault, frequency converter failure, solenoid valve failure, water under high pressure pressure big (or little), hydraulic level height (or low), power supply power-fail etc., all sends into PLC in the letter in reply mode.
(6). communication interface
PLC communicates by PC/MPI adapter and industrial computer; Underwater Camera is communicated by letter with industrial computer by data collecting card.
2, Chemical cleaning subsystem
Mainly comprise add corrosion inhibiter, advance acid, step such as neutralization displacement, its control procedure is distinguished as follows:
(1). add corrosion inhibiter
Before adding acid, add corrosion inhibiter earlier, can reduce the corrosion rate of condenser.Corrosion inhibiter dosage is relevant with concentration of hydrochloric acid, by corrosion inhibiter magnetic valve (model: control 40 type universaling electromagnetic valves).
(2). advance acid
PLC starts each relevant magnetic valve and dosing measuring pump according to the concentration of hydrochloric acid value parameter of setting.The adjusting that adds dose realizes by the measuring pump motor variable-frequency speed-regulating.In cleaning process, keep the pH value of cooling water inlet constant (pH value sensor model number: GW24-WQ201), to keep the concentration of acid.Host computer monitors sealing factor, when sealing factor is reduced to a certain setting value (adjustable) and coolant outlet turbidity, when hardness enlarges markedly, stops to add acid.
(3). the neutralization displacement
Acid solution after the Chemical cleaning is displaced system by blowoff valve,, start the alkali measuring pump and add the alkali neutralization, and cooling water pH value is transferred to more than 7, move after 20～30 hours, promptly finish Chemical cleaning when cooling water turbidity＜20mg/L (adjustable).
(4). state, fault message detect
The status information of chemical cleaning system comprises the working condition of water circulating pump, acid, liquid level height (or low) etc. in the alkali batch meter; Fault message comprises frequency converter failure, solenoid valve failure.
Upper computer software structure: during programming, carried out modular division according to the function of host computer.In upper computer software, dynamic data base is the core of whole system, is used to manage the input and output of real-time variable data.The required various variablees of other application program module all are accessed in dynamic data base.Realize exchanges data by DDE (dynamic data base exchange agreement) with the dynamic data base server program as the communication module program, finish the preset parameter and the condition monitoring of slave computer.The slave computer software structure: slave computer software comprises Cleaning by High Pressure Water Jet control software and Chemical cleaning control software.According to the characteristics of PLC programming language STEP7, program of lower computer is divided into a plurality of functional modules, and by the molded tissue block unified management.
Operation principle: Cleaning by High Pressure Water Jet subsystem cleaning process, start cleaning robot, make robot car body move to hydroecium 24 left sides by hydraulic-driven crawler belt 16, according to sonar sensor 15 range findings at the sonar sensor 15 of robot car body side and forearm 3 tops from parameter, adjusting robot car body makes it to reach setting value (being slightly larger than gun body 52 length) with the distance of tube wall, and adjust the angle of slew gear assembly according to the angle parameter that PLC calculates, to guarantee being rotated in the face parallel of big arm 6 and forearm 3 with tube wall, also just guarantee nozzle 61 perpendicular to the tube wall face, thereby reached best cleaning performance.Underwater Camera at first absorbs the tube wall image scene, then by image pick-up card collection in the industrial computer and image recognition of delivery system core and handling procedure, further finish the automatic identification and the location of aperture location, the alternate position spike of center, output aperture and aperture center axle and nozzle 61 central shafts, thereby adjust the angle of big arm 6 and forearm 3, make the center of the axle center of nozzle 61 by the aperture.Behind nozzle 61 location, open in succession communicating pipes 22 terminal magnetic valve 54 and water under high pressure go out water solenoid valve 37, provide the water under high pressure water source by high-pressure hydraulic pump 35, high-pressure water jet supplied water to nozzle 61 by communicating pipe 22.The course of action of wash machine arm is: hydraulic system provides power source, and one the road supplies with rotating base hydraulic motor 42,9 rotations of driven rotary base; One the road supplies with big arm drive unit 7, by big arm driving shaft 41, drives big arm 6 and