Research Of In-pipe Cleaning And Brushing Robot Of Small Industrial Pipe Bundles

With the development of electricity,chemistry and pharmaceutical industry,the cooling system is widely used,especially in thermal power generation and nuclear power generating industry.The performance of heat exchanging will effect the heat efficiency of power plants,but condenser's pipe scaling will effect heat exchanger effectiveness.On the one hand,pipe scaling may decrease the heat transferring efficiency and the consuming of energy is added.On the other hand,pipe scaling will accelerate the aging of parts and cause some safety problems.Therefore,doing some research of the technology of scale-removing has tremendous social benefit and economic benefit.In this thesis the existing technology of descaling were researched and analyzed on condenser pipe and the advantages and the disadvantages of the commonly used descaling method was studied.According to the environment of condenser,the in-pipe cleaning and brushing robot was studied and designed on large condenser in this thesis.In this thesis the mechanical creeping motion type was chosen as the motion way of the robot,and inotropic supporting and fixing mechanism was designed based on the principle that cam has the function of self-locking.The principles of the robot movement and design studied in the thesis.Inotropic supporting and fixing mechanism had the supporting and fixing function and it's condition of self-locking are studied.The size parameter of cam of the supporting and fixing function was given by analyzing the cam curve.In the thesis,the ejection nut and the ejection connecting rod were studied,the mathematical model of the ejection connecting rod was established and the coordinates equations of the both endpoints and the intermediate supporting point were given,and also the size was figured out.In this thesis,not only the parameters of the drive screw was selected,and the driving mechanism transmission efficiency was calculated with selectting the electrical machinery and the reduction gear,but also the output shaft discharge organization was designed.Virtual prototype was established by using Solidworks,and the kinematic simulation analysis to ejection connecting rod and the ejection nut was carried on.Finally,the robot's main components were analyzed by using the method of finite element,in addition,the modality analysis to the robot and obtained the data of the natural frequency and the vibration mode was carried on in the thesis.