A demolition robot adapted for use in a waste incinerator coking system and operating method

Abstract

The present invention discloses an adaptive demolition robot for use in a coking system of a garbage incinerator. The invention adapts to technical problems caused by differences in operating scenarios when the demolition robot is applied to a garbage incinerator. The present invention provides stable operating conditions for the demolition robot to move three-dimensionally in the furnace of the garbage incinerator through an adaptive system and a hanger system. The moving system utilizes a simple combination of a winch, a steel wire rope segment, and manhole doors on both sides of the furnace to achieve reliable three-dimensional movement of the demolition robot in the furnace without the need for any modification to the furnace. The support system effectively resists the huge reaction force of the demolition robot during the coking operation, thereby enhancing the stability of the system. The entire system can minimize its volume through deformation to meet the need for entering and exiting from the manhole door of the furnace. No modification to the garbage incinerator is required during the entire process, which greatly broadens the scope of use of the system. At the same time, an operating method for an adaptive demolition robot for a coking system of a garbage incinerator is also provided.

Description

Technical Field

[0001] The present invention relates to the technical field of waste incineration, and in particular to a coking system and an operating method of an adapted demolition robot for use in a waste incinerator. Background Art

[0002] Currently, municipal solid waste incineration power generation technology is an effective way to treat domestic waste. It not only solves the problem of waste disposal but also generates electricity from the heat generated by incineration. Therefore, waste-to-energy technology has been widely used. However, due to the complex composition of municipal solid waste in my country, with relatively high levels of glass, ash, and salt, the resulting fly ash easily melts and sinters at high temperatures, leading to coking in the incinerator. Once the coke reaches its deformation temperature, it quickly softens and flows, exacerbating the coking problem. Coking is a widespread problem in the waste-to-energy industry, seriously impacting the normal production and operation of waste-to-energy plants and ultimately forcing them to shut down for decoking.

[0003] Currently, cold decoking in incinerators is primarily done manually, typically using pneumatic or electric picks. Due to the high location of the coke, scaffolding must be erected to access the furnace for removal. The decoking process is plagued by low efficiency, high labor intensity, long decoking times, a poor working environment, and high risk. Furthermore, with rising labor costs, the decoking workforce is shrinking.

[0004] In response to the above technical problems, the study found that the metallurgical industry has used demolition robots to remove metallurgical slag, but the original operating scenario of the demolition robot is to clean slag blocks and refractory bricks in horizontal and bottom blowing furnaces on the flat ground. The demolition robot does not have any longitudinal movement except for the planar movement operation. In the original operating scenario, the operating distance between the operator and the demolition robot is relatively short, and the operator can visually see the required working position; while the furnace of the waste incinerator is wide and deep, and there are coking positions at different heights and horizontal positions in the furnace, and the occupational safety environment in the furnace of the waste incinerator is difficult to guarantee. The operating distance between the operator and the demolition robot must be increased. The differences in the above application scenarios restrict the application of demolition robots in the removal of coke in waste incinerators. Summary of the Invention

[0005] The purpose of the present invention is to propose an adaptive demolition robot for use in a waste incinerator coking system and an operating method, and to adapt to the technical problems caused by the differences in working scenarios when the demolition robot is used in a waste incinerator. The present invention provides stable working conditions for the demolition robot to move three-dimensionally in the furnace of the waste incinerator through an adaptation system and a hanger system; the moving system utilizes a simple and ingenious combination of a winch, a wire rope segment, and manhole doors on both sides of the furnace to achieve reliable three-dimensional movement of the demolition robot in the furnace without the need for any modification to the furnace; the support system effectively withstands the huge reaction force of the demolition robot during the coking operation, enhances the stability of the system, and ensures operational safety; the entire adaptive demolition robot for use in a waste incinerator coking system can minimize its volume through deformation to meet the needs of entering and exiting from the manhole door of the furnace, and no modification to the waste incinerator is required during the entire process, which greatly broadens the scope of use of the system. At the same time, an operating method for an adaptive demolition robot for use in a waste incinerator coking system is also provided.

