Development of Underwater Intelligent Cleaning Robot for Large Condenser

China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (15): 1830-1835.

Previous Articles Next Articles

Development of Underwater Intelligent Cleaning Robot for Large Condenser

Zhu Jiang;Wang Yaonan;Yu Hongshan;Xu Haixia;Liu Li

Hunan University, Changsha,410082

Online:2010-08-10 Published:2010-09-19
Supported by:

National Natural Science Foundation of China（No. 60775047，60835004）;

National High-tech R&D Program of China (863 Program) （No. 2008AA04Z214）;

The National Key Technology R&D Program（No. 2008BAF36B01）;

大型冷凝设备水下智能清洗机器人的研制

朱江;王耀南;余洪山;许海霞;刘理

湖南大学,长沙,410082

基金资助:
国家自然科学基金资助项目(60775047，60835004)；国家863高技术研究发展计划资助项目(2008AA04Z214)；国家科技支撑计划资助项目(2008BAF36B01)；高等学校博士学科点专项科研基金资助项目(200805321020)
National Natural Science Foundation of China（No. 60775047，60835004）;

National High-tech R&D Program of China (863 Program) （No. 2008AA04Z214）;

The National Key Technology R&D Program（No. 2008BAF36B01）;

Abstract

Abstract:

Aiming at online efficient cleaning for condensers used in units whose power capacities are above 120MW , a underwater intelligent cleaning robot was proposed. Based on the working environment of the condensers, the robot system structure was designed, which consisted of traveling mechanism, the pipe for water supply and wire, and drive mechanism for robotic arm. Then the physical prototype was developed. Visual serving arithmetic was adopted to achieve the automotive localization condenser tube control. The experimental results demonstrate that the robot can approximately satisfy the basic requirements of automatically cleaning condenser. It can also be widely applied in many fields such as power industry, chemical plant, pharmacy, etc. Besides, it has great effect on promoting large-scale and safe production, energy saving as well as consumption reduction.

Key words: fouling in condenser, cleaning robot, mechanism, underwater

摘要：

针对电厂120MW以上容量机组的大型冷凝设备污垢在线清洗,研发了一种清洗机器人。根据冷凝水室的工作环境,对机器人的行走机构、供水管道和机械臂的传动机构作了针对性设计,并研制了样机。采用基于视觉伺服的方法,实现了冷凝管口的自主定位控制。经实验测试,机器人的性能指标基本满足大型冷凝设备清洗自动化的需求,可推广应用于电力、化工、制药等行业,对促进大规模安全生产、节能降耗有重大的意义。

关键词:

冷凝器污垢, 清洗机器人, 机构, 水下



CLC Number:

TP24

SHU Jiang, WANG Yao-Na, TU Hong-Shan, HU Hai-Xia, LIU Li.

Development of Underwater Intelligent Cleaning Robot for Large Condenser

[J]. China Mechanical Engineering, 2010, 21(15): 1830-1835.

朱江, 王耀南, 余洪山, 许海霞, 刘理.

大型冷凝设备水下智能清洗机器人的研制

[J]. 中国机械工程, 2010, 21(15): 1830-1835.

References

[1]Nostrand W L V, Leach J S H. Economic Penalties Associated with the Fouling of Refinery Heat Transfer Equipment[J]. Fouling of Heat Transfer Equipment, 1981, 8(5): 619-643.
[2]Fan Shaosheng, Zhou Renjun. A Novel Approach Based on Fuzzy-GA Modeling for Online Measurement of Fouling in Steam Condenser[C]//Industry Applications Conference. Fortieth IAS Annual Meeting Conference Record of the 2005. Hong Kong: ISA,2005 : 1307-1310.
[3]廖瑞琮.凝汽器胶球清洗系统[J].东方电气评论,2002,16(1):49-52.
[4]杨善让等著.换热设备污垢与对策[M],2004:589.
[5]Efimochkin G I, Shipilev S G. Development of Systems for Ball Cleaning of Condensers and Experience of Their Operation[J]. Power Technology and Engineering, 2002, 36(2):67-70.
[6]Iwasaki H, Komada S. Development of Robot for Cleaning and Inspection of Condenser Tube [J]. Thermal and Nuclear Power,1999, 50(8):929-935.
[7]樊绍胜.冷凝器铜管二关节式在线清洗机器人,CN1945196[P].2007-06-25.
[8]樊绍胜,刘社开.在线清洗热交换器的水中作业机器人:中国,03248144.6[P].2004-08-11.
[9]彭伟,陈宁.电厂凝汽器高压水射流在线清洗机器人技术,CN1664486[P].2005-09.07.
[10]张辉[1],王耀南[1],彭金柱[1].电厂冷凝器清洗机器人设计与控制方法研究[J].湖南大学学报：自然科学版,2008,35(6):31-35.
[11]樊绍胜 [1],王耀南 [2].冷凝器污脏测量仪的研究[J].湖南大学学报：自然科学版,2005,32(2):33-37.
[12]樊绍胜[1],王耀南[2].基于特征选取与多RBF神经网络的冷凝器污垢软测量[J].仪器仪表学报,2008,29(4):723-728.
[13]樊绍胜 [1],王耀南 [2].基于多模型组合的冷凝器中污垢预测[J].传感技术学报,2005,18(2):225-229.
[14]樊绍胜.冷凝器污垢清洗的智能测量与控制方法研究 [D].湖南大学,2006:
[15]彭金柱[1],王耀南[1],余洪山[1].基于神经网络的非完整移动机器人鲁棒跟踪控制[J].中国机械工程,2008,19(7):823-827.
[16]许海霞[1,2],王耀南[1],万琴[1],朱江[1].一种机器人手眼关系自标定方法[J].机器人,2008,30(4):373-378.

