A garbage incinerator ignition robot

Abstract

The application discloses a garbage incinerator coking robot, which comprises a moving base, a chassis assembly arranged on the moving base and two mechanical arm assemblies symmetrically arranged on the chassis assembly. A linear drive assembly is arranged on the moving base and used to drive the chassis assembly to move into or away from the incinerator. A horizontal drive assembly and a pitch drive assembly are arranged on the chassis assembly and used to drive the mechanical arm assemblies to horizontally rotate and pitch respectively. The mechanical arm assembly comprises an outer square tube, a middle square tube and an inner square tube which are sequentially sleeved from outside to inside, and a coking head arranged at the end of the inner square tube. The middle square tube and the inner square tube are arranged in a telescopic mode. The garbage incinerator coking robot is used to solve the technical problems in the prior art, such as the need of manual coking removal, long cooling time of the incinerator, high-altitude operation, poor working environment, much dust, low efficiency, toxic substances, danger and high labor cost.

Description

Technical Field

[0001] This invention relates to the field of coking technology for waste incinerators, and more specifically, to a coking robot for waste incinerators. Background Technology

[0002] Coking is caused by factors such as the melting properties of ash, the organization of the intracranial aerodynamic field, and the actual temperature of the furnace. During the operation of a waste incinerator, the main cause of coking is the reaction of substances such as calcium oxide, silicon dioxide, and manganese oxide to form a low-melting-point eutectic. The melting point of the eutectic is lower than that of the ash. Localized combustion of minerals in the ash within the furnace causes mineral particles to adhere to each other, leading to coking. Severe coking can affect heat transfer stability, reduce negative pressure, increase flue gas temperature, cause abnormal temperature transmission problems, and force the incinerator to shut down for maintenance, resulting in incomplete combustion and the production of more toxic substances.

[0003] Waste incinerators are quite large, generally over 10 meters high. When removing coke, scaffolding or steel cables are needed to lower personnel down from the top. Furthermore, it takes anywhere from 10 days to half a month from shutdown to completion of coke removal. The daily losses from downtime are incalculable. The work efficiency is extremely low, the enclosed working environment is dusty and has a strong odor, the labor intensity is high, and it contains toxic substances and poses a danger. Therefore, there is an urgent need for a coke removal device that can achieve 100% coverage without requiring personnel to enter the incinerator to solve the labor shortage problem. Summary of the Invention

[0004] The purpose of this invention is to provide a waste incinerator decoking robot to solve the technical problems in the background art, such as the need for manual decoking of waste incinerators, long cooling time of incinerators, the need for climbing operations, poor working environment, high dust, low efficiency, presence of toxic substances, danger, and high labor costs.

[0005] The present invention provides a waste incinerator coking robot, comprising a mobile base, a chassis assembly mounted on the mobile base, and two robotic arm assemblies symmetrically mounted on the chassis assembly;

[0006] The mobile base is provided with a linear drive assembly for driving the chassis assembly to move into or away from the incinerator. The chassis assembly is provided with a horizontal drive assembly and a pitch drive assembly for driving the robotic arm assembly to rotate horizontally and paddle to strike, respectively.

[0007] The robotic arm assembly includes an outer square tube, a middle square tube, and an inner square tube arranged sequentially from the outside to the inside, as well as a coking head disposed at the end of the inner square tube. The outer square tube is connected to the chassis assembly, and both the middle square tube and the inner square tube are telescopically adjustable.

[0008] In a preferred embodiment, the mobile base includes a base body, a guide rail disposed on the base body, a slider slidably connected to the guide rail, and a mounting platform located above and connected to the slider, wherein the chassis assembly is disposed on the mounting platform.

[0009] In a preferred embodiment, the linear drive assembly includes a drive motor 1 mounted on the mounting platform, a drive gear connected to the output shaft of the drive motor 1, and a rack meshing with the drive gear. The rack is mounted on the base body and is arranged parallel to the guide rail. Both ends of the rack are provided with buffers and limit switches.

[0010] In a preferred embodiment, the chassis assembly includes a front end plate, a rear end plate, a connecting rod connecting the front end plate and the rear end plate, and a mounting cover disposed on the outside of the rear end plate.