rotates; One the road supplies with forearm drive unit 5, by forearm driving shaft 51, drives forearm 3 and rotates.Rotating base 9 can be done the positive and negative rotation of certain angle scope in hydroecium 24, big arm 6 and forearm 3 all can be done the positive and negative rotation of 360 degree, anglec of rotation size is provided by host computer, big arm photoelectric encoder 23 and forearm photoelectric encoder 4 are measured, big arm photoelectric encoder 23 and forearm photoelectric encoder 4 are delivered to PLC with each autoregressive parameter and are constituted feedback control system, realization is to the adjusting of rotating base 9, big arm 6 and forearm 3 angles, thereby can make accurately location tube walls condenser pipe 2 pores of position of anticipating of taking up an official post of nozzle 61.After the location is regulated and is finished, host computer is sent out purge signal to PLC, PLC receives and opens the terminal magnetic valve 54 of high-pressure water hose after the purge signal in succession and water under high pressure goes out water solenoid valve 37, provide the water under high pressure water source by high-pressure hydraulic pump 35, high-pressure water jet supplied water to nozzle 61 by communicating pipe 22, carried out Cleaning by High Pressure Water Jet.Cleaning finishes, and next root condenser pipe is located in nozzle 61 walkings.After finishing this group (a group: Underwater Camera 20 is condenser pipe 2 numbers of the captured pore determined center at every turn) cleaning, carry out the angle adjustment of vision location and big arm 6, forearm 3 again; After the cleaning of finishing this part (part: crawler belt 16 whenever moves the condenser pipe 2 once can clean to), with the robot car body one section setpoint distance (adjustable) that moves right.Repeat above-mentioned steps.Chemical cleaning subsystem cleaning process is before adding acid, according to the suitable corrosion inhibiter of situation adding at scene, to reduce the corrosion rate of condenser.Corrosion inhibiter dosage is relevant with concentration of hydrochloric acid, by 27 controls of corrosion inhibiter magnetic valve.PLC starts each relevant magnetic valve 27 and dosing measuring pump according to the concentration of hydrochloric acid value parameter of setting.The adjusting that adds dose realizes by the measuring pump motor variable-frequency speed-regulating.In cleaning process, measure the pH value of cooling water inlet in real time by pH value sensor, this parameter is fed back to add sour magnetic valve 27, constant with the pH value that keeps the cooling water inlet, to keep sour concentration.Host computer monitors sealing factor, when sealing factor is reduced to a certain setting value (adjustable) and coolant outlet turbidity, when hardness enlarges markedly, stops to add acid.Acid solution after cleaning is displaced system by blowoff valve, when cooling water turbidity＜20mg/L (adjustable), start the alkali measuring pump and add the alkali neutralization, and cooling water pH value is transferred to more than 7, move after 20～30 hours, promptly finish Chemical cleaning.In sum, the transmission system of this robot, various sensor and many PLC and Underwater Camera 20 must could coordinate to finish on-line cleaning task under water under the accurate control of electric control system.
Referring to shown in Figure 6, the concrete course of work is:
1, cleans preparation
(1). initialization
Comprise the initialization of host computer and slave computer.
(2). select online cleaning way
The intelligence cleaning robot can be realized Cleaning by High Pressure Water Jet and two kinds of on-line cleaning modes of Chemical cleaning.The general Cleaning by High Pressure Water Jet that adopts is to remove the laxity dirt; Have only when crystallisation fouling reaches a certain degree (size according to sealing factor is determined), just adopt Chemical cleaning, to remove crystallisation fouling.
2, Cleaning by High Pressure Water Jet mode
(1). after selecting the Cleaning by High Pressure Water Jet mode, make robot car body move to hydroecium left side (annotating :) by hydraulic-driven crawler belt 16 from angle over against tube wall, (annotate:, be front end by the robot car body front end in the moving process with the robot car body left side from angle over against tube wall; The right side is the rear end) sonar sensor 15 and the distance of the sonar sensor 58 robot measurement car bodies of side and left side hydroecium wall and with the distance of tube wall, halt when all reaching a certain setting value (adjustable) separately and (, move to the left to advancing with robot car body from angle over against tube wall; Move to retreating to the right).Then, launch big arm 6 and forearm 3, make nozzle 61 aim at the upper left corner of tube wall, open hose end magnetic valve 54 according to parameter preset.
