Automatic cleaning equipment for thermal power plant

Abstract

The invention relates to the technical field of boiler cleaning, in particular to automatic cleaning equipment for a thermal power plant, comprising a frame and a hydraulic rod mounted in the frame; a connecting seat is arranged on the upper surface of the frame; the device further comprises a connecting plate, a connecting rod, a knocking assembly, a camera and the like. A telescopic part of the hydraulic rod is fixedly connected with a connecting plate in sliding connection with the frame; a connecting rod penetrating through the frame is fixedly connected to the lower side of the connecting plate; the lower end of the connecting rod is connected with a knocking assembly for knocking coke blocks; and a camera is mounted on the lower side of the connecting plate. According to the automatic cleaning equipment for the thermal power plant obtained through the design, the equipment is placed into the boiler from the window above the power plant through the steel cable and is suspended in the air, coke blocks on the inner wall of the boiler are observed through the camera, the hammer is moved to the position close to the coke blocks on the inner wall of the boiler, and the coke blocks are cleaned. And then the three-axis mechanical arm is controlled to work normally and drives the gun hammer to clean coke blocks in a working area.

Description

Technical Field

[0001] This invention relates to the field of boiler cleaning technology, and more specifically, to an automatic cleaning device for thermal power plants. Background Technology

[0002] After prolonged operation, the inner walls of boilers in thermal power plants often develop coking deposits, leading to reduced boiler output, increased flue gas losses, decreased combustion efficiency, and in severe cases, forced shutdowns and shortened incinerator lifespan. Current technologies rely on manual coking removal, which is time-consuming, labor-intensive, and poses safety risks. While existing technologies address this, Chinese patent (CN221403083U) discloses a boiler coking removal robot. This device, through the cooperation of a support mechanism and a hammering mechanism, facilitates the cleaning and removal of debris from the boiler's inner walls. However, due to the large quantity and varying thickness of coking deposits on the inner walls, and the small contact area of ​​the hammer in this device, relying solely on vibration and hammering for coking removal is insufficient for quickly removing thinner coking deposits, resulting in long processing times and low efficiency. Summary of the Invention

[0003] In order to overcome the shortcomings of existing devices, such as the small contact area of ​​the hammer and the inability to quickly remove coke from the thin inner wall of the boiler by means of vibration and knocking, this invention provides an automatic cleaning device for thermal power plants.

[0004] The technical solution of the present invention is as follows: an automatic cleaning device for thermal power plants, comprising a frame and a hydraulic rod installed within the frame; a connecting seat is provided on the upper surface of the frame; it also includes a connecting plate, a connecting rod, a striking component, a camera, a support component, a connecting block, an electric push rod, a guide plate, and a hook plate; the telescopic part of the hydraulic rod is fixedly connected to the connecting plate, which is slidably connected to the frame; a connecting rod penetrating the frame is fixedly connected to the lower side of the connecting plate; a striking component for striking coke blocks is connected to the lower end of the connecting rod; a camera is installed on the lower side of the connecting plate; a support component is connected to the left and right sides of the striking component; a connecting block is connected to each support component; an electric push rod is fixedly connected to each connecting block; the telescopic part of each electric push rod is movably connected to a guide plate connected to the support component; a hook plate is fixedly connected to each guide plate.

[0005] As a preferred embodiment of the present invention, in order to remove coke from the inner wall of the boiler, the hammering assembly includes a mounting block, a control box, a three-axis robotic arm, and a hammer; the lower end of the connecting rod is fixedly connected to the mounting block; the control box is fixedly connected to the lower side of the mounting block; the three-axis robotic arm is mounted on the front side of the mounting block; the hammer is mounted on the end of the three-axis robotic arm; the mounting block is connected to two support assemblies.

[0006] As a preferred embodiment of the present invention, to facilitate the stabilization of the device, the support assembly located on the right includes a bracket, a second electric push rod, an extension frame, a third electric push rod, and a support tube; the bracket is rotatably connected to the lower side of the frame; the second electric push rod is movably connected to the lower side of the connecting plate, and the telescopic part of the second electric push rod is movably connected to the bracket; the extension frame, which is rotatably connected to the connecting block, is slidably connected to the bracket; the third electric push rod is fixedly connected to the bracket, and the telescopic part of the third electric push rod is fixedly connected to the extension frame; the support tube is connected to the extension frame; two arc-shaped grooves are formed on the support tube, and the extension frame is rotatably disposed within the two arc-shaped grooves; the support tube is fixedly connected to the guide plate.

