Multi-mode composite motion robot for cleaning cakes in ash discharging pipeline of ash silo

Abstract

The invention discloses a multi-mode composite motion robot for cleaning cakes in an ash discharging pipeline of an ash silo, which comprises a head screw mechanism, a middle wriggling mechanism, a tail screw mechanism and a cleaning mechanism, each of the head screw mechanism and the tail screw mechanism comprises a shell, a large bevel gear, a small bevel gear, a reducing motor, a supporting wheel trapezoidal lead screw, a driving wheel trapezoidal lead screw, a bracket, a belt, a polished rod, a supporting wheel, a driving wheel, a supporting wheel connecting piece and a driving wheel connecting piece; the middle creeping mechanism comprises a middle shell, a gear motor, a gear, an upper rack, a lower rack and a guide rail mechanism; the cleaning mechanism is arranged at the front end of the head screw mechanism and comprises a sensor module used for recognizing caking in the ash discharging pipeline and a cleaning device with air injection and rotary cleaning functions. The pipeline cleaning device can be suitable for cleaning pipelines made of various materials, a supporting wheel supporting and driving wheel supporting mode and a spiral advancing, wriggling and spiral wriggling advancing mode can be achieved, and the cleaning efficiency and quality can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of pipeline cleaning robots, and in particular relates to a multi-mode composite motion robot used for cleaning ash pipeline agglomerations under an ash silo. Background Art

[0002] Fly ash silos are important infrastructure of thermal power plants. In the context of thermal power generation using economical coal, the ash pipelines under the ash silos are prone to problems such as fly ash agglomeration and adhesion to the inner wall. In severe cases, this may even lead to paralysis of the ash transportation system.

[0003] The known authorization announcement number CN114718508B discloses a pipeline inner wall cleaning robot, including an actuator and a control module, wherein the actuator includes a telescopic rod, two magnetic absorbers and a scraping part, the telescopic direction of the telescopic rod is parallel to the extension direction of the pipeline, the two magnetic absorbers are respectively connected to the two ends of the telescopic rod, the magnetic absorber can be operated to generate magnetic force to adsorb on the inner wall of the pipeline, the scraping part is connected to the magnetic absorber, and the scraping part abuts against the inner wall of the pipeline, which is used to scrape impurities on the inner wall of the pipeline; the control module is electrically connected to the actuator, and is used to issue a work instruction to the actuator to control the extension and retention of the telescopic rod, and the generation and disappearance of the magnetic force of the magnetic absorber, so that the actuator can move along the pipeline in the pipeline and clean it. However, the robot may not have a good adsorption effect on the inner wall of the non-magnetic or weakly magnetic pipeline, which affects the stability and propulsion efficiency of the robot. In addition, the scraping part abuts against the inner wall of the pipeline and easily causes certain damage to the pipe wall, and the planar scraping part has a single cleaning method for the agglomerates, and the cleaning effect is poor. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a multi-mode compound motion robot for cleaning ash agglomerates in ash pipes under ash silos.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows: A multi-mode compound motion robot for cleaning ash pipeline agglomeration under ash silo, comprising a head spiral mechanism, a middle peristaltic mechanism, a tail spiral mechanism and a cleaning mechanism. The head spiral mechanism and the tail spiral mechanism both include a shell, a large bevel gear, a small bevel gear, a reducer motor, a support wheel trapezoidal screw, a driving wheel trapezoidal screw, a bracket, a belt, a light rod, a support wheel, a driving wheel, a support wheel connecting piece and a driving wheel connecting piece, wherein; the reducer motor is installed in the shell through a mounting plate, the output shaft of the reducer motor is fixedly connected to the large bevel gear, four small bevel gears are meshed around the large bevel gear, the small bevel gear is connected to the support wheel trapezoidal screw, and a driving wheel trapezoidal screw corresponding to each support wheel trapezoidal screw is provided on the side of the mounting plate away from the large bevel gear, one end of the support wheel trapezoidal screw and one end of the driving wheel trapezoidal screw are respectively installed in the shell through a bracket, and the other ends of the support wheel trapezoidal screw and the driving wheel trapezoidal screw respectively extend out of the shell, the extended end of the support wheel trapezoidal screw is threadedly connected to the support wheel connecting piece, the extended end of the driving wheel trapezoidal screw is threadedly connected to the driving wheel connecting piece, and the thread directions of the support wheel trapezoidal screw and the driving wheel trapezoidal screw are opposite; The supporting wheel connecting member is provided with a supporting wheel, the driving wheel connecting member is provided with a driving wheel and a hydraulic motor driving the driving wheel, the bracket is provided with a light bar for guiding the supporting wheel connecting member and the driving wheel connecting member, and the corresponding supporting wheel trapezoidal screw and the driving wheel trapezoidal screw are connected through a belt and a pulley transmission; The supporting wheel moves along the axis of the pipeline, while the driving wheel does not move along the axis of the ash discharge pipeline. The driving wheel is set at a helical angle so that the robot can achieve spiral motion in the ash discharge pipeline. The intermediate peristaltic mechanism includes an intermediate housing, a reduction motor, a gear, an upper rack, a lower rack and a guide rail mechanism, wherein the upper rack is fixedly connected to the housing of the tail spiral mechanism, the lower rack is fixedly connected to the housing of the head spiral mechanism, the reduction motor is arranged inside the intermediate housing, and the output end of the reduction motor is provided with a gear meshing with the upper rack and the lower rack; The cleaning mechanism is arranged at the front end of the head spiral mechanism, and comprises a sensor module for identifying agglomerates in the ash lowering pipeline and a cleaning device with jetting and rotating cleaning.

