A hearth coking robot

Abstract

This invention discloses a furnace coking robot, relating to the field of robotic arm technology. The furnace coking robot includes a mounting frame and further comprises a main arm, a middle arm, and a forearm that are rotatably connected in sequence. One end of the main arm is rotatably connected to the mounting frame. The mounting frame, main arm, middle arm, and forearm are hydraulically connected. By setting a first arm extension bracket and a second arm extension bracket, the robot can, after deployment, fit tightly against the inner wall of the working area, forming triangular regions between the first arm extension bracket and the main connecting frame, and between the second arm extension bracket and the first arm extension bracket. This provides support for the suspended main arm, middle arm, and forearm, thereby improving stability. Furthermore, by setting a reverse thrust tire, when the working equipment on the forearm is pushed away from the working surface, the reverse thrust tire rotates to provide a reverse thrust to the forearm, further improving stability.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically, it relates to a furnace coking robot. Background Technology

[0002] In existing engineering machinery, robots are often used to perform a series of engineering operations to achieve a series of work requirements. However, in some special working environments, especially in enclosed spaces with a certain depth, robots are often suspended in the air. This causes the robots to swing and sway during operation, making it difficult for them to work efficiently. At the same time, the robots may also be damaged due to collisions with surrounding objects caused by swinging and swaying.

[0003] During the operation of municipal solid waste incineration boilers, deposits accumulate on the inner walls of the flue. Over time, these deposits grow larger, reducing the space within the inner walls and affecting ventilation. This necessitates regular cleaning. Manual cleaning using impact tools is cumbersome, time-consuming, labor-intensive, and ineffective. Furthermore, the detachment of top deposits can easily cause safety accidents. Therefore, we propose a furnace descaling robot. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a furnace coking robot that can overcome or at least partially solve the above problems.

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows: a furnace coking robot, including a mounting frame, and further comprising: a main arm, a middle arm, and a forearm that are rotatably connected in sequence, one end of the main arm being rotatably connected to the mounting frame, the mounting frame, the main arm, the middle arm, and the forearm being movably connected by hydraulic drive, and a working device for operation being mounted on the forearm; a main connecting frame, connected to the mounting frame by a connecting arm; a first arm extension bracket, rotatably connected to both sides of the main connecting frame, the first arm extension bracket being driven by a first hydraulic column to extend away from the main connecting frame to both sides; and a second arm extension bracket, disposed on the first arm extension bracket, and extended by a third hydraulic column between the first arm extension bracket and the second arm extension bracket, so that the second arm extension bracket is in contact with an adjacent object.

[0006] Furthermore, the connecting arms are rotatably connected to both sides of the mounting frame, and guide posts are fixedly connected to both sides of the mounting frame. Clamping blocks are slidably connected to the guide posts, and the clamping blocks are fixedly connected to the top of the guide posts by a first spring. A clamping groove is opened on one side of the lower end of the connecting arm, and the clamping groove corresponds to the clamping block.

[0007] Furthermore, a telescopic bracket is slidably connected to the top of the first arm span bracket, and the telescopic bracket is connected to the first arm span bracket through a second hydraulic column. The telescopic bracket is driven by the second hydraulic column to move away from the top of the first arm span bracket, and one end of the second arm span bracket is rotatably connected to the telescopic bracket.

[0008] Furthermore, the second boom support is provided with a mounting plate, on which a main shaft is rotatably connected. A thrust reverser is mounted on the main shaft. The thrust reverser is used to contact an adjacent object. When the working equipment on the forearm is pushed away from the working surface, the thrust reverser rotates to provide thrust to the forearm.

[0009] Preferably, a connecting box is fixedly connected to the mounting plate, and a rotating shaft is rotatably connected in the connecting box. A turbine blade assembly is fixedly connected to the outer circumference of the rotating shaft. The turbine blade assembly is located inside the connecting box. One end of the rotating shaft is driven to the main shaft through a bevel gear assembly. An oil inlet pipe and an oil outlet pipe are respectively connected to both sides of the connecting box. The oil inlet pipe is used to supply hydraulic oil to the connecting box to drive the rotating shaft to rotate.

[0010] Furthermore, it also includes: an oil supply pipe, wherein a thrust monitoring component is provided between the oil supply pipe and the oil inlet pipe, which automatically opens the channel between the oil supply pipe and the oil inlet pipe to supply hydraulic oil to the connecting box when the forearm is subjected to thrust, and automatically closes the channel between the oil supply pipe and the oil inlet pipe after the thrust on the forearm disappears.