[0007] As a preferred embodiment of the present invention, in order to protect the device, it further includes a mounting plate, a folded cloth, a U-shaped frame, and ropes; the mounting plate is fixedly attached to the upper surface of the control box; the folded cloth is fixedly attached to the mounting plate, and the folded cloth is U-shaped; the upper part of the folded cloth is fixedly attached to the U-shaped frame; a rope is fixedly attached to the left and right sides of the U-shaped frame; a hook post is provided on the left and right sides of the mounting plate.

[0008] As a preferred embodiment of the present invention, a number of U-shaped steel wires are provided on the inner side of the folded fabric at equal intervals.

[0009] The above settings achieve the effect of increasing the strength of the folded fabric.

[0010] As a preferred embodiment of the present invention, the camera has a dustproof function.

[0011] The above settings prevent dust from entering the camera.

[0012] As a preferred embodiment of the present invention, the hook plate is made of metal.

[0013] The above settings achieve the effect of increasing wear resistance and extending service life.

[0014] As a preferred embodiment of the present invention, it further includes a fixed base, an electric push rod four, a fixed plate, and rollers; four fixed bases are fixedly connected inside the frame; an electric push rod four is fixedly connected to each fixed base; the telescopic parts of all the electric push rod four are fixedly connected to the fixed plate; a number of rollers arranged in a rectangular pattern are fixedly connected to the rear part of the fixed plate; and two rectangular slots are provided on the frame.

[0015] As a preferred embodiment of the present invention, it further includes a rotating shaft, ropes, and a handle; a cavity is provided on the mounting plate; a rotating shaft is rotatably connected to the cavity via a torsion spring; two ropes are wound around the rotating shaft, and the ends of the two ropes pass through the mounting plate; the ends of the two ropes are jointly fixed to a handle located on the outside of the mounting plate.

[0016] As a preferred embodiment of the present invention, a sealing plate is detachably connected to the outside of the cavity.

[0017] Beneficial effects: The automatic cleaning equipment for thermal power plants obtained by the present invention uses steel cables to lower the equipment into the boiler from the window above the power plant, suspending it in the air. The camera then observes the coke on the inner wall of the boiler, moves the hammer to the vicinity of the coke, and controls the three-axis robotic arm to perform normal work, cleaning the coke in the working area with the hammer.

[0018] The automatic cleaning equipment for thermal power plants designed in this invention cleans thin layers of coke inside the boiler by inserting a hammer into the coke on the boiler's inner wall to provide stable support. A hook plate then moves up and down against the boiler's inner wall to scrape away the thin layers of coke. After removing some of the coke, a three-axis robotic arm can be controlled to move, causing the frame and connected components to move laterally, continuously cleaning the remaining coke on the boiler's inner wall. This method is not only highly efficient and time-saving, but also eliminates the need for manual entry into the boiler, greatly improving the safety of coke removal.

[0019] The automatic cleaning equipment for thermal power plants obtained by the present invention, after the equipment is placed on the ground, covers the three-axis robotic arm, support and connected components with a folded cloth, and ties the ropes on both sides of the U-shaped frame to the corresponding hook plates. The U-shaped steel wire set on the inside of the folded cloth protects the equipment and prevents it from being damaged during transportation and storage.

