Deslagging method and crawler-type remote control car

Abstract

The invention relates to the technical field of cleaning, in particular to a deslagging method and a crawler-type remote control car. The slag removal method comprises the following steps that the cutting device, the prying device and the sweeping device are installed on the moving platform; driving a cutting device to cut the sediment attached to the surface of the base body through the moving platform so as to form a gap; the moving platform drives the prying device to be inserted into the gap, and the cut sediments are prying away from the surface of the base body where the sediments are attached; the moving platform drives the cutting device and the prying device to repeatedly cut and pry the sediment; the moving platform drives the cleaning device to clean and collect chippings generated in the cutting and prying process; the whole deslagging process is more systematized and coherent through the clear operation procedures of cutting, prying and repeated moving, invalid operation and long-time waiting between procedures are avoided, the overall cleaning efficiency is improved, and the cleaning safety is improved by integrating a plurality of cleaning devices to the mobile platform capable of being remotely operated.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, in particular to a slag removal method and a crawler-type remote-controlled vehicle. Background Art

[0002] During industrial production, these deposits on the inner walls of equipment or the surface of workpieces not only affect the heat exchange efficiency and operating performance of the equipment, but may also cause safety hazards or shorten the life of the equipment. Therefore, it is crucial to develop efficient and safe removal methods. In recent years, the use of remote control or automated equipment for cleaning has become a trend. These devices are usually equipped with cutting tools and / or impact tools. However, many existing methods often have problems such as insufficient operation process consistency and incomplete cleaning when dealing with large-scale, firmly attached deposits. For example, simply cutting may not be able to completely remove the deposits, and simple impact or prying is unlikely to be effective for large-scale deposits that have not been effectively divided.

[0003] Therefore, it is very important for those skilled in the art to design a more consistent and thorough deslagging method. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a slag removal method and a crawler remote-controlled vehicle with more consistent and thorough slag removal, so as to solve the problems of insufficient consistency in the operation process and insufficient cleaning in the prior art.

[0005] The present invention discloses a slag removal method for removing sediments on the surface of a substrate, which comprises the following steps:

[0006] Install the cutting device, prying device and cleaning device on the mobile platform;

[0007] The cutting device is driven by the mobile platform to cut the sediment attached to the surface of the substrate to form a gap;

[0008] The prying device is driven by the mobile platform to be inserted into the gap, and the cut sediment is pried off from the substrate surface to which it is attached;

[0009] The mobile platform drives the cutting device and the prying device to repeatedly cut and pry off the sediment;

[0010] The cleaning device is driven by the mobile platform to clean and collect the debris generated during the cutting and prying process.

[0011] Optionally, the method further includes the following steps:

[0012] The mobile platform is adsorbed on the surface of the substrate.

[0013] Optionally, the method further includes the following steps:

[0014] The mobile platform is remotely controlled to move to the area to be cleaned, and remotely controlled to perform cutting, prying and cleaning.

[0015] Optionally, the method further includes the following steps:

[0016] The cutting surface of the cutting device is controlled to rotate or swing left and right to perform rotational cutting or reciprocating cutting of the deposit.

[0017] Optionally, the method further includes the following steps:

[0018] The cutting device is controlled to start cutting from the bottom or edge of the sediment and cut to a preset cutting depth to form a clear gap.

[0019] The following steps are also included:

[0020] Set up a camera on the mobile platform to obtain real-time video.

[0021] Optionally, the mobile platform is a tracked remote-controlled vehicle.

[0022] In order to solve the problems existing in the prior art, the present invention also provides a tracked remote-controlled vehicle, which is used to implement the above-mentioned slag removal method, including a main body, a cutting device, a prying device, a cleaning device and a camera, and the cutting device, the prying device, the cleaning device and the camera are all arranged on the main body.

[0023] Optionally, an electromagnet is provided at the bottom of the tracked remote-controlled vehicle.

[0024] Compared with the prior art, the beneficial effect of the slag removal method provided by the embodiment of the present invention is that: by designing a slag removal method for removing deposits on the surface of a substrate, the method includes the following steps: installing a cutting device, a prying device and a cleaning device on a mobile platform; driving the cutting device by the mobile platform to cut the deposits attached to the surface of the substrate to form a gap; driving the prying device by the mobile platform to insert into the gap and pry the cut deposits from the substrate surface to which they are attached; driving the cutting device and the prying device by the mobile platform to repeatedly cut and pry the deposits; driving the cleaning device by the mobile platform to clean and collect debris generated during the cutting and prying process; the scheme makes the entire slag removal process more systematic and coherent through a clear "cutting-prying-moving and repeating" operation process, avoids invalid operations and long waiting times between processes, improves the overall cleaning efficiency, and effectively improves the safety of cleaning by integrating multiple cleaning devices into the mobile platform for convenient remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments, in which:

[0026] Figure 1 The process of the slag removal method provided by the embodiment of the present invention is Figure 1 ;

[0027] Figure 2 The process of the slag removal method provided by the embodiment of the present invention is Figure 2 ;

[0028] Figure 3 The process of the slag removal method provided by the embodiment of the present invention is Figure 3 ;

[0029] Figure 4 The process of the slag removal method provided by the embodiment of the present invention is Figure 4 ;

[0030] Figure 5 The process of the slag removal method provided by the embodiment of the present invention is Figure 5 ;

[0031] Figure 6 This is a schematic diagram of the structure of a crawler remote control vehicle provided by an embodiment of the present invention. Figure 1 ;

[0032] Figure 7 This is a schematic diagram of the structure of a crawler remote control vehicle provided by an embodiment of the present invention. Figure 2 .

[0033] The reference numerals in the figures are:

[0034] 100. Main body; 200. Cutting device; 300. Prying device; 400. Cleaning device; 500. Camera; 110. Track; 120. Electromagnet. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. Now, in conjunction with the accompanying drawings, the preferred embodiments of the present invention will be described in detail.

[0036] like Figures 1 to 5 As shown, the present invention provides a specific embodiment of a slag removal method.

[0037] A deslagging method for removing deposits from the surface of a substrate, referring to Figure 1 , the slag removal method comprises the following steps:

[0038] S1. Install the cutting device, prying device and cleaning device on the mobile platform;

[0039] S2, driving the cutting device by the mobile platform to cut the sediment attached to the surface of the substrate to form a gap;

[0040] S3, driving the prying device through the mobile platform to insert into the gap, and prying the cut sediment from the substrate surface to which it is attached;

[0041] S4, using the mobile platform to drive the cutting device and the prying device to repeatedly cut and pry off the sediment;

[0042] S5. Use the mobile platform to drive the cleaning device to clean and collect the debris generated during the cutting and prying process.

[0043] Specifically, the cutting device is used to cut the deposits attached to the surface of the substrate, the prying device is used to pry up or peel off the cut deposits, and the cleaning device is used to collect and transport the peeled deposits; the mobile platform is used to drive the cutting device, the prying device and the cleaning device to move to the working area.

[0044] First, the cutting device is moved to the place to be cut by the mobile platform, and the cutting part of the cutting device is aligned with the edge of the sediment. The cutting device is controlled to insert its cutting part between the sediment and the substrate surface for cutting, so that a gap appears between the sediment and the substrate surface.

[0045] Furthermore, the prying device is driven by the mobile platform to move to the gap cut by the cutting device, and the prying device is controlled to insert its prying part into the gap between the sediment and the substrate surface, and then the prying device is controlled to lift its prying part upward to lift the cut sediment upward and away from the substrate surface.

[0046] Furthermore, the cutting device and the prying device are moved to a new area to be cleaned by the mobile platform, and the cutting operation and the prying operation are repeated until all the sediments in the target range are cut and removed.

[0047] Finally, when all the deposits within the target range have been cut and removed, the cleaning device installed on the mobile platform is started. The cleaning device can be a cleaning disc. By controlling the mobile platform to drive the cleaning disc to move and the cleaning disc itself to rotate continuously, the debris generated during the cutting and prying process or the debris originally existing on the surface of the substrate can be cleaned and collected, thereby completing the slag removal work.

[0048] During industrial production processes, various deposits (such as slag, scale, coke, polymers, etc.) often adhere to the inner wall of equipment or the surface of workpieces. These deposits not only affect the heat exchange efficiency and operating performance of the equipment, but may also cause safety hazards or shorten the life of the equipment. Therefore, it is crucial to develop efficient and safe removal methods.

[0049] Existing cleaning methods include manual scraping, high-pressure water jets, chemical cleaning, and the use of various mechanical crushing or cutting tools. Manual methods are labor-intensive, inefficient, and often operate in harsh environments. High-pressure water jets consume a lot of energy, can produce large amounts of wastewater, and are limited in their effectiveness against strongly adherent deposits. Chemical cleaning can involve corrosion and environmental issues.

[0050] In recent years, there has been a trend toward using remote-controlled or automated equipment for cleaning; these devices are typically equipped with cutting and / or impact tools. However, many existing methods often suffer from issues such as inconsistent workflows, incomplete cleaning, or overall low efficiency when dealing with large, firmly attached sediments. For example, cutting alone may not completely remove the sediment, while simple impact or prying is unlikely to be effective for large, unbroken sediments.