[0011] Preferably, the thrust monitoring assembly includes a slide rod slidably connected to a connecting frame, the connecting frame being fixedly connected to a second boom support, the end of the slide rod away from the connecting frame being connected to the connecting frame via a third spring, a chamber being formed in the slide rod, an oil supply pipe being fixedly connected to the slide rod and communicating with the chamber, a semi-circular outer sleeve being fixedly connected to one end of the oil inlet pipe, the semi-circular outer sleeve being slidably connected to the slide rod, a first connecting groove and a second connecting groove being formed on the outer periphery of the slide rod, one end of the first connecting groove and the second connecting groove being connected to the chamber, and the connection point between the oil inlet pipe and the semi-circular outer sleeve corresponding to the first connecting groove and the second connecting groove, respectively; it also includes a spring telescopic rod, one end of which is fixedly connected to the slide rod, and an electromagnet being fixedly connected to the end of the spring telescopic rod away from the slide rod.

[0012] Furthermore, it also includes: a deflation assembly for deflating the thruster tire when the shaft drives the thruster tire to rotate, thereby increasing the contact area between the thruster tire and the object it contacts.

[0013] Furthermore, both sides of the second arm span bracket are fixedly connected to fixed rods, and both ends of the mounting plate are slidably connected to the corresponding fixed rods. A second spring is sleeved on the fixed rod to push the mounting plate to fit tightly against the adjacent object.

[0014] Preferably, the venting assembly includes a piston cylinder fixedly connected to a mounting plate, an eccentric wheel fixedly connected to the other end of the rotating shaft, a piston rod with a piston at one end slidably connected to the piston cylinder, and the end of the piston rod away from the piston cylinder slidably connected to a circumferential groove on both sides of the eccentric wheel; an air extraction pipe and an air exhaust pipe are fixedly connected to the piston cylinder respectively, and both the air extraction pipe and the air exhaust pipe are equipped with a one-way valve; a rotating connecting sleeve is rotatably connected to the main shaft; the thrust reverser and the rotating connecting sleeve are connected through a pipeline; the end of the air extraction pipe away from the piston cylinder is fixedly connected to and communicates with the rotating connecting sleeve; it also includes an air storage tank, the end of the air exhaust pipe away from the piston cylinder is fixedly connected to the air storage tank, a connecting pipe is fixedly connected to the air storage tank, the end of the connecting pipe away from the air storage tank is fixedly connected to the rotating connecting sleeve, and a solenoid valve is installed on the connecting pipe.

[0015] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: By setting the first boom support and the second boom support, the present invention can fit tightly against the inner wall of the working area after being deployed, and form triangular areas between the first boom support and the main connecting frame and between the second boom support and the first boom support, providing support for the boom, middle boom and forearm in the suspended state, thereby improving stability. At the same time, the device also sets the thrust reverser tire, which can rotate to provide thrust reverser force to the forearm when the working equipment on the forearm is pushed away from the working surface, thereby effectively improving stability.

[0016] This device also includes a venting component to vent the thruster tires when the shaft drives them to rotate, thereby increasing the contact area between the thruster tires and the objects they come into contact with. This increases the contact area between the thruster tires and the inner wall of the flue, resulting in greater friction and enhanced thrusting effect.

[0017] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0018] In the attached diagram:

[0019] Figure 1 This is a three-dimensional structural diagram of a furnace coking robot proposed in this invention;

[0020] Figure 2 This is a schematic diagram of the structure of a furnace coking robot proposed in this invention;

[0021] Figure 3 This invention proposes a furnace coking robot. Figure 2 Schematic diagram of the structure at point A Figure 2 ;

[0022] Figure 4 This is a front view of a furnace coking robot proposed in this invention;

[0023] Figure 5 This is a right-side view of a furnace coking robot proposed in this invention;

[0024] Figure 6 This is a schematic diagram of the main connecting frame of a furnace coking robot proposed in this invention;

[0025] Figure 7 This invention proposes a furnace coking robot. Figure 6 Schematic diagram of the structure at point B;

[0026] Figure 8 This is a schematic diagram of the structure of the second arm support of a furnace coking robot proposed in this invention;

[0027] Figure 9 This invention proposes a furnace coking robot. Figure 8 Schematic diagram of the structure at point C;

[0028] Figure 10 This is a schematic diagram of the first arm support of a furnace coking robot proposed in this invention;

[0029] Figure 11 This invention proposes a furnace coking robot. Figure 10 Schematic diagram of the structure at point D;

[0030] Figure 12 This is a schematic diagram of the telescopic support structure of a furnace coking robot proposed in this invention;

[0031] Figure 13 This invention proposes a furnace coking robot. Figure 12 A schematic diagram of the structure at point E in the middle.

