The Design Of Pipeline Cleaning Robot And Descaling Effect Simulation

Coal-fired power plants ash conveying pipe is mainly used for conveying fly ash which produced by pulverized coal combustion, the process of conveying fly ash produces scale layer on the inner wall of the ash conveying pipe, that is why there is pipe scaling problems in coal-fired power plants ash conveying pipe. The pipe scaling on the inner wall of the ash conveying pipe exists many problems such as hardness of scale, complex shape, fast scaling, that making coal-fired power plants ash conveying pipe descaling has great technical difficulties. For coal-fired power plants ash conveying pipe descaling problem, has to do relevant research at home and abroad, forming a variety of pipe cleaning method, but there are insufficient.The research in this group for this problem, using the technology of high pressure water jet to scale layer on the inner wall of the ash conveying pipe, the purpose is to design a the pipeline descaling robot that can complete to remove scale layer of ash conveying pipe. Robot carries high-pressure rotary gun, pulling high-pressure water pipes into the inside of the pipe, walking, while a high-pressure water jet blow pipe wall fouling layer to crack and fall off to complete the clean-up of the scale layer of the pipe wall. In the front of robot mounted camera, the pipe wall image information can be collected, detect pipe wall fouling situation, to provide a reference for the operator. Pipeline cleaning robot is mainly composed of a casing, a walking wheel, the incomplete gear system, high-pressure rotary spray gun, a camera and a power supply. Walking robot driven by dc motor wheel, there is a radial adjusting device wheel bracket and robot shell joint, to meet the different scale thickness diameter change at the same time, the work needed in the case of cornering reducers; arranged within the housing of motor, reducer, incomplete (semicircle) gear transmission system, the gear system can convert the motor rotates continuously for180°rotary motion, driving the reciprocating rotary spray gun; a high-pressure spray gun is located at the front end of a robot, driven by the main shaft. There is a nozzle at each end of the gun, nozzle and the spray gun is connected by a sliding sleeve, can carry out radial adjustment; the camera is located in the upper part of the robot founder, can rotate horizontally. Base can be removed, and is provided with a waterproof cover.According to the high pressure water jet theory calculates its strike force that analysis of nozzle diameter, the nozzle to produce scale hitting effect. Based on the Ansys Autodyn software module of nozzle jet combat simulation, the results of the analysis for jet to a certain thickness of the inner wall of pipeline caused by dirt blow cracks. According to the analysis of the fouling layer of the pipe wall, the main component of the fouling layer of CaCO3, is a brittle material, once the cracks in the high-pressure water jets into the wedging action will be quickly peeled from the pipe wall, the article that the selected pressure water jet parameters under the gun carried by the robot is able to complete the clean up of the scale layer of the pipe wall.