(2). adjust rotating base 9 according to parameter preset, enable the sonar sensor 58 of robot car body side and the sonar sensor 53 at forearm top, adjust the angle of rotating base 9 according to the angle parameter of PLC calculating, parallel up to big arm 6, forearm 3 with tube bank face, to guarantee being rotated in the face parallel of big arm 6 and forearm 3, nozzle 61 vertical and tube wall faces have also just been guaranteed with tube wall.
(3). enable Underwater Camera 20.At first carry out image and handle, judge whether condenser pipe 2 stops up, if stop up, then stop up processing, method is to strengthen hydraulic pressure when cleaning this root condenser pipe; If do not stop up, then clean according to normal setting hydraulic pressure.
(4). adjust big arm 6 and forearm 3.According to the feedback parameter of big arm photoelectric encoder 23 and forearm photoelectric encoder 4, by big arm hydraulic motor 7 and 47 rotations of forearm hydraulic motor 5 driving bearings, realize the adjustment of angle, make nozzle 61 and the accurate centering of condenser pipe 2 pores.
(5). open water under high pressure and go out water solenoid valve 37, clean the condenser pipe 2 of centering; Simultaneously, start and clean timer, to control a used time of condenser pipe.Timer timing (adjustable) arrives, and closes water under high pressure and goes out water solenoid valve 37, simultaneously, cleans the timer zero clearing.
(6). judge whether to finish this group and clean.Do not clean if finish this group, then go to the step (4), readjust big arm 6 and forearm 3, make nozzle 61 and next root condenser pipe 2 of the accurate centering of pore, repeat step (4)～(6).
(7) if. finish this group and clean, need then to judge whether Underwater Camera 20 again photographic images carry out the vision location.The vision location then goes to the step (3) if desired, repeats step (3)～(7).
(8) if. do not need vision location, judge then whether robot car body needs to move right.Move right if desired, then drive crawler belt 16 segment distance (adjustable) that moves right by hydraulic system.In moving process, by the distance of the sonar sensor 32 robot measurement car bodies of rear end and the right wall of hydroecium,, send interrupt requests to system when this distance during smaller or equal to a certain setting value (adjustable), after the system responses interrupt requests, robot car body stops to move.Go to the step (2), repeat step (2)～(8).
(9) if. do not need to move right, judge then whether this Cleaning by High Pressure Water Jet is finished.If do not finish this cleaning, then repeat step (2)～(9).
(10) if. finish this cleaning, then carry out to finish cleaning procedure.
According to default END instruction parameter, successively close high-pressure hydraulic pump 35, water under high pressure goes out water solenoid valve 37, hose end magnetic valve 54; Shrink big arm 6 and forearm 3 then; Make robot car body move to the predeterminated position in hydroecium left side again; At last, show " Cleaning by High Pressure Water Jet end ", and automatic powered-down.
3, Chemical cleaning mode
(1). after selecting the Chemical cleaning mode, make robot car body move to hydroecium central authorities by hydraulic-driven crawler belt 16, in the moving process by the distance of the sonar sensor 58 robot measurement car bodies of the sonar sensor 15 of robot car body front end and side and left side hydroecium wall and with the distance of tube wall, halt when all reaching a certain setting value (adjustable) separately.Then, launch big arm 6 and forearm 3, make nozzle 61 aim at the middle part of tube wall, open hose end magnetic valve 54 according to parameter preset.
(2). start water circulating pump, make the water in the hydroecium enter the circulatory system.
(3). add a certain amount of corrosion inhibiter.Situation according to the scene adds suitable corrosion inhibiter, to reduce the corrosion rate of condenser.Corrosion inhibiter dosage is relevant with concentration of hydrochloric acid, by 27 controls of corrosion inhibiter magnetic valve.Simultaneously, startup adds the corrosion inhibiter timer.