[0032] In the diagram: 1. Mounting frame; 11. Boom; 111. First hydraulic rod; 12. Mid-arm; 120. Second hydraulic rod; 121. Third hydraulic rod; 122. First linkage arm; 123. Second linkage arm; 13. Forearm; 131. Hammer; 14. Connecting arm; 141. Guide column; 142. First spring; 143. Clamping block; 144. Clamping groove; 2. Main connecting frame; 21. Main hydraulic column; 22. First hydraulic column; 3. First boom extension bracket; 31. Second hydraulic column; 32. Telescopic bracket; 4. Second boom extension bracket; 41. Third hydraulic column; 42. Mounting plate; 421. Fixing rod; 422. Second spring; 43. Spindle; 43 1. Reverse thrust tire; 44. Connecting box; 440. Oil outlet pipe; 441. Rotary shaft; 442. Turbine blade assembly; 443. Bevel gear assembly; 444. Oil inlet pipe; 445. Semi-arc outer sleeve; 446. Oil supply pipe; 45. Connecting frame; 451. Slide rod; 452. Chamber; 453. First connecting groove; 454. Second connecting groove; 455. Third spring; 456. Spring telescopic rod; 457. Electromagnet; 46. Eccentric wheel; 461. Piston cylinder; 462. Piston rod; 463. Suction pipe; 464. Exhaust pipe; 465. Air tank; 466. Pressure relief valve; 467. Connecting pipe; 468. Solenoid valve; 469. Rotary connecting sleeve. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] The following is in conjunction with the appendix Figure 1 -Appendix Figure 13 The technical solutions provided in the various embodiments of the present invention will be described in detail.

[0035] Example:

[0036] Reference Figures 1-13A furnace coking robot includes a mounting frame 1, and further includes: a main arm 11, a middle arm 12, and a forearm 13 connected in sequence for rotation. One end of the main arm 11 is rotatably connected to the mounting frame 1. The mounting frame 1, the main arm 11, the middle arm 12, and the forearm 13 are hydraulically connected. The forearm 13 is equipped with a working device for operation. A main connecting frame 2 is connected to the mounting frame 1 via a connecting arm 14. A first arm extension bracket 3 is rotatably connected to both sides of the main connecting frame 2. The first arm extension bracket 3 and the main connecting frame 2 are driven to extend away from the main connecting frame 2 by a first hydraulic column 22. A second arm extension bracket 4 is disposed on the first arm extension bracket 3 and is driven to extend by a third hydraulic column 41 between the first arm extension bracket 3 and the second arm extension bracket 4, so that the second arm extension bracket 4 is in contact with an adjacent object.

[0037] In this device, the mounting frame 1, the upper arm 11, the middle arm 12, and the forearm 13 are connected by hydraulic drive. The mounting frame 1 and the upper arm 11 are connected by a first hydraulic rod 111, and the upper arm 11 and the middle arm 12 are connected by a second hydraulic rod 120. The forearm 13 is rotatably connected to the middle arm 12. A first connecting arm 122 is rotatably connected to the middle arm 12. A second connecting arm 123 is rotatably connected to one end of the first connecting arm 122. The end of the second connecting arm 123 away from the first connecting arm 122 is rotatably connected to the forearm 13. The middle arm 12 is rotatably connected to the first connecting arm 122 and the second connecting arm 123 by a third hydraulic rod 121, which is used to drive the movement of the forearm 13.

[0038] In this device, the working equipment installed on the forearm 13 is a hammer 131, which is used to chisel away hard objects on the surface of an object. However, the working equipment on the forearm 13 is not limited to the hammer 131 and can be installed or replaced according to actual needs. For the sake of convenience in the description of subsequent operations, the working equipment in this device is selected as the hammer 131.

[0039] A main hydraulic column 21 is rotatably connected to the main connecting frame 2. A connecting plate is fixedly connected to the end of the main hydraulic column 21 and is connected to one end of the connecting arm 14 by a pin.

[0040] The main connecting frame 2 is used to hoist the mounting frame 1, as well as the boom 11, the middle boom 12, the forearm 13 mounted on the mounting frame 1, and the working equipment mounted on the forearm 13;

[0041] When in use, the main connecting frame 2 is hoisted into the work area by connecting the ropes on the hoisting equipment, such as a crane or overhead crane, to the main connecting frame 2.

[0042] Taking the cleaning of slag adhering to the inner wall of the boiler flue of a municipal solid waste incineration boiler as an example, the main connecting frame 2 is hoisted into the boiler flue using hoisting equipment. The slag on the inner wall of the boiler flue is hammered and knocked away by the hammer 131 to clean it, so that the slag adhering to the inner wall is separated from the inner wall. During the hammering process, the hammer 131 applies force to the slag on the inner wall, and the applied force will have a reaction effect on the hammer 131, causing the hammer 131 to move away from the inner wall of the flue and causing the main connecting frame 2 to shake. This will cause the hammer 131 to be unable to hammer into the slag effectively, resulting in inefficient cleaning of the slag. This will cause the overall instability of the suspended boom 11, middle boom 12, forearm 13 and main connecting frame 2. The main connecting frame 2 is set up to increase weight and reduce the reaction force when the hammer 131 is working, but in actual operation, the overall shaking will still occur.

