CN111283379A - A device and method for on-site automatic repair of high temperature corrosion of boiler heating surface tubes - Google Patents

Abstract

The invention discloses an on-site automatic repairing device and method for high temperature corrosion of boiler heating surface tubes. The automatic repairing device comprises a tube wall surface cleaning device, a tube wall surface real-time monitoring device and a tube wall surface defect repairing device. The motor-driven pipe wall climbing robot is fixedly connected; the power supply and control system provides the required power for other components and controls their movements in real time; the pipe wall climbing robot carries the pipe wall surface cleaning device and the pipe wall surface real-time monitoring. The device and the pipe wall surface defect repair device perform automatic repair work on the surface of the pipeline to be repaired; through the real-time camera system and the cooperation of the climbing robot, the measurement of the nature and size of the defect, the real-time monitoring of the repair process, and the appearance quality after repair can be achieved. Visual inspection. High degree of automation, high stability of repair quality, remote operation, and only need personnel to operate the control system. It can be used in combination with several systems to greatly improve the repair efficiency.

Description

A device and method for on-site automatic repair of high temperature corrosion of boiler heating surface tubes

technical field

The invention relates to the technical field of repairing high temperature corrosion defects of heating surface tubes of power generation boilers, in particular to an on-site automatic repairing device and method for high temperature corrosion defects of heating surface tubes of power generation boilers.

Background technique

The heating surface composed of metal pipes is widely used in important energy fields of national economy and people's livelihood such as thermal power boilers and nuclear power installations. Under the operating conditions of thermal power generation, the outside of the tube wall is usually subjected to the high temperature impact of the flame, the high temperature corrosion effect of the sulfur-containing atmosphere, and the corrosion effect of the high temperature and high pressure water vapor inside the tube wall. Especially in thermal power generation conditions such as biomass and waste incineration, the high-temperature chlorine-containing gas and chlorine-containing alkali metal salts generated during the combustion process significantly accelerate the corrosion of the heating surface pipe wall, and the risk of safety accidents such as pipe burst caused by corrosion defects occurs. Significantly increased, the service life of the heating surface pipes was significantly reduced. Repairing the hot corrosion defects of the heating surface during the boiler maintenance period by conventional techniques such as welding is an important means to prolong the service life of the heating surface pipeline and reduce the frequency of safety accidents, and it is also the current mainstream life extension method. At present, the methods mainly used are manual sandblasting cleaning and corrosion defect screening on the heating surface, and arc welding is used to manually perform welding repair and post-weld treatment. The labor intensity of personnel is extremely high. The large amount of dust and flue gas caused by the process cannot be effectively removed by the dust removal device as in the offline repair. Although the labor protection equipment is equipped, the working environment of the personnel is still extremely harsh, and the health of the personnel is threatened. On the other hand, in order to ensure power supply and economic benefits, the time allowed for maintenance is extremely limited, so the work is further enhanced and the quality and stability of repairs are affected. With the vigorous development of biomass, waste and other incineration power generation technologies in my country, the task of repairing the heating surface of power plants is further intensified. Therefore, it is an effective strategy to solve the above-mentioned predicament to develop an online automatic repair device for boiler heating surface with automatic and intelligent functions.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a device and method for on-site automatic repair of high temperature corrosion of boiler heating surface tubes, which solves the problem that the labor environment is harsh and laborious when manually repairing the defects of the heating surface of the power plant boiler. The problem of high strength and low stability of repair quality.

To achieve the above object, the present invention adopts the following technical solutions:

An on-site automatic repairing device for high temperature corrosion of boiler heating surface tubes, the device is composed of a tube wall climbing robot 1, a tube wall surface cleaning device 2, a tube wall surface real-time monitoring device 3, a tube wall surface defect repair device 4 and electrical energy supply and control system 6;

The pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repair device 4 are fixedly connected to the motor-driven pipe wall climbing robot 1 through clamping fixtures; The pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 are connected, which are the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 4 The monitoring device 3 and the pipe wall surface defect repairing device 4 provide the required electric power and control its actions in real time; the pipe wall climbing robot 1 carries the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface respectively. The defect repair device 4 performs automatic repair work on the surface of the pipeline 5 to be repaired.

The pipe wall climbing robot 1 is a commercial pipe wall climbing robot, which can climb and rotate on the outer wall of the pipe 5 to be repaired through radial and axial rollers.

