Design And Research On Mechanical System Of Intelligent Cleaning Robot For The Tube Of Heat Exchanger

Heat exchangers are widely used in petroleum,chemical,power and atomic energy industries.However,the dirt generated during the operation caused economic losses and security risks to the society and enterprises.The traditional cleaning methods have problems such as high risk and low efficiency.The importance of fouling,safety cleaning and environmental protection has been recognized in the national and cleaning industries.The enterprises themselves pay more attention to the improvement of the economy and efficiency.To meet demand of market and technology,it is a developing trend for the cleaning robot of heat exchanger tubes to be intelligent,multifunctional,information based and green.It is of practical significance to introduce the robot technology into the cleaning for the tube of heat exchanger.Refined the tube of heat exchanger cleaning environment,the robot has many considerations and it is difficult to design.There is no complete set of equipment used in the actual operation at home.From the perspective of engineering application,the following works are done.1.The modular concept is applied to design the overall scheme of the heat exchanger tube cleaning robot.The drawbacks of the traditional cleaning methods and the advantages and disadvantages of existing cleaning technologies at home and abroad are summarized.Modular design is used to determine the overall robot solution based on the cleaning environment,cleaning requirements and work performance.From the perspective of engineering application,a safe and efficient cleaning scheme was proposed.2.Robot's operation function,design goal and structure requirement.According to the cleaning demands and functional analysis of the robot,based on the parameters of high pressure water jet,the analysis and selection of the movement modes and drive modes of the core component transmission mechanism are adopted.The multi-wheel drive and adjustable spacing methods are adopted to meet the universal design requirements.The selection and calculation of the positioning mechanism is carried out by the overall structure,and the straight line guideway and auxiliary device matched with each other are designed.The robot is modeled by SolidWorks,and finally,the machining and assembly of the prototype are completed.3.Finite element analysis of the robot and optimization analysis of the key components are carried out.The static analysis of robot is carried out by ANSYS Workbench,and it meets the requirements of static stiffness.The optimization design of vertical guide for key parts is carried out.A direct optimization algorithm is applied to achieve the purpose of lightweight design under conditions of strength and stiffness.At last,the modal analysis of the robot is performed.Through the simulation calculation,the natural frequency of the robot and the excitation frequency of the driving system are compared and verified.4.Kinematics analysis and virtual prototype simulation for robot are carried out.The D-H method is used to establish the link coordinate system and the parameter table for the robot,and the position of the terminal actuator is analyzed.We use ADAMS to simulate the robot~'s kinematics,simulate the working environment and observe the motion state.The virtual prototype model of belt is established.The stress situation of belt is analyzed,and compared with the design principle and theory.5.Experimental research on Robot.We built the robot prototype and built the robot test system.We carried out the following experiments such as reliability test,transmission mechanism stability test and positioning mechanism speed performance test.Some simulation results are verified,and meet the design requirements.