[0006] Furthermore, the helix angle directions of the driving wheel of the head helical mechanism and the driving wheel of the tail helical mechanism are opposite.

[0007] Furthermore, the guide rail mechanism includes a linear guide rail, a slider and a limit block. The outer shells of the head spiral mechanism and the tail spiral mechanism are respectively provided with sliders, the linear guide rail is arranged on the two sliders, and the two ends of the linear guide rail are respectively provided with limit blocks.

[0008] Furthermore, the cleaning device includes a cylindrical disk, a blade and a DD motor. The blades are evenly distributed on the outer circumference of the cylindrical disk. The DD motor is installed at the front end of the head spiral mechanism. The output shaft of the DD motor is connected to the cylindrical disk. The sensor module is arranged in the cylindrical disk. An annular air cavity is arranged between the inner and outer walls of the cylindrical disk. An air inlet hole connected to the annular air cavity is arranged on one side of the cylindrical disk. The air inlet hole is connected to one end of the air inlet pipe through a sealing bearing. The other end of the air inlet pipe is connected to an external high-pressure air source. A plurality of exhaust holes connected to the air cavity are arranged in the blade.

[0009] Furthermore, the blade edge of the blade does not contact the inner wall of the ash discharge pipe, and a gap is provided between the blade edge and the inner wall of the ash discharge pipe.

[0010] Furthermore, an inspection port is provided at the tail end of the shell of the tail spiral mechanism.

[0011] The multi-mode compound motion robot for cleaning ash agglomeration in ash pipes under ash silos of the present invention has the following beneficial effects: 1. The present invention can be applied to cleaning of pipelines of various materials. Both the head spiral mechanism and the tail spiral mechanism are equipped with supporting wheels and driving wheels, and the supporting wheels and driving wheels can be switched for use. The robot can realize supporting wheel support and driving wheel support modes, spiral travel, peristalsis, and spiral peristalsis travel modes. The sensor module can identify the agglomeration situation in the ash lowering pipeline and reasonably select the supporting mode and the travel mode. The cleaning device adopts a blade with jet and rotation to crush the agglomeration and generates a strong airflow through high-pressure jet to clean the inner wall of the ash lowering pipeline, which can realize comprehensive and in-depth cleaning of the inner wall of the ash lowering pipeline, and can effectively improve the cleaning efficiency and quality.

[0012] 2. The combination of bevel gear transmission and belt transmission of the present invention enables a variable diameter motor to achieve variable diameter control of the support wheel and the drive wheel.

[0013] 3. The present invention uses the screw principle to achieve diameter change, and fully utilizes the good self-locking function of the screw to achieve rigid diameter change of the robot, ensuring that the robot has sufficient contact with the pipe wall and moves stably in the pipe.