[0006] To achieve this object, the present invention adopts the following technical solutions.

[0007] An adaptive demolition robot is used in a waste incinerator coking system, comprising an adaptive system, a hanger system, a support system, and a moving system.

[0008] The adaptation system is composed of a square frame consisting of a bottom longitudinal rod and a bottom fixed cross rod. In order to adapt to demolition robots of different sizes, the bottom longitudinal rod is composed of a bottom fixed longitudinal rod and a telescopic longitudinal rod, so that the bottom longitudinal rod of the square frame can be extended or shortened; a fixing plate is also provided on the side of the bottom fixed cross rod facing the demolition robot, and the fixing plate has a plurality of bolt holes.

[0009] The hanger system includes a hanger telescopic rod, a crossbeam, and a lifting ring. The hanger telescopic rod consists of a hanger bottom rod, a hanger secondary telescopic rod, and a hanger tertiary telescopic rod. The hanger bottom rod is perpendicular to the plane formed by the square frame. The connection point between the hanger bottom rod and the square frame is located at the midpoint of the bottom fixed longitudinal rod. The crossbeam connects the farthest ends of the two extended hanger tertiary telescopic rods. Lifting ears are provided at both ends of the crossbeam, and the lifting ring is connected to the two lifting ears through a chain.

[0010] The support system includes a right-side motor spiral elevator, a left-side motor spiral elevator, and a spiral elevator support rod. There are four spiral elevator support rods in total, two left-side spiral elevator support rods and two right-side spiral elevator support rods. The two left-side spiral elevator support rods are arranged below the left-side bottom longitudinal rod of the square frame. The left-side motor spiral elevator is used to drive the left-side spiral elevator support rod to expand in the forward and backward directions for anchoring the incinerator wall. The two right-side spiral elevator support rods are arranged below the right-side bottom longitudinal rod of the square frame. The right-side motor spiral elevator is used to drive the right-side spiral elevator support rod to expand in the forward and backward directions for anchoring the incinerator wall.

[0011] The moving system includes a right-side winch, a left-side winch, a right-side steel wire rope segment, and a left-side steel wire rope segment. The right-side steel wire rope segment enters the incinerator through the right-side manhole door of the incinerator and is connected to the lifting ring. The right-side steel wire rope segment is connected to the right-side winch at one end outside the incinerator. The right-side winch is used to control the length of the right-side steel wire rope segment. The left-side steel wire rope segment enters the incinerator through the left-side manhole door of the incinerator and is connected to the lifting ring. The left-side steel wire rope segment is connected to the left-side winch at one end outside the incinerator. The left-side winch is used to control the length of the left-side steel wire rope segment.

[0012] Furthermore, a plurality of network cameras are installed on the square frame.

[0013] Furthermore, the manhole door on the right side of the incinerator and the manhole door on the left side of the incinerator are both provided with dome cameras.

[0014] Preferably, the left spiral elevator support rod and the right spiral elevator support rod are both provided with adjustable end plates at one end for anchoring the incinerator wall.

[0015] Preferably, the adjustable end plate is installed with a pressure sensor.

[0016] The present invention also provides an operating method for an adapted demolition robot for a waste incinerator coking system, comprising the following steps.

[0017] Step A, loading stage, the main platform loads the demolition robot. The main platform refers to the adaptation system, the hanger system, and the support system. The demolition robot is placed in the square frame described in the adaptation system. The bottom longitudinal rod is adjusted in length so that the fixed plate can be close to the body of the demolition robot. The demolition robot and the fixed plate are fastened together with bolts to complete the loading of the demolition robot by the main platform.

[0018] Step B, entering the furnace stage, the main platform loaded with the demolition robot enters the furnace, the hanger telescopic rod is retracted to the shortest, the spiral elevator support rod is retracted to the shortest, and the main platform loaded with the demolition robot enters the furnace through the manhole door on the rear wall of the incinerator.