[0011] In a preferred embodiment, the horizontal drive assembly includes a second drive motor disposed within the mounting cover, a drive wheel connected to the output shaft of the second drive motor, a driven wheel disposed on the mounting cover, and a synchronous belt sleeved on the drive wheel and the driven wheel. The rotation shaft of the driven wheel passes through the mounting cover and is connected to a rotating assembly, and the other end of the rotating assembly is movably connected to an outer square tube.

[0012] In a preferred embodiment, the rotating assembly includes a rotating bracket with one side rotatably connected to the top of the mounting cover and the other side fixedly connected to the rotation shaft of the driven wheel, and two rotating rods connected to the rotating bracket;

[0013] The end of the rotating rod away from the rotating bracket is rotatably connected to the outer square tube via a first adapter bracket. The outer square tube is connected to the pitch drive assembly and the front end plate via two second adapter brackets, respectively. The second adapter bracket is a bending bracket.

[0014] In a preferred embodiment, the pitch drive assembly includes a drive motor three disposed within the mounting cover, a transmission rod connected to the output shaft of the drive motor three, the transmission rod passing through the front end plate and connected to one of the adapter brackets two, and the other adapter bracket two being rotatably connected to the front end plate.

[0015] In a preferred embodiment, the outer square tube, the middle square tube, and the inner square tube are all double-layered, and the robotic arm assembly is provided with a telescopic drive assembly;

[0016] The telescopic drive assembly includes an electric push rod disposed between the two outer square tubes, a telescopic frame one connected to the output end of the electric push rod and disposed at the end of the middle square tube, a telescopic frame two slidably disposed on the outer square tube, and a transmission assembly connecting the telescopic frame one and the telescopic frame.

[0017] The transmission assembly includes a first synchronous pulley mounted on the first telescopic frame, a second synchronous pulley mounted on the second telescopic frame, and a synchronous steel wire rope sleeved around the first and second synchronous pulleys. The upper half of the synchronous steel wire rope is provided with a first fixing block, and the lower half of the synchronous steel wire rope is provided with a second fixing block. The first fixing block is fixed to the outer square tube, and the second fixing block is fixed to the inner square tube.

[0018] The two synchronous wheels on the upper and lower outer square tubes rotate synchronously through a linkage assembly. The linkage assembly includes a linkage wheel one and a linkage wheel two connected to the upper and lower synchronous wheels two respectively, and a linkage belt sleeved on the linkage wheel one and the linkage wheel two.

[0019] In a preferred embodiment, a limiting roller is provided on the telescopic frame, and the limiting roller makes rolling contact with the upper surface of the inner square tube.

[0020] In a preferred embodiment, the inner square tube is provided with a coking mounting frame at its end, and a tilting cylinder is provided on the coking mounting frame. The coking head includes a pneumatic pick, and the output shaft of the tilting cylinder is connected to the pneumatic pick. The coking mounting frame is also provided with a dustproof camera and a dustproof searchlight.

[0021] The beneficial effects of the technical solution of this invention are:

[0022] In this solution, the robotic arm assembly can be retracted to both sides of the chassis assembly when not in use, occupying little space and adapting to the auxiliary combustion holes of most incinerators, ensuring that the coking robot can enter the furnace to perform coking operations; when in use, it extends horizontally from both sides of the chassis assembly, and the horizontal rotation angle is adjustable.

[0023] The coking method using dual robotic arm components can achieve telescopic, horizontal rotation, and pitching operations, offering high flexibility, a large coking range, and high coking efficiency. It is also safer than manual coking.

[0024] In this solution, the drive method of electric push rod and synchronous wire rope transmission can achieve double the extension of the push rod, with a wide operating range, simple structure, high efficiency, light weight and low cost. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the coking robot of the present invention extending into the furnace.

[0026] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 3 This is a schematic diagram of the shrinkage structure of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the movable base and linear drive component of the present invention.

[0029] Figure 5 This is a schematic diagram of the chassis component structure of the present invention.

[0030] Figure 6 This is a partial structural diagram of the horizontal drive component and the pitch drive component of the present invention.