[0020] The automatic cleaning equipment for thermal power plants designed in this invention features a frame supported by four rollers after the equipment is laid down. The equipment can be moved on the ground by pulling it with a handle, reducing the burden on operators and improving its practicality. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the automatic cleaning equipment for thermal power plants according to the present invention; Figure 2 This is a three-dimensional structural diagram of the support components, connecting block, electric push rod 1, guide plate and hook plate of the automatic cleaning equipment for thermal power plants of the present invention; Figure 3 This is a three-dimensional structural diagram of the automatic cleaning equipment for thermal power plants of the present invention, including the frame, control box, mounting plate, folded cloth, U-shaped frame, and rope. Figure 4 This is a three-dimensional structural diagram of the automatic cleaning equipment for thermal power plants of the present invention, including the frame, hydraulic rod, fixed base, electric push rod, fixed plate, and rollers. Figure 5This is a three-dimensional structural diagram of the mounting plate, rotating shaft, rope, handle, and sealing plate of the automatic cleaning equipment for thermal power plants of the present invention; Figure 6 This is a three-dimensional structural diagram of the frame, control box, three-axis robotic arm, and support of the automatic cleaning equipment for thermal power plants according to the present invention.

[0022] The diagram is labeled as follows: 1-Frame, 2-Hydraulic rod, 3-Connecting plate, 4-Connecting rod, 5-Camera, 6-Connecting block, 7-Electric push rod one, 8-Guide plate, 9-Hook plate, 101-Mounting block, 102-Control box, 103-Three-axis robotic arm, 104-Hammer, 201-Bracket, 202-Electric push rod two, 203-Extension frame, 204-Electric push rod three, 205-Support tube, 3 01-Mounting plate, 302-Folded cloth, 303-U-shaped frame, 304-Rope, 401-Fixing seat, 402-Electric push rod four, 403-Fixing plate, 404-Roller, 405-Spindle, 406-Rope, 407-Handle, 408-Sealing plate, 1001-Connecting seat, 1002-Rectangular groove, 20501-Arc groove, 30101-Hook column, 30102-Cavity. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection and application of the present invention.

[0024] Example 1: An automatic cleaning device for thermal power plants, such as... Figures 1-6 As shown, it includes a frame 1 and a hydraulic rod 2; the hydraulic rod 2 is bolted to the inside of the frame 1; a connecting seat 1001 is provided on the upper surface of the frame 1; It also includes a connecting plate 3, a connecting rod 4, a striking assembly, a camera 5, a support assembly, a connecting block 6, an electric push rod 7, a guide plate 8, and a hook plate 9; the telescopic part of the hydraulic rod 2 is fixedly connected to the connecting plate 3, and the connecting plate 3 is slidably connected to the frame 1; the lower side of the connecting plate 3 is fixedly connected to the connecting rod 4, and the connecting rod 4 passes through the frame 1; the lower end of the connecting rod 4 is connected to the striking assembly; the camera 5 is installed on the lower side of the connecting plate 3; a support assembly is connected to the left and right sides of the striking assembly; a connecting block 6 is connected to each support assembly; an electric push rod 7 is fixedly connected to each connecting block 6; the telescopic part of each electric push rod 7 is movably connected to the guide plate 8, and the guide plate 8 is connected to the support assembly; a hook plate 9 is fixedly connected to each guide plate 8.

[0025] The striking assembly includes a mounting block 101, a control box 102, a three-axis robotic arm 103, and a hammer 104; the lower end of the connecting rod 4 is fixed to the mounting block 101; the control box 102 is welded to the lower side of the mounting block 101; the three-axis robotic arm 103 is mounted on the front side of the mounting block 101; the hammer 104 is mounted on the end of the three-axis robotic arm 103; the mounting block 101 is connected to two support assemblies.

[0026] The support assembly located on the right includes a bracket 201, a second electric push rod 202, an extension frame 203, a third electric push rod 204, and a support tube 205; the bracket 201 is rotatably connected to the lower side of the frame 1; the second electric push rod 202 is hinged to the lower side of the connecting plate 3, and the telescopic part of the second electric push rod 202 is hinged to the bracket 201; the extension frame 203 is slidably connected to the bracket 201, and the extension frame 203 is rotatably connected to the connecting block 6; the third electric push rod 204 is fixedly connected to the bracket 201, and the telescopic part of the third electric push rod 204 is fixedly connected to the extension frame 203; the support tube 205 is connected to the extension frame 203; the support tube 205 has two arc-shaped grooves 20501, and the extension frame 203 is rotatably disposed in the two arc-shaped grooves 20501; the support tube 205 is fixedly connected to the guide plate 8.