[0019] Step C, the hoisting stage, the lifting ring is connected to the two lifting ears through a chain, and the right wire rope segment and the left wire rope segment of the mobile system are connected to the lifting ring in the furnace, completing the connection between the main platform of the loaded demolition robot and the mobile system.

[0020] Step D, the moving stage, the telescopic rod of the hanger is extended to the longest, and the length of the right wire rope segment is retracted and extended by the right winch of the moving system and the left wire rope segment is retracted and extended by the left winch, so as to realize the horizontal and vertical movement of the main platform of the loaded demolition robot in the furnace, and the coking position in the furnace is found by the network camera and the dome camera, and the main platform of the loaded demolition robot is moved to the coking position.

[0021] Step E, anchoring stage, the left motor screw elevator drives the left screw elevator support rod to expand forward and backward to anchor the incinerator wall, and the right motor screw elevator drives the right screw elevator support rod to expand forward and backward to anchor the incinerator wall.

[0022] In step F, the decoking stage, the demolition robot extends its mechanical arm to decoke the coked location.

[0023] The beneficial effects of the present invention are:

[0024] 1. Using demolition robots to replace manual labor to carry out furnace coking work fundamentally solves the problem of rising labor costs, and further improves the problems faced by manual coking, such as low work efficiency, high labor intensity, long coking time, poor working environment, and high risk factor.

[0025] 2. The entire adaptive demolition robot used in the waste incinerator's coking system can be deformed to minimize its volume to meet the needs of entering and exiting from the manhole door of the furnace. The entire process does not require any modification to the waste incinerator. The coking operation reduces the interference inside the furnace to a minimum and does not affect the original air duct and heat exchange design of the furnace.

[0026] 3. In order to enable the demolition robot to move three-dimensionally in the furnace through hoisting, an adaptation system, a hanger system, and a support system are designed to ensure the stability and safety of the demolition robot during movement and operation.

[0027] 4. The mobile system uses a simple and ingenious combination of a winch, a steel wire rope segment, and manhole doors on both sides of the furnace to achieve reliable three-dimensional movement of the demolition robot in the furnace without any modification to the furnace.

[0028] 5. Through network cameras and dome cameras, operators can perform all other work remotely outside the incinerator except for system loading and unloading, which improves the comfort of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the main platform loaded with a demolition robot entering the furnace through the manhole door on the rear wall of the incinerator according to the present invention.

[0030] Figure 2 It is a structural schematic diagram of the main platform of the present invention carrying the demolition robot to perform decoking operations.

[0031] Figure 3 It is a structural diagram of the mobile system of the present invention.

[0032] Figure 4 It is an enlarged view of the details of the bottom longitudinal rod of the present invention.

[0033] Among them, there are a lifting ring 11; a chain 12; a lifting lug 21; a crossbeam 22; a hanger third-stage telescopic rod 23; a hanger second-stage telescopic rod 24; a hanger bottom rod 25; a fixing plate 27; a right motor screw elevator 31; a left motor screw elevator 32; a left screw elevator support rod 33; an adjustable end plate 34; a right screw elevator support rod 35; a right wire rope segment 36; a left wire rope segment 37; a dome camera 41; a network camera 42; a demolition robot 51; a robotic arm 53; a bottom fixed longitudinal rod 61; a telescopic longitudinal rod 62; and a bottom fixed cross rod 63. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0035] The accompanying drawings are for illustrative purposes only and are not to be construed as limitations on this patent. To better illustrate this embodiment, some components of the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent the actual dimensions of the product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted from the accompanying drawings.

[0036] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0037] The demolition robot 51 has an original working scene that is very different from the furnace environment of a waste incinerator. The furnace of a waste incinerator is wide and deep, and the coking position can be any position on the furnace wall in this large furnace. This requires the demolition robot 51 to be able to move three-dimensionally in the furnace and to stably complete the coking operation in a suspended state. In order to achieve the above technical effects, it is necessary to design a set of suitable demolition robots for the waste incinerator coking system.