[0051] In this embodiment, a slag removal method is designed for removing deposits on the surface of a substrate, comprising the following steps: installing a cutting device, a prying device and a cleaning device on a mobile platform; driving the cutting device by the mobile platform to cut the deposits attached to the surface of the substrate to form a gap; driving the prying device by the mobile platform to insert the gap and pry the cut deposits from the surface of the substrate to which they are attached; driving the cutting device and the prying device by the mobile platform to repeatedly cut and pry the deposits; driving the cleaning device by the mobile platform to clean and collect debris generated during the cutting and prying process; this scheme makes the entire slag removal process more systematic and coherent through a clear "cut-pry-move and repeat" operation process, avoids invalid operations and long waiting times between processes, improves the overall cleaning efficiency, and effectively improves the safety of cleaning by integrating multiple cleaning devices into the mobile platform for convenient remote control.

[0052] Among them, by cutting first and then prying off, the solid large blocks of sediment are first effectively divided and weakened, and then by strong prying off, they can be more thoroughly peeled off from the substrate surface to reduce residue; and the tail cleaning device is added to clean the fine residue, further improving the cleanliness of the surface; this method can safely and effectively clean sediments in various dangerous, narrow or manpower-inaccessible areas by integrating multiple cleaning devices into automated or remote-controlled cleaning equipment; the combination of the cutting device and the prying device has good operational targeting, and the cleaning device performs additional cleaning on fine particles; it can also be combined with a remote control device and a visual device, so that the operator can accurately control the cutting depth, position, timing and force of prying off, as well as the activation of the cleaning device, thereby improving the accuracy and safety of cleaning.

[0053] In one embodiment, reference Figure 2 , the slag removal method further comprises the following steps:

[0054] S11, adsorbing the mobile platform onto the surface of the substrate;

[0055] S12. Remotely control the mobile platform to move to the area to be cleaned, and remotely control the mobile platform to perform cutting, prying and cleaning.

[0056] Specifically, the mobile platform can adopt a tracked remote-controlled vehicle. On the one hand, the track can use its large contact area to effectively disperse the pressure, so that the tracked remote-controlled vehicle has a stronger load-bearing capacity and less pressure on the surface of the substrate; on the other hand, the larger contact area can effectively prevent dents and slipping, so that the tracked remote-controlled vehicle can walk stably on uneven substrate surfaces. On the other hand, the contact area between the track and the surface of the substrate to be removed is large, which makes the friction stronger, not only more adaptable to inclined or vertical operations, but also more adaptable to operations in rainy days.

[0057] Furthermore, the tracked remote-controlled vehicle can be adsorbed on the surface of the substrate through an adsorption device, and the adsorption device is used to adsorb on the surface of the substrate to be deslagging to prevent the tracked remote-controlled vehicle from separating from the surface of the substrate to be deslagging during movement; plus the remote-controlled vehicle can be remotely controlled, and the operator can use remote control to make the tracked remote-controlled vehicle drive in a safe area to avoid directly entering a dangerous or inaccessible working environment, thereby improving operational safety.

[0058] Among them, the adsorption device can be specifically an electromagnet with adjustable magnetic suction strength. The electromagnet can be connected to an external controller. The external controller controls and adjusts the excitation current of the electromagnet, thereby changing the magnetic adsorption force of the electromagnet, so that the tracked remote-controlled vehicle can dynamically adjust the adsorption force according to the cleanliness of the surface of the substrate to be removed, the coating thickness, its own load, etc., to ensure that it can be firmly adsorbed and not easy to fall off under different conditions. At the same time, the adsorption force can also be used to appropriately reduce energy consumption and wear on the track during walking.

[0059] In one embodiment, reference Figure 3 The slag removal method further comprises the following steps:

[0060] S21. Control the cutting surface of the cutting device to rotate or swing left and right to cut the sediment in a rotating manner or reciprocatingly cut the sediment.

[0061] Specifically, the swinging motion is a left-right swinging motion. A rocker mechanism can be set on the cutting device, and the cutting part of the cutting device is driven to swing left and right by the rocker mechanism, so that the swinging cutting part starts from the junction surface between the deposit and the surface of the substrate and cuts the deposit upward or forward; a mounting part can also be set on the cutting device, and the cutting part is surrounded by the periphery of the mounting part. By driving the cutting part to rotate around the mounting part, the rotational cutting of the deposit is realized.