[0031] Figure 7 This is a schematic diagram of the first and second adapter brackets of the present invention.

[0032] Figure 8 This is a schematic diagram of the robotic arm assembly structure of the present invention.

[0033] Figure 9 This is a schematic diagram of the telescopic frame structure of the present invention.

[0034] Figure 10 This is a schematic diagram of the telescopic frame structure of the present invention.

[0035] Explanation of reference numerals in the attached drawings: 1. Moving base; 11. Base body; 12. Guide rail; 13. Slider; 14. Mounting platform; 15. Buffer; 16. Limit switch; 2. Linear drive assembly; 21. Drive motor one; 22. Drive gear; 23. Rack; 3. Chassis assembly; 31. Front end plate; 32. Rear end plate; 33. Linkage rod; 34. Mounting cover; 4. Horizontal drive assembly; 41. Drive motor two; 42. Drive wheel; 43. Driven wheel; 44. Synchronous belt; 45. Rotary assembly; 451. Rotary bracket; 452. Rotary rod; 453. Adapter bracket one; 454. Adapter bracket two; 5. Pitch drive. 51 Drive Motor III, 52 Transmission Rod, 6 Telescopic Drive Assembly, 61 Electric Push Rod, 62 Telescopic Frame I, 63 Telescopic Frame II, 64 Transmission Assembly, 641 Synchronous Pulley I, 642 Synchronous Pulley II, 643 Synchronous Steel Wire Rope, 644 Fixing Block I, 645 Fixing Block II, 646 Linkage Pulley I, 647 Linkage Pulley II, 648 Linkage Belt, 65 Limiting Roller, 7 Coking Mounting Frame, 71 Dustproof Camera, 72 Dustproof Searchlight, 73 Swing Cylinder, 8 Robotic Arm Assembly, 81 Outer Square Tube, 82 Middle Square Tube, 83 Inner Square Tube, 84 Pneumatic Pick. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0037] like Figure 1-10 As shown, the present invention provides a waste incinerator coking robot, including a movable base 1, a chassis assembly 3 mounted on the movable base 1, and two robotic arm assemblies 8 symmetrically mounted on the chassis assembly 3. The movable base 1 is equipped with wheels for movement. The chassis assembly 3 can move on the movable base 1 and extend into the incinerator through auxiliary combustion holes on the side wall of the incinerator. The two robotic arm assemblies 8 are respectively located on both sides of the chassis assembly 3, and can extend and retract, as well as rotate horizontally and pitch, reaching the desired coking position according to usage requirements. When not in use, the two robotic arm assemblies 8 can retract to the sides of the chassis assembly 3, occupying little space for easy transport and storage. When in use, the robotic arm assemblies 8 extend horizontally from both sides of the chassis assembly 3, with adjustable horizontal rotation angles. The dual robotic arm assemblies 8 provide a large coking range and high coking efficiency, while also being safer and reducing costs compared to manual coking.

[0038] The mobile base 1 is equipped with a linear drive assembly 2 for driving the chassis assembly 3 to move into or away from the incinerator. The chassis assembly 3 is equipped with a horizontal drive assembly 4 and a pitch drive assembly 5 for driving the robotic arm assembly 8 to rotate horizontally and paddle vertically, respectively. The robotic arm assembly 8 includes an outer square tube 81, a middle square tube 82, and an inner square tube 83 arranged sequentially from the outside to the inside, and a coking head disposed at the end of the inner square tube 83. The outer square tube 81 is connected to the chassis assembly 3. The middle square tube 82 and the inner square tube 83 are telescopically oriented, and during extension, the coking head extends a certain distance.

[0039] The linear drive assembly 2 can drive the chassis assembly 3 to move and extend into the incinerator. The horizontal drive assembly 4 is used to drive the two robotic arm assemblies 8 to rotate horizontally, switching from a retracted state to an extended state. The pitch drive assembly 5 is used to drive the robotic arm assembly 8 to pitch, thereby driving the slag-beating head to beat and disperse the coke material in the incinerator. The square tube 82 and inner square tube 83 in the robotic arm assembly 8 can be telescopic, retracting into the outer square tube 81 when not in use, and extending outward when in use. The extension length is determined according to actual usage requirements.