[0038] An adaptive demolition robot is used in a waste incinerator coking system, comprising an adaptive system, a hanger system, a support system, and a moving system.

[0039] The adaptation system is composed of a square frame consisting of a bottom longitudinal rod and a bottom fixed cross rod 63. In order to adapt to demolition robots of different sizes, the bottom longitudinal rod is composed of a bottom fixed longitudinal rod 61 and a telescopic longitudinal rod 62, so that the bottom longitudinal rod of the square frame can be extended or shortened; a fixing plate 27 is also provided on the side of the bottom fixed cross rod 63 facing the demolition robot, and the fixing plate 27 has a plurality of bolt holes.

[0040] The main function of the adaptation system is to be compatible with demolition robots 51 of different sizes and models, and to ensure that the demolition robots 51 are stably loaded on the main platform. The bottom longitudinal rod can be adjusted in length according to the size of the demolition robots 51. While being compatible with demolition robots 51 of different sizes and models, it also has a clamping function, so that the fixing plate 27 can be fixed tightly to the body of the demolition robot 51 by screws, such as Figure 1 In the embodiment shown, the bottom longitudinal rod does not need to be extended to allow the fixing plate 27 to be fixed tightly to the body of the demolition robot 51 by screws, such as Figure 4 The bottom longitudinal rod is shown to be composed of a bottom fixed longitudinal rod 61 and a telescopic longitudinal rod 62 , and the telescopic longitudinal rod 62 extends out of the bottom fixed longitudinal rod 61 .

[0041] The hanger system includes a hanger telescopic rod, a crossbeam 22, and a lifting ring 11. The hanger telescopic rod is composed of a hanger bottom rod 25, a hanger secondary telescopic rod 24, and a hanger tertiary telescopic rod 23. The hanger bottom rod 25 is perpendicular to the plane formed by the square frame. The connection point between the hanger bottom rod 25 and the square frame is located at the midpoint of the bottom fixed longitudinal rod 61. The crossbeam 22 connects the farthest ends of the two extended hanger tertiary telescopic rods 23. Lifting ears 21 are provided at both ends of the crossbeam 22, and the lifting ring 11 is connected to the two lifting ears 21 through a chain 12.

[0042] The main function of the hanger system is to enable the main platform loaded with the demolition robot 51 to move in three dimensions in a balanced and stable manner within the furnace. The hanger telescopic rods, which are designed to consist of the hanger bottom rod 25, the hanger secondary telescopic rod 24, and the hanger tertiary telescopic rod 23, are mainly based on the consideration that the main platform needs to be deformed and reduced in size when entering and exiting the manhole door of the furnace. When the main platform loaded with the demolition robot 51 enters the furnace, the hanger bottom rod 25, the hanger secondary telescopic rod 24, and the hanger tertiary telescopic rod 23 are immediately extended to their maximum lengths. Figure 2 As shown, there is enough space for the robot arm 53 to move, and the crossbeam 22 strengthens the overall stability of the two telescopic rods of the hanger.

[0043] The support system includes a right-side motor spiral elevator 31, a left-side motor spiral elevator 32, and a spiral elevator support rod. There are four spiral elevator support rods in total, namely two left-side spiral elevator support rods 33 and two right-side spiral elevator support rods 35. The two left-side spiral elevator support rods 33 are arranged below the left bottom longitudinal rod of the square frame. The left-side motor spiral elevator 32 is used to drive the left-side spiral elevator support rod 33 to expand in the forward and backward directions for anchoring the incinerator wall. The two right-side spiral elevator support rods 35 are arranged below the right-side bottom longitudinal rod of the square frame. The right-side motor spiral elevator 31 is used to drive the right-side spiral elevator support rod 35 to expand in the forward and backward directions for anchoring the incinerator wall.