(4). add corrosion inhibiter timer time (adjustable) and arrive, begin to add acid.
PLC starts each relevant magnetic valve 27 and dosing measuring pump according to the concentration of hydrochloric acid value parameter of setting.The adjusting that adds dose realizes by the measuring pump motor variable-frequency speed-regulating.In cleaning process, measure the pH value of cooling water inlet in real time by pH value sensor, this parameter is fed back to add sour magnetic valve 27, constant with the pH value that keeps the cooling water inlet, to keep sour concentration.Host computer monitors sealing factor, when sealing factor is reduced to a certain setting value (adjustable) and coolant outlet turbidity, when hardness enlarges markedly, stops to add acid.
(5). the acid solution after will cleaning displaces system by blowoff valve, when cooling water turbidity＜20mg/L (adjustable), start the alkali measuring pump and add the alkali neutralization, and cooling water pH value is transferred to more than 7, after moving 20～30 hours (time is by timer or Artificial Control), promptly finish Chemical cleaning.
(6). carry out and finish cleaning procedure.
According to default END instruction parameter, close hose end magnetic valve 11; Shrink big arm 6 and forearm 3 then; Make robot car body move to the predeterminated position in hydroecium left side again; At last, show " Chemical cleaning end ", and automatic powered-down.
Claims (8)
1, a kind of underwater intelligent purification robot for large-scale condensing plant, it comprises controlling organization and the wiper mechanism that links to each other with controlling organization, it is characterized in that: the bottom of described wiper mechanism is provided with walking mechanism, wiper mechanism comprises gun body (52), image collecting device (20); little arm assembly; big arm assembly; slew gear assembly; communicating pipe (22) and cleansing medium source (38); described little arm assembly comprises forearm (3); forearm drive unit (5) and forearm driving shaft (51); an end of forearm (3) is installed on the forearm driving shaft (5); be equiped with gun body (52) and image collecting device (20) on the other end of forearm (3); gun body (52) is by linking to each other with cleansing medium source (38) communicating pipe (22); forearm driving shaft (51) links to each other with forearm drive unit (5), forearm drive unit (5) links to each other with controlling organization by forearm photoelectric encoder (4); Big arm assembly comprises big arm (6), big arm drive unit (7) and big arm driving shaft (41), one end of big arm (6) links to each other with forearm driving shaft (51), the other end of big arm (6) links to each other with big arm driving shaft (41), big arm driving shaft (41) links to each other with big arm drive unit (7), and big arm drive unit (7) links to each other with controlling organization by big arm photoelectric encoder (23); Big arm driving shaft (41) is installed on the slew gear assembly, and the slew gear assembly is installed on the walking mechanism.
2, underwater intelligent purification robot for large-scale condensing plant according to claim 1, it is characterized in that: described walking mechanism comprises chassis (10), driving wheel (17), driven pulley (34), vehicle frame (33), travel driving unit (60) and crawler belt (16), chassis (10) is fixed on the vehicle frame (33), driving wheel (17) and driven pulley (34) are installed on the vehicle frame (33), crawler belt (16) is set around on driving wheel (17) and the driven pulley (34), and driving wheel (17) links to each other with travel driving unit (60).
3, underwater intelligent purification robot for large-scale condensing plant according to claim 2, it is characterized in that: described travel driving unit (60) hydraulic drive mechanism outer with being positioned at hydroecium links to each other, hydraulic drive mechanism comprises compression pump (11), reservoir (12), hydraulic efficiency servo-valve (13) and hydraulic cylinder water inlet pipe and water outlet pipe (14), hydraulic cylinder water inlet pipe and water outlet pipe (14) one ends link to each other with travel driving unit (60), and the other end links to each other with the interior medium of compression pump (11) and reservoir (12) by hydraulic efficiency servo-valve (13).
4, according to claim 1 or 2 or 3 described underwater intelligent purification robot for large-scale condensing plant, it is characterized in that: be equiped with one or more sonar sensor (15) on described gun body (52) and the walking mechanism, sonar sensor (15) links to each other with controlling organization.