[0040] The movable base 1 includes a base body 11, a guide rail 12 disposed on the base body 11, a slider 13 slidably connected to the guide rail 12, and a mounting platform 14 located above and connected to the slider 13. The chassis assembly 3 is disposed on the mounting platform 14. The linear drive assembly 2 includes a drive motor 21 disposed on the mounting platform 14, a drive gear 22 connected to the output shaft of the drive motor 21, and a rack 23 meshing with the drive gear 22. The rack 23 is disposed on the base body 11 and is arranged parallel to the guide rail 12. Both ends of the rack 22 are provided with a buffer 15 and a limit switch 16.

[0041] In the above scheme, when the drive motor 21 runs, it drives the drive gear 22 at its output end to rotate. Because the drive gear meshes with the rack 23, when the drive gear 22 rotates, the slider 13 slides on the guide rail 12, thereby driving the installation platform 14 to move, and finally realizing the movement of the robotic arm assembly 8. The robotic arm assembly 8 is transported into the furnace, ensuring the operational flexibility and space of the robotic arm assembly 8, and improving the coking efficiency.

[0042] The chassis assembly 3 includes a front end plate 31, a rear end plate 32, a connecting rod 33 connecting the front end plate 31 and the rear end plate 32, and a mounting cover 34 disposed on the outside of the rear end plate 32. The mounting cover 34 provides sealed protection for the drive components, greatly reducing the impact of grinding and polishing dust on the motor and extending the service life of the motor.

[0043] The horizontal drive assembly 4 includes a second drive motor 41 housed within the mounting cover 34, a drive wheel 42 connected to the output shaft of the second drive motor 41, a driven wheel 43 mounted on the mounting cover 34, and a synchronous belt 44 sleeved around the drive wheel 42 and the driven wheel 43. The rotation shaft of the driven wheel 43 passes through the mounting cover 34 and is connected to a rotating assembly 45. The other end of the rotating assembly 45 is movably connected to an outer square tube 81. The rotating assembly 45 includes a rotating bracket 451, one side of which is rotatably connected to the top of the mounting cover 34, and the other side of which is fixedly connected to the rotation shaft of the driven wheel 43. Two rotating rods 452 are connected to the rotating bracket 451. The end of the rotating rod 452 away from the rotating bracket 451 is rotatably connected to the outer square tube 81 via a first adapter bracket 453. The outer square tube 81 is connected to the pitch drive assembly 5 and the front end plate 31 via two second adapter brackets 454, respectively. The second adapter bracket 454 is a bent bracket.

[0044] The second drive motor 41 indirectly drives the rotating bracket 451 to rotate. When the rotating bracket 451 rotates, its position changes, which in turn drives the rotating bracket 451 connected to it to move, so that the rotating bracket 451 has a certain thrust on the first adapter bracket 453. At the same time, because the first adapter bracket 453 is rotatably connected to the outer square tube 81, and the outer square tube 81 is connected to the front end plate 31 and the pitch drive assembly 5 through shafts, the second adapter bracket 454 can rotate at the shaft connection between the second adapter bracket 454 and the front end plate 31 and the pitch drive assembly 5.

[0045] During the coking process, the robotic arm assembly 8 performs a pitching and striking motion via the pitch drive assembly 5. The pitch drive assembly 5 includes a drive motor 51 housed within the mounting cover 34, a transmission rod 52 connected to the output shaft of the drive motor 51, and the transmission rod 52 passing through the front end plate 31 and connected to one of the adapter brackets 454. The other adapter bracket 454 is rotatably connected to the front end plate 31. The transmission rod 52 drives the adapter bracket 454 to rotate. Both ends of the rotating rod 452 are movably connected, ensuring that when the transmission rod 52 is driven by the drive motor 51, the robotic arm assembly 8 rotates at the connection point between the adapter bracket 454, the transmission rod 52, and the front end shaft.

