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针对目前火电厂凝汽器离线(高压水射流)和在线(胶球清洗法、化学法)清洗技术的不足,国内已开发出了火电厂凝汽器高压水射流在线清洗机器人技术。该清洗技术是在火电厂凝汽器循环水侧壳体内安装水下机器人,根据电厂运行需要由机器人随时完成在线清洗工作。目前,可行的水下凝汽器高压水射流在线清洗机器人主要有2种类型:滚珠丝杠型直角坐标机器人和关节型直角坐标机器人。他们都是通过机器人来定位高压水射流喷头对凝汽器冷却水管进行清洗。
In order to overcome the shortcomings of power plant condenser off-line (high-pressure water jet) and on-line (glue ball cleaning method, chemical method) cleaning technology, the on-line cleaning robot technology for high pressure water jet of condenser power plant has been developed in China. The cleaning technology is to install an underwater robot in the circulating water side shell of the condenser in the power plant, and the robot can finish the online cleaning at any time according to the needs of the power plant operation. At present, there are two main types of underwater cleaning robots for underwater steam turbines: Ball Screw Rectangular Cartesian Robot and Joint Cartesian Robot. They all use robots to locate high-pressure water jets to clean the condenser cooling water pipes.