5, according to claim 1 or 2 or 3 described underwater intelligent purification robot for large-scale condensing plant, it is characterized in that: described cleansing medium source (38) comprises water medium source and chemical agent medium source, described chemical agent medium source is chemical agent reservoir (26), the water medium source is clear water high-pressure hydraulic pump (35), and chemical agent reservoir (26) links to each other with communicating pipe (22) with clear water high-pressure hydraulic pump (35).
6, underwater intelligent purification robot for large-scale condensing plant according to claim 4, it is characterized in that: described cleansing medium source (38) comprises water medium source and chemical agent medium source, described chemical agent medium source is chemical agent reservoir (26), the water medium source is clear water high-pressure hydraulic pump (35), and chemical agent reservoir (26) links to each other with communicating pipe (22) with clear water high-pressure hydraulic pump (35).
7, according to claim 1 or 2 or 3 described underwater intelligent purification robot for large-scale condensing plant, it is characterized in that: described forearm (3) and big arm (6) are hollow form, and the signal line that links to each other with controlling organization (21) is installed in forearm (3) and the big arm (6).
8, underwater intelligent purification robot for large-scale condensing plant according to claim 6 is characterized in that: described forearm (3) and big arm (6) are hollow form, and the signal line that links to each other with controlling organization (21) is installed in forearm (3) and the big arm (6).
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| CN 200620052297 CN200948597Y (en) | 2006-09-25 | 2006-09-25 | Submerged intelligent cleaning robot for large-scale condensing plant |
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| CN 200620052297 CN200948597Y (en) | 2006-09-25 | 2006-09-25 | Submerged intelligent cleaning robot for large-scale condensing plant |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100408276C (en) * | 2006-09-22 | 2008-08-06 | 湖南大学 | Underwater intelligent purification robot for large-scale condensing plant |
| CN102009046A (en) * | 2010-10-15 | 2011-04-13 | 湖南大学 | Intelligent mobile cleaning robot |
| CN104274324A (en) * | 2013-07-11 | 2015-01-14 | 天士力制药集团股份有限公司 | Dropping pill air cooling production line |
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| CN100408276C (en) * | 2006-09-22 | 2008-08-06 | 湖南大学 | Underwater intelligent purification robot for large-scale condensing plant |
| CN102009046A (en) * | 2010-10-15 | 2011-04-13 | 湖南大学 | Intelligent mobile cleaning robot |
| US11013694B2 (en) | 2013-07-11 | 2021-05-25 | Tasly Pharmaceutical Group Co., Ltd. | Formulation of a micro drop pill and the preparation method thereof |
| CN104274324A (en) * | 2013-07-11 | 2015-01-14 | 天士力制药集团股份有限公司 | Dropping pill air cooling production line |
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| USRE49050E1 (en) | 2013-07-11 | 2022-04-26 | Tasly Pharmaceutical Group Co., Ltd. | Traditional Chinese medicine composition, and preparation and application thereof |
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| CN104841668A (en) * | 2015-04-09 | 2015-08-19 | 徐州德坤电气科技有限公司 | Intelligent automatic cleaning sub-unit based on digital bus and usage method thereof |
| CN106643278A (en) * | 2016-12-29 | 2017-05-10 | 广西恩康机械设备有限公司 | Movable traveling mechanism of tubular heat exchange cleaning robot |
| CN106643278B (en) * | 2016-12-29 | 2018-09-07 | 广西恩康机械设备有限公司 | The mechanism that is movably walking of tubular heat exchanger cleaning robot |
| CN108890641A (en) * | 2018-05-24 | 2018-11-27 | 中信重工机械股份有限公司 | A kind of water jet robot control system and control method |
| WO2022028611A1 (en) * | 2020-08-06 | 2022-02-10 | 深之蓝海洋科技股份有限公司 | Underwater cleaning robot system |
| CN112278204A (en) * | 2020-11-30 | 2021-01-29 | 山东未来机器人有限公司 | Underwater operation device |
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