Development of Underwater Intelligent Cleaning Robot for Large Condenser

大型冷凝设备水下智能清洗机器人的研制

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

[1]	WANG Guo-Biao, LAI Yi-Nan, FAN Da-Feng, YANG Hua-Yong, WANG Shi-Long. Summary of New Type Precision Transmission Design and Manufacture [J]. J4, 201016, 21(16): 1891-1897.
[2]	LI Meng-Lei, GU Yo-Qin, ZHANG Hua-Liang, LIU Li-Qin, DU Juan, WEN Chu-Hua, LAN Guo-Sheng. Parallel Mechanism Structure Optimization Design Based on Multi-objective Differential Evolution Algorithm [J]. J4, 201016, 21(16): 1915-1920.
[3]	LU Kai-Jiang, SHI Dun-Beng, ZHANG Feng-Chao. Dynamics Optimization Design of Planar 3-DOF Parallel Mechanism [J]. J4, 201016, 21(16): 1926-1931.
[4]	LIN Chao, SHEN Zhonglei, LI Pingyang, ZHENG Shan. Design and Mechanics Analytical Modeling of Vertical Multistage Displacement Amplification Mechanisms [J]. China Mechanical Engineering, 2021, 32(08): 908-915，937.
[5]	YIN Meng, XU Zhigang, ZHAO Zhiliang, HAN Wei, . Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission#br# [J]. China Mechanical Engineering, 2021, 32(08): 951-959.
[6]	FANG Yuanfang, , ZHANG Hua. Welding Joint Performance of Inclined Stationary Shoulder Friction Stir Welding for Aluminum Alloy Sections [J]. China Mechanical Engineering, 2021, 32(07): 815-820.
[7]	WANG Feixue, LIU Ya, ZANG Xinliang . Reverse Design and Kinematics Analysis of Reciprocating Linear Mechanisms Based on Non-circular Differential Gear Trains [J]. China Mechanical Engineering, 2021, 32(06): 697-704.
[8]	FAN Dapeng;TAN Ruoyu. Applications and Research Status of Compliant Transmission Mechanisms in Fast-steering Mirrors [J]. China Mechanical Engineering, 2020, 31(24): 2899-2909.
[9]	GONG Junshan;FANG Yuefa;JIN Xiaodong. Design and Research of Multifunctional Dexterous Hands Based on Parallel Finger Structure [J]. China Mechanical Engineering, 2020, 31(23): 2837-2846.
[10]	FU Shengping1;HUANG Hanlin2;MING Wei2. Configuration Synthesis of Planetary Shifting Mechanisms Based on Analysis of Topology Characteristics Variation [J]. China Mechanical Engineering, 2020, 31(21): 2557-2565.
[11]	ZHANG Guoxing1;HOU Yulei1;ZENG Daxing1;DOU Yuchao2;DUAN Yanbin2. Motion Characteristics Analysis of 4-DOF Hybrid Antenna Mechanisms [J]. China Mechanical Engineering, 2020, 31(21): 2566-2572.
[12]	LI Feng1;CHENG Yangyang1,2;CHEN Yong1;TANG Baoping3. QAREDNN for State Trend Prediction of Rotating Machinery [J]. China Mechanical Engineering, 2020, 31(21): 2573-2582.
[13]	WANG Yixi1;WU Guanglei2;SHEN Huiping1;LI Jiayu1;MENG Qingmei1;LI Ju1;DENG Jiaming1. Stiffness Modeling and Analysis of Semi-symmetrical Three-translation Delta-CU Parallel Mechanism [J]. China Mechanical Engineering, 2020, 31(17): 2050-2058.
[14]	XU Zengchuang, CUI Weixin, HAO Lichun, LIANG Yuxiang, ZHENG Weibo. Analysis of Long Life Lubrication Characteristics for Space Hydrocarbon Lubricating Oils [J]. China Mechanical Engineering, 2020, 31(15): 1793-1797.
[15]	YUAN Lusheng, ZHAO Bo, WANG Yi, ZHAO Chongyang. Surface Micro-texture Characteristics of 7075 Aluminum Alloys by Elliptical Vibration Assisted Turning [J]. China Mechanical Engineering, 2020, 31(15): 1831-1838.