[0043] Therefore, this device, by setting a first boom support 3 and a second boom support 4, drives the first boom support 3 and the second boom support 4 to extend to both sides of the main connecting frame 2 in the boiler flue through the first hydraulic column 22 and the third hydraulic column 41 respectively. After extension, triangular areas are formed between the first boom support 3 and the main connecting frame 2, and between the second boom support 4 and the first boom support 3. After extension, the second boom support 4 can fit tightly against the inner wall of the boiler flue over a large area, thereby fixing the main connecting frame 2 in the boiler flue. At the same time, the triangular area formed can provide strong support, thereby effectively preventing the main connecting frame 2 from shaking due to the thrust of the hammer 131 when hammering the inner wall of the flue. This makes the boom 11, the middle boom 12, and the forearm 13 more stable during operation, and also makes the working equipment installed on the forearm 13 more stable and reliable during operation.

[0044] Meanwhile, by enabling the first boom support 3 and the second boom support 4 to unfold, this device can also provide safety protection for the main connecting frame 2, boom 11, middle boom 12, forearm 13 and the working equipment installed on the forearm 13 in the working state, keeping them away from the inner wall of the boiler flue and avoiding collision damage.

[0045] This device is not limited to use in boiler flues; it can be used in enclosed spaces and improves stability during operation.

[0046] In one embodiment, refer to Figure 2 , Figure 3The connecting arms 14 are rotatably connected to both sides of the mounting frame 1. Guide posts 141 are fixedly connected to both sides of the mounting frame 1. Clamping blocks 143 are slidably connected to the guide posts 141. The clamping blocks 143 and the top of the guide posts 141 are fixedly connected by the first spring 142. A clamping groove 144 is opened on one side of the lower end of the connecting arm 14, and the clamping groove 144 corresponds to the clamping block 143.

[0047] When the mounting bracket 1 is connected to the main connecting frame 2, the upper arm 11, middle arm 12, and forearm 13 are typically approximately perpendicular to the main connecting frame 2 (see reference). Figure 4 This causes a certain lateral extension on the main connecting frame 2. When the main connecting frame 2 is hoisted into a working space with a narrow entrance and a wide middle or top, it will affect the rapid entry of the boom 11, middle boom 12, and forearm 13 into the working space from the entrance. Therefore, this device is equipped with a rotatable connecting arm 14, which makes the connecting arm 14 approximately horizontal with the boom 11, middle boom 12, and forearm 13 before hoisting into the working space. This makes the boom 11, middle boom 12, and forearm 13 vertical with the main connecting frame 2, thereby enabling the boom 11, middle boom 12, and forearm 13 to quickly and conveniently enter the working space from the entrance.

[0048] After entering the flue, by controlling the angles of the main arm 11, middle arm 12, and forearm 13, one end of the forearm 13 abuts against the inner wall of the flue, causing the mounting bracket 1 and the connecting arm 14 to rotate, so that the clamping groove 144 on the connecting arm 14 approaches the clamping block 143, and the clamping block 143 enters the clamping groove 144, thereby limiting and fixing the connecting arm 14.

[0049] In one embodiment, refer to Figure 5 , Figure 6 , Figure 8 The top end of the first arm span support 3 is slidably connected to a telescopic support 32. The telescopic support 32 is connected to the first arm span support 3 via a second hydraulic column 31. The second hydraulic column 31 drives the telescopic support 32 to move away from the top end of the first arm span support 3. One end of the second arm span support 4 is rotatably connected to the telescopic support 32.

[0050] By sliding the telescopic bracket 32 ​​on the first boom support 3, the extension area of ​​the first boom support 3 can be further increased by driving the second hydraulic column 31, thus expanding its applicability.

[0051] In one embodiment, refer to Figure 5 , Figure 7The second boom support 4 is provided with a mounting plate 42, and a main shaft 43 is rotatably connected to the mounting plate 42. A thrust reverser 431 is mounted on the main shaft 43. The thrust reverser 431 is used to contact adjacent objects. When the working equipment on the front boom 13 is pushed and moves away from the working surface, the thrust reverser 431 rotates to provide thrust reverser force for the front boom 13.