[0046] The outer square tube 81, middle square tube 82, and inner square tube 83 are all double-layered, which provides better stability. The robotic arm assembly 8 is equipped with a telescopic drive assembly 6. The telescopic drive assembly 6 includes an electric push rod 61 positioned between the two outer square tubes 81, a telescopic frame 62 connected to the output end of the electric push rod 61 and positioned at the end of the middle square tube 82, a telescopic frame 63 slidably mounted on the outer square tube 81, and a transmission assembly 64 connecting the telescopic frame 62 and the telescopic frame. When the electric push rod 61 extends, it drives the telescopic frame 62 connected to it to move, thereby causing the middle square tube 82 to extend from the outer square tube 81. Because of the transmission assembly 64, the inner square tube 83 can extend from the middle square tube 82 simultaneously with the extension of the middle square tube 82, achieving a forward movement of the middle square tube 82 equal to the stroke of one electric push rod 61, and a forward movement of the inner square tube 83 equal to the stroke of two electric push rods 61, thus achieving a forward movement of the end coking head equal to the stroke of two electric cylinders.

[0047] The transmission assembly 64 includes a first synchronous pulley 641 mounted on the first telescopic frame 62, a second synchronous pulley 642 mounted on the second telescopic frame 63, and a synchronous steel wire rope 643 sleeved around the first synchronous pulley 641 and the second synchronous pulley 642. The upper half of the synchronous steel wire rope 643 is provided with a first fixing block 644, and the lower half of the synchronous steel wire rope 643 is provided with a second fixing block 645. The first fixing block 644 is fixed to the outer square tube 81, and the second fixing block 645 is fixed to the inner square tube 83. Because fixing block 1 644 fixes the upper part of the synchronous steel wire rope 643 to the outer square tube 81, and fixing block 2 645 fixes the lower part of the synchronous steel wire rope 643 to the inner square tube 83, and telescopic frame 2 63 is slidably set on the outer square tube 81, when the electric push rod 61 pushes telescopic frame 1 62 to move forward, the steel wire rope rotates, thereby driving telescopic frame 2 63 to slide on the outer square tube 81, and the square tube 82 and the inner square tube 83 extend synchronously.

[0048] The two synchronous pulleys 642 on the upper and lower outer square tubes 81 rotate synchronously through a linkage assembly. The linkage assembly includes a first linkage pulley 646 and a second linkage pulley 647 connected to the upper and lower synchronous pulleys 642 respectively, and a linkage belt 648 sleeved on the first linkage pulley 646 and the second linkage pulley 647. When the second synchronous pulley 642 rotates, the synchronous belt 648 enables the first linkage pulley 646 and the second linkage pulley 647 to rotate synchronously, thereby causing the square tubes 82 and the outer square tubes 81 in the upper and lower layers to extend synchronously.

[0049] The telescopic frame 62 is equipped with a limiting roller 65, which makes rolling contact with the upper surface of the inner square tube 83. The limiting roller 65 limits the position of the inner square tube 83 and ensures the stability of the inner square tube 83 during telescopic movement.

[0050] The inner square tube 83 is equipped with a coking mounting frame 7 at its end, and a tilting cylinder 73 is mounted on the coking mounting frame 7. The coking head includes a pneumatic pick 84, and the output shaft of the tilting cylinder 73 is connected to the pneumatic pick 84. The coking mounting frame 7 is also equipped with a dustproof camera 71 and a dustproof searchlight 72. The tilting cylinder 73 can drive the pneumatic pick 84 to rotate, retracting it when not in use and extending it when needed. The dustproof searchlight 72 and the dustproof camera 71 can display the furnace interior in real time, eliminating the need for personnel to enter the furnace and completely avoiding the dangers of personnel entering the furnace for coking. This makes coking a safe and simple task, saving costs and reducing downtime losses.