[0027] It also includes a mounting plate 301, a folded cloth 302, a U-shaped frame 303, and a rope 304; the mounting plate 301 is fixed to the upper surface of the control box 102; the folded cloth 302 is fixed to the mounting plate 301, and the folded cloth 302 is U-shaped; the upper part of the folded cloth 302 is fixed to the U-shaped frame 303; a rope 304 is fixed to the left and right sides of the U-shaped frame 303, and the rope 304 is made of nylon; a hook post 30101 is provided on the left and right sides of the mounting plate 301.

[0028] Furthermore, the inner side of the folded fabric 302 is provided with several U-shaped steel wires that are evenly distributed.

[0029] Furthermore, camera 5 has a dustproof function.

[0030] Furthermore, hook plate 9 is made of metal.

[0031] The further advantages of adopting the above are: when the folded cloth 302 is unfolded, it is supported by several U-shaped steel wires that are evenly distributed, preventing accidental collisions from damaging the equipment. During the defocusing process, it prevents a large amount of dust from entering the camera 5 and affecting its normal operation. At the same time, the metal hook plate 9 can increase wear resistance and improve the service life of the hook plate 9.

[0032] The working steps of this embodiment are as follows: The following directions are Figure 1Using the perspective reference, the direction where the three-axis robotic arm 103 is located is forward. The following rotations are all viewed from front to back, from top to bottom, and from right to left. In operation, the operator connects an external power source to all electrically driven components and manually connects the steel cable to the connecting seat 1001. The equipment is then hoisted using the steel cable, facilitating its placement into the boiler from the window above the power plant, suspending it in the air. Next, the three-axis robotic arm 103, carrying the hammer 104, is controlled to move from a vertical to a horizontal position, ensuring the robotic arm 103 no longer obstructs the camera 5. The camera 5 is then used to observe the coke deposits on the boiler's inner wall. Based on the position of the coke deposits observed by the camera 5, the two electric push rods 202 are then controlled... The telescopic part extends, causing the bracket 201, extension frame 203, electric push rod 204, and support tube 205 to unfold to both sides, so that the two support tubes 205 contact the inner wall of the boiler, stabilizing the frame 1 and providing stable support for the subsequent work of the hammer 104. Then, the hydraulic rod 2 is extended, causing the connecting plate 3, connecting rod 4, striking assembly, and camera 5 to move downward together, moving the hammer 104 to the vicinity of the coke block on the inner wall of the boiler. Then, the three-axis robotic arm 103 is controlled to perform normal work, carrying the hammer 104 to clean the coke block in the working area.

[0033] When the two supports 201 are deployed and the support tube 205 cannot directly contact the inner wall of the boiler, the telescopic part of the corresponding electric push rod 204 on the control support 201 is pushed out, which drives the corresponding extension frame 203 and support tube 205 to move, so that the two support tubes 205 continue to extend to both sides, automatically adjusting the extension distance of the support tube 205 until the support tube 205 contacts the inner wall of the boiler, supporting the frame 1 and providing a stable support for cleaning coke.

[0034] When the operator observes a thinner coke block through camera 5, they adjust the equipment so that the support tube 205 faces the inner wall of the boiler to be cleaned, while the hammer 104 faces the other side of the boiler. The operator then controls the three-axis robotic arm 103 to move the hammer 104, inserting it into the coke block on the boiler inner wall to provide stable support for subsequent coke removal. Next, the operator controls the extension parts of electric push rods 202 and 204 to extend, bringing the support tube 205, connecting block 6, electric push rod 7, guide plate 8, and hook plate 9 closer to the boiler inner wall. Then, the operator controls the extension part of electric push rod 7 to extend, forcing the support tube 205 to rotate, causing the guide plate 8 and hook plate 9 to rotate together, ensuring the hook plate 9 is tightly pressed against the boiler. The hydraulic rod 2 is then reciprocated by pushing and retracting the inner wall. At this time, because the hammer 104 is in a fixed state, while the frame 1 and hook plate 9 are in a movable state, the frame 1, hydraulic rod 2, support components and hook plate 9 move up and down under the action of the hydraulic rod 2 to scrape off the thin coke adhering to the inner wall of the boiler. Repeated reciprocating motion can completely scrape off the adhering coke. After removing the local coke, the three-axis robotic arm 103 can be controlled to move, thereby driving the frame 1 and connected components to move laterally, continuously cleaning the remaining coke on the inner wall of the boiler. This not only has high cleaning efficiency and takes less time, but also eliminates the need for manual entry into the inner wall of the boiler, greatly improving the safety of coke removal.