[0052] In this embodiment, by installing a thrust reverser 431 on the second boom support 4 that contacts the inner wall of the boiler flue, during use, when the second boom support 4 contacts the inner wall of the flue, the thrust reverser 431 also contacts the inner wall of the flue. When the hammer 131 is working on the working surface, the hammer 131 will move in the opposite direction to the working surface. At this time, by driving the thrust reverser 431 to rotate, Figure 1 Taking the perspective as an example, the rotation direction of the thruster 431 is clockwise. This allows the thruster 431 to provide a thrust force close to the working surface to the hammer 131 when it contacts and rotates with the inner wall of the flue. This makes the hammer 131 stick tightly and stably to the working surface of the inner wall of the flue, thereby enabling the hammer 131 to efficiently remove the slag on the inner wall.

[0053] Meanwhile, the thrust reverser 431 is filled with gas, which makes it in an inflated state. This allows the gas-filled thrust reverser 431 to protect the main connecting frame 2 when it needs to move within the flue and collides with the inner wall of the flue. This effectively protects the boom 11, the middle boom 12, the forearm 13, and the working equipment mounted on the forearm 13.

[0054] In one embodiment, refer to Figure 7 , Figure 13 A connecting box 44 is fixedly connected to the mounting plate 42. A rotating shaft 441 is rotatably connected in the connecting box 44. A turbine blade assembly 442 is fixedly connected to the outer periphery of the rotating shaft 441. The turbine blade assembly 442 is located inside the connecting box 44. One end of the rotating shaft 441 is driven to the main shaft 43 through a bevel gear assembly 443. An oil inlet pipe 444 and an oil outlet pipe 440 are respectively connected to both sides of the connecting box 44. The oil inlet pipe 444 is used to supply hydraulic oil to the connecting box 44 to drive the rotating shaft 441 to rotate.

[0055] Hydraulic oil is pumped into the inlet pipe 444. Upon entering the connecting box 44, the hydraulic oil pushes the turbine blade assembly 442, causing the rotating shaft 441 to rotate. This rotation of the shaft 441, in turn, drives the main shaft 43 to rotate via the bevel gear assembly 443, thereby driving the thrust reverser 431 to rotate. Figure 1 Taking the perspective as an example, the rotation direction of the reverse-pushing tire 431 is clockwise. The hydraulic oil that enters the connecting box 44 is then discharged from the connecting box 44 through the oil outlet pipe 440 and enters the oil tank for reuse.

[0056] In one embodiment, the device further includes an oil supply pipe 446, with a thrust monitoring component between the oil supply pipe 446 and the oil inlet pipe 444. When the forearm 13 is subjected to thrust, the component automatically opens the channel between the oil supply pipe 446 and the oil inlet pipe 444 to supply hydraulic oil to the connecting box 44. After the thrust on the forearm 13 disappears, the component automatically closes the channel between the oil supply pipe 446 and the oil inlet pipe 444. This prevents the reverse thrust tire 431 from rotating continuously, which could cause the forearm 13 to collide with the inner wall of the flue or the working surface. This improves the stability of the device during use and allows the reverse thrust tire 431 to rotate immediately after the forearm 13 is subjected to thrust, providing reverse thrust to the forearm 13.

[0057] In one embodiment, refer to Figure 11 , Figure 13 The thrust monitoring component includes a slide rod 451 slidably connected to a connecting frame 45. The connecting frame 45 is fixedly connected to the second boom support 4. The end of the slide rod 451 away from the connecting frame 45 is connected to the connecting frame 45 via a third spring 455. A chamber 452 is formed in the slide rod 451. An oil supply pipe 446 is fixedly connected to the slide rod 451 and communicates with the chamber 452. A semi-circular outer sleeve 445 is fixedly connected to one end of the oil inlet pipe 444. The semi-circular outer sleeve 445 is slidably connected to the slide rod 451. On the slide rod 451, a first connecting groove 453 and a second connecting groove 454 are respectively opened on the outer periphery of the slide rod 451. One end of the first connecting groove 453 and the second connecting groove 454 are connected to the chamber 452. The oil inlet pipe 444 and the semi-arc outer sleeve 445 are respectively connected to the first connecting groove 453 and the second connecting groove 454. It also includes a spring telescopic rod 456, one end of which is fixedly connected to the slide rod 451. An electromagnet 457 is fixedly connected to the end of the spring telescopic rod 456 away from the slide rod 451.

[0058] When the second arm support 4 is extended and pressed against the inner wall of the flue, the flue is usually made of metal. Therefore, by opening the electromagnet 457, the slide rod 451 can be fixed to the inner wall of the flue, thus restricting or fixing the position of the slide rod 451.