[0044] When the demolition robot 51 is in the process of breaking the coke, a huge reaction force will be generated. This reaction force will directly act on the main platform, causing it to shake and deviate from the working position, making it unable to provide a stable fulcrum for the mechanical arm 53. The main function of the support system is to resist the reaction force for the main platform loaded with the demolition robot 51; when the main platform loaded with the demolition robot 51 is moved three-dimensionally to the position where the coke breaking operation is required, the left spiral elevator support rod 33 and the right spiral elevator support rod 35, a total of four, are driven by the left motor spiral elevator 32 and the right motor spiral elevator 31, and expand outward to anchor the main platform loaded with the demolition robot 51 to the wall of the incinerator to resist the reaction force during the coke breaking operation; similarly, when the main platform loaded with the demolition robot 51 enters and exits the manhole door of the furnace, the left spiral elevator support rod 33 and the right spiral elevator support rod 35 retract inward, as shown in FIG. Figure 4 As shown, the left spiral jack support rod 33 and the right spiral jack support rod 35 are arranged below the bottom longitudinal rod of the square frame.

[0045] The mobile system includes a right-side winch, a left-side winch, a right-side steel wire rope segment 36, and a left-side steel wire rope segment 37. The right-side steel wire rope segment 36 enters the incinerator through the right-side manhole door of the incinerator and is connected to the lifting ring 11. The right-side steel wire rope segment 36 is connected to the right-side winch at one end outside the incinerator. The right-side winch is used to control the length of the right-side steel wire rope segment 36. The left-side steel wire rope segment 37 enters the incinerator through the left-side manhole door of the incinerator and is connected to the lifting ring 11. The left-side steel wire rope segment 37 is connected to the left-side winch at one end outside the incinerator. The left-side winch is used to control the length of the left-side steel wire rope segment 37.

[0046] The main function of the mobile system is to move the main platform carrying the demolition robot 51 to the position where the focus needs to be focused, such as Figure 3 As shown, by using the left winch and the right winch (the winch is Figure 3 By adjusting the length combination of the left steel wire rope segment 37 and the right steel wire rope segment 36 (not shown), the main platform loaded with the demolition robot 51 can be moved three-dimensionally.

[0047] Furthermore, a plurality of network cameras 42 are installed on the square frame.

[0048] Furthermore, the right manhole door and the left manhole door of the incinerator are both provided with a dome camera 41.

[0049] like Figure 2 、 Figure 3 As shown, the operator can observe the coking condition of the furnace wall through the network camera 42 outside the furnace, and then use the left winch and the right winch (the winch is at Figure 3 (not shown) adjust the length combination of the left wire rope segment 37 and the right wire rope segment 36, and move the main platform loaded with the demolition robot 51 to the coking position in three dimensions to perform operations; the dome camera 41 is used to observe the spatial position and posture of the main platform loaded with the demolition robot 51, while also taking into account the function of observing the coking position on the furnace wall.

[0050] Preferably, the left spiral elevator support rod 33 and the right spiral elevator support rod 35 are both provided with an adjustable end plate 34 at one end for anchoring the incinerator wall.

[0051] Preferably, the adjustable end plate 34 is installed with a pressure sensor.

[0052] like Figure 1As shown, the adjustable end plate 34 can increase the contact area between the left spiral elevator support rod 33 and the right spiral elevator support rod 35 and the incinerator wall to enhance stability. At the same time, a pressure sensor can be installed on the adjustable end plate 34 to transmit pressure to the PLC to control the right motor spiral elevator 31 and the left motor spiral elevator 32 to cut off power and prevent damage to the furnace wall due to excessive support.

[0053] The present invention also provides an operating method for an adapted demolition robot for a waste incinerator coking system, which includes the following steps.

[0054] Step A, loading stage, the main platform loads the demolition robot 51. The main platform refers to the adaptation system, the hanger system, and the support system. The demolition robot 51 is placed in the square frame described in the adaptation system. The bottom longitudinal rod is adjusted in length so that the fixed plate 27 can be close to the body of the demolition robot 51. The demolition robot 51 and the fixed plate 27 are fastened together with bolts to complete the loading of the demolition robot 51 by the main platform.

