Research On The Key Technology Of Cleaning Robot System Online For Condenser

The condenser is the heat-exchange equipment of the thermal power station, it's working performance directly affects the generating efficiency and coal consumption rate. However,the heat exchange tube fouling will not only reduce the work efficiency and economy of the unit, may also cause pipeline corrosion and leakage, causing the potential safely hazard.Therefore, in order to guarantee the condenser running safely and efficiently, we must adopt reasonable descaling technique to remove the dirt in the inner wall of the condenser timely and effectively. Aiming at the shortcomings of the existing cleaning technology, this paper designs a condenser cleaning robot system online, this system includes the delivery and recovery unit and the pipe cleaning device.This paper researches on the overall scheme of the robot system,the sport positioning mode, the pipe cleaning device and the way of delivery and recovery, completed the overall design of 3-dof mobile robot arm, and then determined the designing scheme of the traverse machine and hoist working with the wire feeding machine to release the pipe cleaning device;Based on the principle of centrifugal force, designed a pipe brush mechanism and analyze it's working mechanism; The pipe cleaning device adopted the peristaltic crawling movement way.Secondly, design and calculate the delivery and recovery device in detail; Completed the force analysis and the structure design of the mechanical movement joints, and on this basis,selected the drive motors and screw-nut pairs; Study the underwater sealing technology and pressure compensation technology of the equipment.Thirdly, design and calculate the support and lock mechanism components of pipe cleaning device, analyze CAM self-locking conditions and establish the mathematical model of the ejector rod, and then obtained the coordinate equations of it's endpoints and supporting point; Completed the design of crawling mechanism components and the design calculation of relevant parameters.Finally, establish 3D model of condenser cleaning robot system online, and then set up virtual prototype and enviroment using ADAMS to carry on the kinematics simulation to the key structure components in the whole system; Analyze static strength to the pipe cleaning device,which is in the most complex stress state,by using the finite element technology to validate and optimize the whole system.