[0059] When one end of the forearm 13 is working on the work surface, the main connecting frame 2 is pushed, causing it to move away from the work surface. Since the slide rod 451 does not move relative to the main connecting frame 2, the oil inlet pipe 444, initially located between the first connecting groove 453 and the second connecting groove 454, moves closer to the first connecting groove 453 and connects with it. This allows the oil supply pipe 446 to supply hydraulic oil to the oil inlet pipe 444 through the chamber 452 and the first connecting groove 453. The hydraulic oil in the oil supply pipe 446 only flows to the connecting box 44 when the forearm 13 is pushed. Hydraulic oil is supplied to the main connecting frame 2. After the hydraulic oil enters the connecting box 44 through the first connecting groove 453, it will cause the thruster 431 to rotate and provide thrust. When it rotates, it will drive the main connecting frame 2 to move closer to the working surface. At this time, the semi-circular outer sleeve 445 will slide on the slide bar 451 again. At this time, due to the inertia of the thruster 431 rotating on the main connecting frame 2 to move closer to the working surface, the connection between the oil inlet pipe 444 and the semi-circular outer sleeve 445 will move to the second connecting groove 454. The hydraulic oil in the oil supply pipe 446 will continue to supply hydraulic oil to the connecting box 44 through the chamber 452, causing the thruster 431 to rotate.

[0060] It should be understood that when the oil inlet pipe 444 moves closer to the second connecting groove 454, the semi-circular outer sleeve 445 has a certain length, so it will not cause the first connecting groove 453 to leak oil.

[0061] This device, by changing the position between the slide bar 451 and the oil inlet pipe 444, can automatically monitor whether there is thrust between the hammer 131 and the working surface during operation, and then automatically pump hydraulic oil into the connecting box 44 to drive the reverse thrust tire 431 to rotate. Compared with directly installing an electromagnetic control valve between the oil supply pipe 446 and the oil inlet pipe 444, this solution can eliminate the need for manual opening or closing, and can make the reverse thrust tire 431 rotate immediately when the working equipment generates thrust, providing reverse thrust for the working equipment, thereby improving working efficiency.

[0062] When the working equipment does not work on the working surface, that is, when the hammer 131 does not contact the inner wall of the flue, the main connecting frame 2 swings back, and the semi-arc outer sleeve 445 resets, so that the oil inlet pipe 444 and the semi-arc outer sleeve 445 return to the position between the first connecting groove 453 and the second connecting groove 454, so that the chamber 452 is not connected to the oil inlet pipe 444, that is, the pumping of oil into the connecting box 44 stops, and the reverse thrust tire 431 stops rotating;

[0063] Alternatively, the electromagnet 457 can be turned off, preventing it from attracting the inner wall of the flue. Under the tension of the third spring 455, the slide bar 451 will be reset, which will also cause the oil inlet pipe 444 to return to the position between the first connecting groove 453 and the second connecting groove 454 at the connection point of the semi-arc outer sleeve 445, thus stopping the pumping of oil into the connecting box 44.

[0064] In another embodiment, when the flue material is not metal, the electromagnet 457 cannot be attracted to the inner wall. By installing a rubber block on the end of the spring telescopic rod 456 away from the slide rod 451, when the second arm support 4 is in close contact with the inner wall of the flue, the rubber block is also in close contact with the inner wall of the flue, providing the slide rod 451 with a large frictional force against the inner wall of the flue, so that the slide rod 451 does not move with the main connecting frame 2.

[0065] In one embodiment, it further includes: a deflation assembly for deflating the thrust reverser 431 when the rotating shaft 441 drives the thrust reverser 431 to rotate, thereby increasing the contact area between the thrust reverser 431 and the object it is in contact with.

[0066] When the thrust reverser 431 is filled with gas, the outer circumference of the thrust reverser 431 will be convex, which will reduce the contact area with the inner wall of the flue and weaken the friction provided when the thrust reverser 431 rotates.

[0067] Therefore, by setting up an air release component, this device allows the gas inside the thrust reverser 431 to be discharged when it rotates, thereby reducing the air pressure inside the thrust reverser 431. This increases the contact area between the thrust reverser 431 and the inner wall of the flue, resulting in greater friction and enhanced thrust reverser effect.

[0068] In one embodiment, refer to Figure 11 The second arm span bracket 4 has fixed rods 421 fixedly connected to both sides. The two ends of the mounting plate 42 are slidably connected to the corresponding fixed rods 421. The fixed rods 421 are fitted with second springs 422 to push the mounting plate 42 to fit tightly against the adjacent object.

[0069] By setting a second spring 422, when the air pressure in the thrust tire 431 decreases, the thrust provided by the second spring 422 to the mounting plate 42 can make the thrust tire 431 fit more tightly against the inner wall of the flue, thereby further improving the thrust effect on the front arm 13.