[0062] In one embodiment, reference Figure 4 , the slag removal method further comprises the following steps:

[0063] S22. Control the cutting device to start cutting from the bottom edge of the sediment and cut to a preset cutting depth to form a clear gap.

[0064] Specifically, the cutting depth is determined according to the thickness and hardness of the sediment. For example, if the hardness of the sediment is low and the thickness is small, the cutting depth is set deeper. If the hardness of the sediment is high and the thickness is large, the cutting depth is set smaller and multiple cuttings are performed. After the cutting depth is confirmed, the cutting part of the cutting device is controlled to cut from one edge of the sediment substrate to the other side and cut to a preset depth, thereby forming a clear gap between the sediment and the substrate surface for the prying device to be inserted, thereby completing the subsequent cleaning work.

[0065] In one embodiment, reference Figure 5 , the slag removal method further comprises the following steps:

[0066] S10. Set up a camera on the mobile platform to obtain real-time video.

[0067] Specifically, by setting up a camera, the current sediment image can be observed in real time to facilitate finding the initial cutting point. During the cutting and prying process, real-time viewing through the camera can make the cutting and prying more accurate, thereby improving work efficiency and cleaning completion.

[0068] like Figure 6 and Figure 7 As shown, the present invention also provides a specific embodiment of a tracked remote-controlled vehicle.

[0069] A tracked remote control vehicle, reference Figure 6 and Figure 7 The tracked remote-controlled vehicle is used to implement the above-mentioned slag removal method. The tracked remote-controlled vehicle includes a main body 100, a cutting device 200, a prying device 300, a cleaning device 400 and a camera 500. The cutting device 200, the prying device 300, the cleaning device 400 and the camera 500 are all arranged on the main body 100.

[0070] Specifically, refer to Figure 6 and Figure 7The main body 100 is provided with a crawler 110 for walking, and an electromagnet 120 is provided at the bottom of the main body 100 for adsorbing on the surface of the substrate. The cutting device 200 is used to complete the cutting work of the sediment, the prying device 300 is used to complete the prying work of the sediment after cutting, the cleaning device 400 is used to complete the debris cleaning work, and the camera 500 is used to remotely monitor the cleaning process. This design allows the operator to accurately control the cutting depth, position, prying timing and force, and the activation of the cleaning device 400, which not only effectively improves the accuracy and safety of cleaning, but also makes the slag removal more consistent, effectively improving the cleaning efficiency.

[0071] It should be understood that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Those skilled in the art may modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein; and all these modifications and replacements should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A slag removal method for removing deposits on the surface of a substrate, characterized in that: The following steps are involved: Install the cutting device, prying device and cleaning device on the mobile platform; The cutting device is driven by the mobile platform to cut the sediment attached to the surface of the substrate to form a gap; The prying device is driven by the mobile platform to be inserted into the gap, and the cut sediment is pried off from the substrate surface to which it is attached; The mobile platform drives the cutting device and the prying device to repeatedly cut and pry off the sediment; The cleaning device is driven by the mobile platform to clean and collect the debris generated during the cutting and prying process.

2. The slag removal method according to claim 1, characterized in that: The following steps are also included: The mobile platform is adsorbed on the surface of the substrate.

3. The slag removal method according to claim 1, characterized in that: The following steps are also included: The mobile platform is remotely controlled to move to the area to be cleaned, and remotely controlled to perform cutting, prying and cleaning.

4. The slag removal method according to claim 1, characterized in that: The following steps are also included: The cutting surface of the cutting device is controlled to rotate or swing left and right to perform rotational cutting or reciprocating cutting of the deposit.

5. The slag removal method according to claim 1, characterized in that: The following steps are also included: The cutting device is controlled to start cutting from the bottom or edge of the sediment and cut to a preset cutting depth to form a clear gap.

6. The slag removal method according to claim 1, characterized in that: The following steps are also included: Set up a camera on the mobile platform to obtain real-time video.

7. The slag removal method according to claim 1, characterized in that: The mobile platform is a tracked remote-controlled vehicle.

8. A tracked remote-controlled vehicle, characterized in that: The slag removal method according to any one of claims 1 to 7 comprises a main body, a cutting device, a prying device, a cleaning device and a camera, wherein the cutting device, the prying device, the cleaning device and the camera are all arranged on the main body.

9. The tracked remote-controlled vehicle according to claim 8, characterized in that: An electromagnet is provided at the bottom of the main body.

10. The tracked remote-controlled vehicle according to claim 8, characterized in that: Tracks are provided on both sides of the main body.

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