[0055] Step B, entering the furnace stage, the main platform loaded with the demolition robot 51 enters the furnace, the hanger telescopic rod is retracted to the shortest, the spiral elevator support rod is retracted to the shortest, and the main platform loaded with the demolition robot 51 enters the furnace through the manhole door on the rear wall of the incinerator.

[0056] Step C, the hoisting stage, the lifting ring 11 is connected to the two lifting ears 21 through a chain, and the right wire rope segment 36 and the left wire rope segment 37 of the mobile system are connected to the lifting ring 11 in the furnace, completing the connection between the main platform loaded with the demolition robot 51 and the mobile system.

[0057] Step D, the moving stage, the telescopic rod of the hanger is extended to the longest, and the length of the right wire rope segment 36 and the left wire rope segment 37 are retracted and extended by the right winch of the moving system, so as to realize the horizontal and vertical movement of the main platform of the loaded demolition robot 51 in the furnace, and the coking position in the furnace is found through the network camera 42 and the dome camera 41, and the main platform of the loaded demolition robot 51 is moved to the coking position.

[0058] Step E, anchoring stage, the left motor screw elevator 32 drives the left screw elevator support rod 33 to expand forward and backward to anchor the incinerator wall, and the right motor screw elevator 31 drives the right screw elevator support rod 35 to expand forward and backward to anchor the incinerator wall.

[0059] In step F, the decoking stage, the demolition robot 51 extends the mechanical arm 53 to decoke the coked position.

[0060] 1 and 2. The jack-up plate 27 is connected to the support rail 21 of the furnace 100 by the support rail 22. The jack-up plate 27 is connected to the support rail 22 of the furnace 100 by the support rail 22. The left manhole door enters the furnace and is connected to the lifting ring 11; the operator adjusts the length combination of the right wire rope segment 36 and the left wire rope segment 37 through the winch, so that the lifting ring 11 is close to the main platform of the load-breaking robot 51, and the operator manually uses the chain 12 to connect the lifting ring 11 to the two lifting ears 21; the operator leaves the furnace, and finds the coking position in the furnace through the network camera 42 and the dome camera 41, and adjusts the length combination of the right wire rope segment 36 and the left wire rope segment 37 through the winch, so that the main platform of the load-breaking robot 51 moves three-dimensionally to the coking position, starts the left motor screw elevator 32 to drive the left screw elevator support rod 33 to expand in the front and rear directions to anchor the incinerator wall, starts the right motor screw elevator 31 to drive the right screw elevator support rod 35 to expand in the front and rear directions to anchor the incinerator wall; the demolition robot 51 extends the mechanical arm 53 to decoke the coking position.