The pipe wall surface cleaning device 2 is a sandblasting surface cleaning device, or a galvanometer pulse laser cleaning device.

The pipe wall surface real-time monitoring device 3 realizes the real-time imaging of the pipe wall defect status of the pipeline to be repaired 5 through the optical imaging system, and completes the measurement of the defect size and the real-time observation of the repair process by measuring the image on the side of the power supply and control system 6 and visual inspection of defects after repair.

The pipe wall surface defect repairing device 4 selects a portable argon arc welding device or a microbeam plasma thermal spraying device according to the material of the pipe wall to be repaired, service conditions and operating space.

The automatic repairing method for the automatic repairing device on site for high temperature corrosion of boiler heating surface tubes includes the following steps:

Step 1: Install the on-site automatic repairing device for high temperature corrosion of the heating surface tube on the heating surface to be repaired, and mount the tube wall surface cleaning device 2, the real-time monitoring device 3 for the surface of the tube wall and the repairing device 4 for the surface defect of the tube wall. The climbing robot 1 is fixed on the surface of the pipeline 5 to be repaired, and the signal line and electric power supply and control of the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 are supplied and controlled. System 6 is connected, ready for preparation and installation;

Step 2: through the linkage of the pipe wall climbing robot 1 and the pipe wall surface cleaning device 2, in the electric energy supply and control system 6, by selecting the continuous working mode, the pipe wall to be repaired 5 is continuously cleaned;

Step 3: After the cleaning is completed, the measurement of the nature and size of the defects is completed through the linkage of the pipe wall climbing robot 1, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4, wherein the pipe wall surface real-time monitoring device 3 is optically The imaging system realizes the real-time imaging of the defect status of the pipe wall of the pipeline 5 to be repaired and transmits the image of the defect to the power supply and control system 6, and then measures the image on the side of the power supply and control system 6; by comparing the power supply and control system 6 The repair strategy and repair parameters are given in the database in In the man-machine interface, visually evaluate the quality of the repaired defect parts, and complete the repair of the defect points;

Step 4: Repeat the process of Step 3 to complete the automatic repair of all defect points.

Compared with the prior art, the present invention has the following advantages:

1. Through the collaboration of the pipe wall surface real-time monitoring device and the pipe wall climbing robot, the measurement of the nature and size of the defect, the real-time monitoring of the repair process, and the visual inspection of the appearance quality after repair can be realized.

2. High degree of automation, high stability of repair quality, remote operation, and only need personnel to operate the control system.

3. It can be used in combination with several systems to greatly improve the repair efficiency.

4. The galvanometer pulse laser cleaning device can be selected to replace the traditional sandblasting cleaning method to avoid the generation of a large amount of dust in the on-site environment.

Description of drawings

Fig. 1 is a schematic structural diagram of an on-site automatic repairing device used for high temperature corrosion of boiler heating surface tubes according to the present invention.

Description of reference numbers:

1- Pipe wall climbing robot; 2- Pipe wall surface cleaning device; 3- Pipe wall surface real-time monitoring device; 4- Pipe wall surface defect repair device; 5- Pipe to be repaired, 6- Electric power supply and control system.

Detailed ways

In order to make the present invention more obvious and easy to understand, the present invention is described in detail below in conjunction with the accompanying drawings:

As shown in Figure 1, the present invention provides a device for on-site automatic repairing of boiler heating surface tubes for high temperature corrosion. The device is composed of the following units: 1-pipe wall climbing robot; 2-pipe wall surface cleaning device; 3-pipe wall surface cleaning device; -Real-time monitoring device for pipe wall surface; 4-Pipe wall surface defect repair device; 5-Pipe to be repaired, 6-Power supply device and system control system. The role of the pipe wall climbing robot 1 is to carry and locate the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repair device 4; the main function of the power supply and control system 6 is to provide other devices. Power supply and system monitoring and control through HMI. The pipe wall climbing robot 1 cooperates with the power supply and control system 6 to realize the functions of defect detection and positioning, repair process monitoring and post-repair surface visual inspection; the pipe wall climbing robot 1 and the pipe wall surface cleaning device 2 and the power supply and control The system 6 cooperates to complete the surface cleaning of the heating surface; the pipe wall climbing robot 1 cooperates with the pipe wall surface defect repair device 4 and the power supply and control system 6 to complete the repair work of the heating surface defects,

The repair process of the present invention is briefly described as follows:

Step 1: Install the on-site automatic repairing device for high temperature corrosion of the heating surface tube on the heating surface to be repaired, and mount the tube wall surface cleaning device 2, the real-time monitoring device 3 for the surface of the tube wall and the repairing device 4 for the surface defect of the tube wall. The climbing robot 1 is fixed on the surface of the pipeline 5 to be repaired, and the signal line and electric power supply and control of the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 are supplied and controlled. System 6 is connected, ready for preparation and installation;

Step 2: through the linkage of the pipe wall climbing robot 1 and the pipe wall surface cleaning device 2, in the electric energy supply and control system 6, by selecting the continuous working mode, the pipe wall to be repaired 5 is continuously cleaned;

Step 3: After the cleaning is completed, the measurement of the nature and size of the defects is completed through the linkage of the pipe wall climbing robot 1, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4, wherein the pipe wall surface real-time monitoring device 3 is optically The imaging system realizes the real-time imaging of the defect status of the pipe wall of the pipeline 5 to be repaired and transmits the image of the defect to the power supply and control system 6, and then measures the image on the side of the power supply and control system 6; by comparing the power supply and control system 6 The repair strategy and repair parameters are given in the database in In the man-machine interface, visually evaluate the quality of the repaired defect parts, and complete the repair of the defect points;

Step 4: Repeat the process of Step 3 to complete the automatic repair of all defect points.

Claims (6)

1. The utility model provides a be used for on-spot automatic prosthetic devices of boiler heating surface pipe high temperature corrosion which characterized in that: the device consists of a pipe wall climbing robot (1), a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3), a pipe wall surface defect repairing device (4) and an electric energy supply and control system (6);

the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) are fixedly connected with the pipe wall climbing robot (1) driven by the motor through a clamping fixture; the electric energy supply and control system (6) is connected with the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) and is used for providing required electric energy for the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) and controlling the actions of the electric energy in real time; the pipe wall climbing robot (1) carries a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3) and a pipe wall surface defect repairing device (4) respectively to carry out automatic repairing work on the surface of a pipeline (5) to be repaired.

2. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall climbing robot (1) is a commercial pipe wall climbing robot, and climbing and rotation of the outer wall of a pipeline (5) to be repaired are achieved through radial and axial rollers.

3. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface cleaning device (2) is a sand blasting surface cleaning device or a galvanometer pulse laser cleaning device.

4. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface real-time monitoring device (3) realizes real-time imaging of the pipe wall defect condition of the pipeline (5) to be repaired through an optical imaging system, and completes measurement of the defect size, real-time observation of the repairing process and visual detection of the repaired defect through measurement of the side image of the electric energy supply and control system (6).

5. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface defect repairing device (4) selects a portable argon arc welding device or a microbeam plasma thermal spraying device according to the material, service working condition and operation space of the pipe wall of the pipeline to be repaired.

6. The automatic repairing method for the boiler heating surface pipe high-temperature corrosion on-site automatic repairing device according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:

the method comprises the following steps: the method comprises the steps of installing a high-temperature corrosion on-site automatic repairing device of a heated surface pipe on a to-be-repaired heated surface site, fixing a pipe wall climbing robot (1) loaded with a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3) and a pipe wall surface defect repairing device (4) on the surface of a to-be-repaired pipe (5), connecting signal lines of the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) with an electric energy supply and control system (6), and preparing and installing the device;

the pipe wall climbing robot (1) is linked with the pipe wall surface cleaning device (2), and the pipe wall of the pipeline (5) to be repaired is continuously cleaned in the electric energy supply and control system (6) by selecting a continuous working mode;

step three: after cleaning, the defect property and size measurement is completed through linkage of the pipe wall climbing robot (1), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4), wherein the pipe wall surface real-time monitoring device (3) realizes real-time imaging of the pipe wall defect condition of the pipeline (5) to be repaired through an optical imaging system and transmits the defect image to an electric energy supply and control system (6), and then the electric energy supply and control system (6) side image measurement is performed; giving out a repair strategy and repair parameters by comparing a database in the electric energy supply and control system (6), starting a repair device, completing the repair of the defect in a welding or spraying mode, and visually evaluating the quality of the repaired defect part in a human-computer interface of the electric energy supply and control system (6) by using an observation result of the repaired surface through a pipe wall surface real-time monitoring device (3) so as to complete the repair of the defect point;

step four: and repeating the three steps to finish the automatic repair of all defect points.

Images