[0035] After the operator has removed the coke from the boiler's inner wall, the telescopic parts of the two electric push rods 202 are retracted, causing the two supports 201 and connected components to press against both sides of the frame 1, and the three-axis robotic arm 103 to return to a vertical position. Figure 6 As shown, the equipment is moved out of the window above the boiler by steel cables and placed on the ground. The operator holds the U-shaped frame 303 and pulls the folding cloth 302 upward to cover the three-axis robotic arm 103, the bracket 201 and the connected parts. The ropes 304 on both sides of the U-shaped frame 303 are tied to the corresponding hook plates 9. The U-shaped steel wires set on the inside of the folding cloth 302 protect the equipment and prevent it from being damaged during transportation and storage.

[0036] It should be noted that the hook plate 9 can clean not only flat boiler inner walls, but also wavy boiler inner walls.

[0037] Example 2: Based on Example 1, as follows Figures 4-5As shown, it also includes a fixed base 401, an electric push rod 402, a fixed plate 403, and rollers 404; four fixed bases 401 are fixedly connected inside the frame 1; each fixed base 401 is fixedly connected to an electric push rod 402; the telescopic parts of all the electric push rods 402 are fixedly connected to the fixed plate 403; four rollers 404 arranged in a rectangular pattern are fixedly connected to the rear of the fixed plate 403; two rectangular slots 1002 are opened on the frame 1.

[0038] It also includes a rotating shaft 405, a rope 406, and a handle 407; a cavity 30102 is provided on the mounting plate 301; the rotating shaft 405 is rotatably connected to the cavity 30102 by a torsion spring; two ropes 406 are wound around the rotating shaft 405, and the ends of the two ropes 406 pass through the mounting plate 301; the ends of the two ropes 406 are fixed to the handle 407, and the handle 407 is located on the outside of the mounting plate 301.

[0039] Furthermore, a sealing plate 408 is detachably connected to the outer side of the cavity 30102.

[0040] The further advantage of adopting the above is that it facilitates manual maintenance of rope 406.

[0041] The working principle of this embodiment is as follows: Due to the large size and heavy weight of this equipment, it requires multiple people to move it before use, which is time-consuming and labor-intensive. Therefore, when the equipment needs to be moved after being placed on the ground, the operator controls the extension and retraction of all the electric push rods 402 to move the fixed plate 403 and the four rollers 404 together, so that the four rollers 404 move out of the frame 1. Then, the frame 1 is manually laid down, and the four rollers 404 support the frame 1, which makes it easier to move the equipment. Then, the operator holds the handle 407 and pulls out the rope 406 wrapped around the rotating shaft 405. In this way, the operator can hold the handle 407 to pull the equipment on the ground, reducing the burden of moving the equipment and improving the practicality of the equipment.

[0042] The technical principles of the embodiments of the present invention have been described above with reference to specific examples. These descriptions are merely for explaining the principles of the embodiments of the present invention and should not be construed as limiting the scope of protection of the embodiments of the present invention in any way. Based on the explanation herein, those skilled in the art can conceive of other specific embodiments of the present invention without creative effort, and these embodiments will all fall within the scope of protection of the embodiments of the present invention.