[0051] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A waste incinerator decoking robot, characterized in that: It includes a movable base, a chassis assembly mounted on the movable base, and two robotic arm assemblies symmetrically mounted on the chassis assembly; The mobile base is provided with a linear drive assembly for driving the chassis assembly to move into or away from the incinerator. The chassis assembly is provided with a horizontal drive assembly and a pitch drive assembly for driving the robotic arm assembly to rotate horizontally and paddle to strike, respectively. The robotic arm assembly includes an outer square tube, a middle square tube, and an inner square tube arranged sequentially from the outside to the inside, as well as a coking head disposed at the end of the inner square tube. The outer square tube is connected to the chassis assembly, and both the middle square tube and the inner square tube are telescopically oriented. The outer square tube, the middle square tube, and the inner square tube are all double-layered, and the robotic arm assembly is equipped with a telescopic drive assembly. The telescopic drive assembly includes an electric push rod disposed between the two outer square tubes, a telescopic frame one connected to the output end of the electric push rod and disposed at the end of the middle square tube, a telescopic frame two disposed at the other end of the middle square tube, and a transmission assembly connecting the telescopic frame one and the telescopic frame two. The transmission assembly includes a first synchronous pulley mounted on the first telescopic frame, a second synchronous pulley mounted on the second telescopic frame, and a synchronous steel wire rope sleeved around the first and second synchronous pulleys. The upper half of the synchronous steel wire rope is provided with a first fixing block, and the lower half of the synchronous steel wire rope is provided with a second fixing block. The first fixing block is fixed to the outer square tube, and the second fixing block is fixed to the inner square tube. The two synchronous wheels on the upper and lower outer square tubes rotate synchronously through a linkage assembly. The linkage assembly includes a linkage wheel one and a linkage wheel two connected to the upper and lower synchronous wheels two respectively, and a linkage belt sleeved on the linkage wheel one and the linkage wheel two. The inner square tube is provided with a coking mounting frame at its end, and a swing cylinder is provided on the coking mounting frame. The coking head includes a pneumatic pick, and the output shaft of the swing cylinder is connected to the pneumatic pick. The coking mounting frame is also provided with a dustproof camera and a dustproof searchlight.

2. The waste incinerator decoking robot according to claim 1, characterized in that: The mobile base includes a base body, a guide rail disposed on the base body, a slider slidably connected to the guide rail, and a mounting platform located above the slider and connected to the slider. The chassis assembly is disposed on the mounting platform.

3. The waste incinerator decoking robot according to claim 2, characterized in that: The linear drive assembly includes a drive motor 1 mounted on the mounting platform, a drive gear connected to the output shaft of the drive motor 1, and a rack meshing with the drive gear. The rack is mounted on the base body and is arranged parallel to the guide rail. Both ends of the rack are provided with buffers and limit switches.

4. The waste incinerator decoking robot according to claim 1, characterized in that: The chassis assembly includes a front end plate, a rear end plate, a connecting rod connecting the front end plate and the rear end plate, and a mounting cover disposed on the outside of the rear end plate.

5. The waste incinerator decoking robot according to claim 4, characterized in that: The horizontal drive assembly includes a second drive motor disposed inside the mounting cover, a drive wheel connected to the output shaft of the second drive motor, a driven wheel disposed on the mounting cover, and a synchronous belt sleeved on the drive wheel and the driven wheel. The rotation shaft of the driven wheel passes through the mounting cover and is connected to a rotating assembly. The other end of the rotating assembly is movably connected to an outer square tube.

6. The waste incinerator decoking robot according to claim 5, characterized in that: The rotating assembly includes a rotating bracket with one side rotatably connected to the top of the mounting cover and the other side fixedly connected to the rotation shaft of the driven wheel, and two rotating rods connected to the rotating bracket; The end of the rotating rod away from the rotating bracket is rotatably connected to the outer square tube via a first adapter bracket. The outer square tube is connected to the pitch drive assembly and the front end plate via two second adapter brackets, respectively. The second adapter bracket is a bending bracket.

7. The waste incinerator decoking robot according to claim 6, characterized in that: The pitch drive assembly includes a drive motor three disposed within the mounting cover, a transmission rod connected to the output shaft of the drive motor three, the transmission rod passing through the front end plate and connected to one of the adapter brackets two, and the other adapter bracket two being rotatably connected to the front end plate.

8. The waste incinerator coking robot according to claim 1, characterized in that: The telescopic frame is provided with a limiting roller, which makes rolling contact with the upper surface of the inner square tube.

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