[0070] In one embodiment, refer to Figure 9 , Figure 11 , Figure 13The venting assembly includes a piston cylinder 461 fixedly connected to the mounting plate 42, an eccentric wheel 46 fixedly connected to the other end of the rotating shaft 441, a piston rod 462 with a piston at one end slidably connected in the piston cylinder 461, and the end of the piston rod 462 away from the piston cylinder 461 slidably connected in the circumferential grooves on both sides of the eccentric wheel 46; a suction pipe 463 and an exhaust pipe 464 are fixedly connected to the piston cylinder 461 respectively, and both the suction pipe 463 and the exhaust pipe 464 are equipped with one-way valves; a rotary valve is rotatably connected to the main shaft 43. The rotating connecting sleeve 469, the reverse thrust tire 431, and the rotating connecting sleeve 469 are connected by a pipeline. The end of the suction pipe 463 away from the piston cylinder 461 is fixedly connected to and communicates with the rotating connecting sleeve 469. It also includes an air tank 465. The end of the exhaust pipe 464 away from the piston cylinder 461 is fixedly connected to the air tank 465. A connecting pipe 467 is fixedly connected to the air tank 465. The end of the connecting pipe 467 away from the air tank 465 is fixedly connected to the rotating connecting sleeve 469. A solenoid valve 468 is installed on the connecting pipe 467.

[0071] When the shaft 441 rotates, the venting assembly uses the eccentric wheel 46 to pull and push the piston rod 462, and draws the gas in the thrust reverser 431 into the piston cylinder 461 through the venting pipe 463, and discharges the gas drawn from the thrust reverser 431 into the gas storage tank 465 through the exhaust pipe 464.

[0072] Furthermore, a pressure relief valve 466 is installed on the gas storage tank 465, which can release excess gas from the gas storage tank 465 to prevent excessive gas pressure.

[0073] When the main connecting frame 2 is moved and the thrust reverser 431 is required to provide protection, the gas in the gas tank 465 can be returned to the thrust reverser 431 by opening the solenoid valve 468 on the connecting pipe 467.

[0074] It should be understood that the thrust reverser 431 is equipped with an inflation tube that can inflate and replenish the thrust reverser 431 with gas.

[0075] Compared to the method of directly setting an electromagnetic control valve on the thrust reverser 431 to control the opening and closing of the vent pipe and setting an air pump to inflate the thrust reverser 431, the venting component in this embodiment can automatically vent the thrust reverser 431, thereby coordinating with the rotation of the thrust reverser 431 to enhance the thrusting effect. Compared to the method of setting an electromagnetic control valve, it can vent faster and reduce the use of electrical equipment, thereby reducing the production cost of the device.

[0076] It should be understood that the rotating connecting sleeve 469 is rotatably connected to the main shaft 43. Therefore, through the rotating connecting sleeve 469, the air in the thruster 431 can still be drawn in through the air extraction pipe 463 during the rotation of the thruster 431, and the air can be inflated into the thruster 431 through the connecting pipe 467.

[0077] This invention, by setting up a first boom support 3 and a second boom support 4, can fit tightly against the inner wall of the working area after deployment, and form triangular areas between the first boom support 3 and the main connecting frame 2, and between the second boom support 4 and the first boom support 3, to provide support for the boom 11, the middle boom 12, and the forearm 13 in the suspended state, thereby improving stability. At the same time, this device also sets up a thrust-reverse tire 431, which can rotate to provide thrust-reverse force to the forearm 13 when the working equipment on the forearm 13 is pushed away from the working surface, thereby effectively improving stability.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A furnace coking robot, comprising a mounting frame (1), characterized in that, Also includes: The upper arm (11), middle arm (12), and forearm (13) are rotated in sequence. One end of the upper arm (11) is rotatably connected to the mounting frame (1). The mounting frame (1), upper arm (11), middle arm (12), and forearm (13) are connected by hydraulic drive. The forearm (13) is equipped with working equipment for operation. The main connecting frame (2) is connected to the mounting bracket (1) via a connecting arm (14); The first boom support (3) is rotatably connected to both sides of the main connecting frame (2), and is driven to unfold away from the main connecting frame (2) by the first hydraulic column (22) between the first boom support (3) and the main connecting frame (2); The second boom support (4) is mounted on the first boom support (3) and is driven to unfold by the third hydraulic column (41) between the first boom support (3) and the second boom support (4) so ​​that the second boom support (4) is in contact with the adjacent object. The second boom support (4) is provided with a mounting plate (42), and a main shaft (43) is rotatably connected to the mounting plate (42). A thruster (431) is mounted on the main shaft (43). A connecting box (44) is fixedly connected to the mounting plate (42). A rotating shaft (441) is rotatably connected in the connecting box (44). A turbine blade assembly (442) is fixedly connected to the outer periphery of the rotating shaft (441). The turbine blade assembly (442) is located inside the connecting box (44). One end of the rotating shaft (441) is driven to the main shaft (43) through a bevel gear assembly (443). An oil inlet pipe (444) and an oil outlet pipe (440) are respectively connected to both sides of the connecting box (44). The oil inlet pipe (444) is used to supply hydraulic oil to the connecting box (44) to drive the rotating shaft (441) to rotate. Also includes: A thrust monitoring component is provided between the oil supply pipe (446) and the oil inlet pipe (444) to automatically open the channel between the oil supply pipe (446) and the oil inlet pipe (444) to supply hydraulic oil to the connecting box (44) when the forearm (13) is subjected to thrust, and automatically close the channel between the oil supply pipe (446) and the oil inlet pipe (444) after the thrust on the forearm (13) disappears; The thrust monitoring assembly includes a slide rod (451) slidably connected to a connecting frame (45). The connecting frame (45) is fixedly connected to the second boom support (4). The end of the slide rod (451) away from the connecting frame (45) is connected to the connecting frame (45) via a third spring (455). A chamber (452) is formed in the slide rod (451). The oil supply pipe (446) is fixedly connected to the slide rod (451) and communicates with the chamber (452). One end of the oil inlet pipe (444) is fixedly... A semi-circular outer sleeve (445) is fixedly connected to the slide rod (451). The slide rod (451) has a first connecting groove (453) and a second connecting groove (454) respectively opened on its outer periphery. One end of the first connecting groove (453) and the second connecting groove (454) are connected to the chamber (452). The oil inlet pipe (444) and the semi-circular outer sleeve (445) are respectively connected to the first connecting groove (453) and the second connecting groove (454). Also includes: A spring telescopic rod (456) is fixedly connected at one end to the slide rod (451), and an electromagnet (457) is fixedly connected at the end of the spring telescopic rod (456) away from the slide rod (451).