Claims

1. An automatic cleaning device for a thermal power plant, comprising a frame (1) and a hydraulic rod (2) installed within the frame (1); a connecting seat (1001) is provided on the upper surface of the frame (1); characterized in that: It also includes a connecting plate (3), a connecting rod (4), a striking assembly, a camera (5), a support assembly, a connecting block (6), an electric push rod (7), a guide plate (8), and a hook plate (9); the telescopic part of the hydraulic rod (2) is fixedly connected to the connecting plate (3) which is slidably connected to the frame (1); the lower side of the connecting plate (3) is fixedly connected to the connecting rod (4) which passes through the frame (1); the lower end of the connecting rod (4) is connected to the striking assembly for striking the coke block; the lower side of the connecting plate (3) is equipped with a camera (5); the left and right sides of the striking assembly are each connected to a support assembly; each support assembly is connected to a connecting block (6); each connecting block (6) is fixedly connected to an electric push rod (7); the telescopic part of each electric push rod (7) is movably connected to a guide plate (8) which is connected to the support assembly; each guide plate (8) is fixedly connected to a hook plate (9).

2. The automatic cleaning equipment for thermal power plants according to claim 1, characterized in that: The striking assembly includes a mounting block (101), a control box (102), a three-axis robotic arm (103), and a hammer (104); the lower end of the connecting rod (4) is fixed to the mounting block (101); the control box (102) is fixed to the lower side of the mounting block (101); the three-axis robotic arm (103) is mounted on the front side of the mounting block (101); the hammer (104) is mounted on the end of the three-axis robotic arm (103); the mounting block (101) is connected to two support assemblies.

3. The automatic cleaning equipment for thermal power plants according to claim 2, characterized in that: The support components located on the right include a bracket (201), an electric push rod two (202), an extension frame (203), an electric push rod three (204), and a support tube (205); the bracket (201) is rotatably connected to the lower side of the frame (1); the electric push rod two (202) is movably connected to the lower side of the connecting plate (3), and the telescopic part of the electric push rod two (202) is movably connected to the bracket (201); a connecting block (6) is slidably connected to the bracket (201). The extension frame (203) is rotatably connected; an electric push rod three (204) is fixedly connected to the bracket (201), and the telescopic part of the electric push rod three (204) is fixedly connected to the extension frame (203); a support tube (205) is connected to the extension frame (203); two arc-shaped grooves (20501) are opened on the support tube (205), and the extension frame (203) is rotatably set in the two arc-shaped grooves (20501); the support tube (205) is fixedly connected to the guide plate (8).

4. An automatic cleaning device for thermal power plants according to claim 3, characterized in that: It also includes a mounting plate (301), a folded cloth (302), a U-shaped frame (303), and a rope (304); the mounting plate (301) is fixed to the upper surface of the control box (102); the folded cloth (302) is fixed to the mounting plate (301), and the folded cloth (302) is U-shaped; the upper part of the folded cloth (302) is fixed to the U-shaped frame (303); a rope (304) is fixed to the left and right sides of the U-shaped frame (303); a hook post (30101) is provided on the left and right sides of the mounting plate (301).

5. An automatic cleaning device for thermal power plants according to claim 4, characterized in that: The inner side of the folded fabric (302) is provided with several U-shaped steel wires that are evenly distributed.

6. An automatic cleaning device for thermal power plants according to claim 1, characterized in that: The camera (5) has a dustproof function.

7. An automatic cleaning device for thermal power plants according to claim 1, characterized in that: The hook plate (9) is made of metal.

8. An automatic cleaning device for thermal power plants according to claim 4, characterized in that: It also includes a fixed seat (401), an electric push rod four (402), a fixed plate (403) and rollers (404); four fixed seats (401) are fixed inside the frame (1); an electric push rod four (402) is fixed on each fixed seat (401); the telescopic parts of all electric push rod four (402) are fixed to a fixed plate (403); a number of rollers (404) arranged in a rectangular pattern are fixed to the rear of the fixed plate (403); two rectangular slots (1002) are opened on the frame (1).

9. An automatic cleaning device for thermal power plants according to claim 8, characterized in that: It also includes a pivot (405), a rope (406) and a handle (407); a cavity (30102) is provided on the mounting plate (301); the pivot (405) is rotatably connected to the cavity (30102) by a torsion spring; two ropes (406) are wound on the pivot (405), and the ends of the two ropes (406) pass through the mounting plate (301); the ends of the two ropes (406) are fixed together to a handle (407) located on the outside of the mounting plate (301).

10. An automatic cleaning device for thermal power plants according to claim 9, characterized in that: The cavity (30102) is detachably connected to a sealing plate (408).

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