[0061] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A demolition robot adapted for use in a waste incinerator coking system, characterized in that: include: Adaptation system, hanger system, support system, and mobile system; The adaption system is composed of a square frame consisting of a bottom longitudinal rod and a bottom fixed cross rod. To adapt to different sizes of demolition robots, the bottom longitudinal rod is composed of a bottom fixed longitudinal rod and a telescopic longitudinal rod, so that the bottom longitudinal rod of the square frame can be extended or shortened; a fixing plate is also provided on the side of the bottom fixed cross rod facing the demolition robot, and the fixing plate has a plurality of bolt holes; The hanger system includes a hanger telescopic rod, a crossbeam, and a lifting ring. The hanger telescopic rod consists of a hanger bottom rod, a hanger secondary telescopic rod, and a hanger tertiary telescopic rod. The hanger bottom rod is perpendicular to the plane formed by the square frame. The connection point between the hanger bottom rod and the square frame is located at the midpoint of the bottom fixed longitudinal rod. The crossbeam connects the farthest ends of the two extended three-stage telescopic rods of the hanger. Lifting ears are provided at both ends of the crossbeam, and the lifting ring is connected to the two lifting ears through a chain. The support system includes a right-side motor spiral elevator, a left-side motor spiral elevator, and a spiral elevator support rod. There are four spiral elevator support rods in total, two left-side spiral elevator support rods and two right-side spiral elevator support rods. The two left-side spiral elevator support rods are arranged below the left-side bottom longitudinal rod of the square frame. The left-side motor spiral elevator is used to drive the left-side spiral elevator support rod to expand in the forward and backward directions for anchoring the incinerator wall. The two right-side spiral elevator support rods are arranged below the right-side bottom longitudinal rod of the square frame. The right-side motor spiral elevator is used to drive the right-side spiral elevator support rod to expand in the forward and backward directions for anchoring the incinerator wall. The moving system includes a right-side winch, a left-side winch, a right-side steel wire rope segment, and a left-side steel wire rope segment. The right-side steel wire rope segment enters the incinerator through the right-side manhole door of the incinerator and is connected to the lifting ring. The right-side steel wire rope segment is connected to the right-side winch at one end outside the incinerator. The right-side winch is used to control the length of the right-side steel wire rope segment. The left-side steel wire rope segment enters the incinerator through the left-side manhole door of the incinerator and is connected to the lifting ring. The left-side steel wire rope segment is connected to the left-side winch at one end outside the incinerator. The left-side winch is used to control the length of the left-side steel wire rope segment.

2. The adapted demolition robot according to claim 1 is used in a waste incinerator coking system, characterized in that: A plurality of network cameras are installed on the square frame.

3. The adapted demolition robot according to claim 1 is used in a waste incinerator coking system, characterized in that: The right manhole door of the incinerator and the left manhole door of the incinerator are both provided with ball cameras.

4. The adapted demolition robot according to claim 1 is used in a waste incinerator coking system, characterized in that: The left spiral elevator support rod and the right spiral elevator support rod are both provided with adjustable end plates at one end for anchoring the incinerator wall.

5. The adapted demolition robot according to claim 4 is used in a waste incinerator coking system, characterized in that: The adjustable end plate is installed with a pressure sensor.

6. A method for operating a waste incinerator coking system using the adaptive demolition robot according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step A, loading phase, the main platform loads the demolition robot. The main platform refers to the adaptation system, the hanger system, and the support system. The demolition robot is placed in the square frame of the adaptation system. The bottom longitudinal rod is adjusted in length so that the fixing plate can be closely attached to the demolition robot body. The demolition robot and the fixing plate are fastened together with bolts, completing the loading of the demolition robot by the main platform. Step B, entering the furnace stage, the main platform loaded with the demolition robot enters the furnace, the telescopic rod of the hanger is retracted to the shortest, the support rod of the spiral elevator is retracted to the shortest, and the main platform loaded with the demolition robot enters the furnace through the manhole door on the rear wall of the incinerator; Step C, hoisting stage, the lifting ring is connected to the two lifting ears through a chain, and the right wire rope segment and the left wire rope segment of the mobile system are connected to the lifting ring in the furnace, completing the connection between the main platform loaded with the demolition robot and the mobile system; Step D, the movement phase, the telescopic rod of the hanger is extended to its longest length, and the right winch of the movement system is used to retract and extend the length of the right wire rope segment, and the left winch is used to retract and extend the length of the left wire rope segment, so as to realize the horizontal and vertical movement of the main platform of the loaded demolition robot in the furnace, and the coking position in the furnace is detected by the network camera and the dome camera, and the main platform of the loaded demolition robot is moved to the coking position; Step E, anchoring stage, the left motor screw elevator drives the left screw elevator support rod to expand in the front and rear directions to anchor the incinerator wall, and the right motor screw elevator drives the right screw elevator support rod to expand in the front and rear directions to anchor the incinerator wall; In step F, the decoking stage, the demolition robot extends its mechanical arm to decoke the coked location.

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