2. The furnace coking robot according to claim 1, characterized in that, The connecting arms (14) are rotatably connected to both sides of the mounting frame (1). Guide posts (141) are fixedly connected to both sides of the mounting frame (1). A clamping block (143) is slidably connected to the guide post (141). The clamping block (143) is fixedly connected to the top of the guide post (141) by a first spring (142). A clamping groove (144) is opened on one side of the lower end of the connecting arm (14). The clamping groove (144) corresponds to the clamping block (143).

3. The furnace coking robot according to claim 1, characterized in that, The top end of the first arm span support (3) is slidably connected to a telescopic support (32). The telescopic support (32) is connected to the first arm span support (3) through a second hydraulic column (31). The second hydraulic column (31) drives the telescopic support (32) to move away from the top end of the first arm span support (3). One end of the second arm span support (4) is rotatably connected to the telescopic support (32).

4. The furnace coking robot according to claim 1, characterized in that, The thrust reverser (431) is used to contact an adjacent object and to rotate to provide thrust to the forearm (13) when the working equipment on the forearm (13) is pushed away from the working surface.

5. A furnace coking robot according to claim 1, characterized in that, Also includes: The deflation assembly is used to deflate the thruster tire (431) when the shaft (441) drives the thruster tire (431) to rotate, thereby increasing the contact area between the thruster tire (431) and the object it contacts.

6. A furnace coking robot according to claim 5, characterized in that, The second arm span bracket (4) is fixedly connected to both sides of a fixed rod (421). The two ends of the mounting plate (42) are slidably connected to the corresponding fixed rod (421). A second spring (422) is sleeved on the fixed rod (421) to push the mounting plate (42) to fit tightly against the adjacent object.

7. A furnace coking robot according to claim 6, characterized in that, The venting assembly includes a piston cylinder (461) fixedly connected to the mounting plate (42), an eccentric wheel (46) fixedly connected to the other end of the rotating shaft (441), a piston rod (462) with a piston at one end slidably connected in the piston cylinder (461), and the end of the piston rod (462) away from the piston cylinder (461) slidably connected in the circumferential grooves on both sides of the eccentric wheel (46); The piston cylinder (461) is fixedly connected to a suction pipe (463) and an exhaust pipe (464). Both the suction pipe (463) and the exhaust pipe (464) are equipped with one-way valves. A rotating connecting sleeve (469) is rotatably connected to the main shaft (43). The thruster (431) and the rotating connecting sleeve (469) are connected through a pipeline. The end of the suction pipe (463) away from the piston cylinder (461) is fixedly connected to and communicates with the rotating connecting sleeve (469). It also includes an air tank (465), the end of the exhaust pipe (464) away from the piston cylinder (461) is fixedly connected to the air tank (465), a connecting pipe (467) is fixedly connected to the air tank (465), the end of the connecting pipe (467) away from the air tank (465) is fixedly connected to the rotating connecting sleeve (469), and a solenoid valve (468) is installed on the connecting pipe (467).

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