[0014] 4. The spiral angles of the head spiral mechanism and the tail spiral mechanism of the present invention are in opposite directions, which is conducive to offsetting the reverse torque when the motor rotates, ensuring that the intermediate peristaltic structure maintains a relatively stable posture and does not twist around the axis in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the head spiral mechanism in a preferred embodiment of the present invention; Figure 3It is a structural schematic diagram of the intermediate peristaltic mechanism in a preferred embodiment of the present invention; Figure 4 It is a structural schematic diagram of a cleaning mechanism in a preferred embodiment of the present invention; Figure 5 A cross-sectional view of a cleaning device in a preferred embodiment of the present invention; Figure 6 It is a schematic diagram of the working of the present invention in a pipeline; In the figure: head spiral mechanism 1, middle peristaltic mechanism 2, tail spiral mechanism 3, large bevel gear 4, small bevel gear 5, variable diameter motor 6, support wheel trapezoidal screw 7, drive wheel trapezoidal screw 8, bracket 9, belt 10, light rod 11, support wheel 12, drive wheel 13, support wheel connecting piece 14, drive wheel connecting piece 15, cleaning mechanism 16, sensor module 17, blade with air hole 18, guide rail mechanism 19, gear 20, lower rack 21, slider 22, limit block 23, linear guide 24, inspection port 25, reduction motor 26, exhaust hole 27, hydraulic motor 28, upper rack 29, DD motor 30, air inlet pipe 31, air inlet hole 32, annular air cavity 33, cylindrical disk 34, lower ash pipe 35, sealed bearing 36, mounting plate 100. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0017] Example 1: See Figures 1 to 6As shown, a multi-mode compound motion robot for cleaning ash pipe agglomerates under an ash silo comprises a head spiral mechanism 1, an intermediate peristaltic mechanism 2, a tail spiral mechanism 3 and a cleaning mechanism 16, wherein the head spiral mechanism 1 and the tail spiral mechanism 3 both comprise a housing, a large bevel gear 4, a small bevel gear 5, a variable diameter motor 6, a support wheel trapezoidal screw 7, a drive wheel trapezoidal screw 8, a bracket 9, a belt 10, a light bar 11, a support wheel 12, a drive wheel 13, a support wheel connector 14 and a drive wheel connector 15, wherein the variable diameter motor 6 is mounted in the housing through a mounting plate 100, the output shaft of the variable diameter motor 6 is fixedly connected to the large bevel gear 4, the large bevel gear 4 is meshed with four small bevel gears 5, and the small bevel gears 5 are meshed with the large bevel gear 4. The gear 5 is connected to the support wheel trapezoidal screw 7, and a driving wheel trapezoidal screw 8 corresponding to each support wheel trapezoidal screw 7 is provided on the side of the mounting plate 100 away from the large bevel gear 4. One end of the support wheel trapezoidal screw 7 and one end of the driving wheel trapezoidal screw 8 are respectively installed in the housing through the bracket 9, and the other ends of the support wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are respectively extended out of the housing, and the extended end of the support wheel trapezoidal screw 7 is threadedly connected to the support wheel connecting piece 14, and the extended end of the driving wheel trapezoidal screw 8 is threadedly connected to the driving wheel connecting piece 15, and the thread directions of the support wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are opposite; a support wheel 12 is installed on the support wheel connecting piece 14, and the driving wheel connecting piece 15 is installed There is a driving wheel 13 and a hydraulic motor 28 for driving the driving wheel 13. The bracket 9 is provided with a light bar 11 for guiding the supporting wheel connecting member 14 and the driving wheel connecting member 15. Specifically, the supporting wheel connecting member 14 and the driving wheel connecting member 15 are designed with trapezoidal threaded holes and cylindrical through holes, and the light bar 11 passes through the cylindrical through holes; the corresponding supporting wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are connected by a belt 10 and a pulley transmission; the above structure enables the variable diameter motor 6 to realize the variable diameter control of the four supporting wheels 12 and the four driving wheels 13, thereby realizing the switching use of the supporting wheel 12 and the driving wheel 13, more specifically, by controlling the variable diameter motor 6 to drive the large bevel gear forward and reverse 4 rotates, which can drive the four small bevel gears 5 and the supporting wheel trapezoidal screw 7 to rotate, and the supporting wheel connecting piece 14 and the supporting wheel 12 are driven to move by the screw principle, so that the supporting wheel 12 can be contracted in the ash lowering pipe or supported on the inner wall of the ash lowering pipe to realize variable diameter support. Since the thread directions of the supporting wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are opposite, and the supporting wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are connected by the belt 10 and the pulley transmission, when the supporting wheel trapezoidal screw 7 rotates, it will also drive the driving wheel trapezoidal screw 8 to rotate in the opposite direction, so that when the supporting wheel 12 contracts, the driving wheel 13 supports; when the supporting wheel 12 supports, the driving wheel 13 contracts, thereby realizing the switching of the support mode.

[0018] The support wheel 12 moves along the axis of the pipeline, while the driving wheel 13 does not move along the axis of the ash lowering pipeline. The driving wheel 13 is set at a spiral angle so that the robot can realize spiral motion in the ash lowering pipeline. When the driving wheel 13 contacts the wall of the ash lowering pipeline, each wheel will not only generate forward thrust when rotating, but also generate a component force, which will cause the robot to perform spiral motion along the pipe wall.

[0019] See also Figure 3 As shown, the intermediate peristaltic mechanism 2 includes an intermediate housing, a reduction motor 26, a gear 20, an upper rack 29, a lower rack 21 and a guide rail mechanism 19, wherein; the upper rack 29 is fixedly connected to the housing of the tail spiral mechanism 3, the lower rack 21 is fixedly connected to the housing of the head spiral mechanism 1, the reduction motor 26 is arranged inside the intermediate housing, and the output end of the reduction motor 26 is provided with a gear 20 meshing with the upper rack 29 and the lower rack 21; the extension and retraction of the head spiral mechanism 1 and the tail spiral mechanism 3 can be controlled by controlling the forward and reverse rotation of the reduction motor 26, specifically: when the reduction motor 26 rotates forward for a certain number of circles, during this process, the gear 20 will drive the upper rack 29 and the lower rack 21 to extend outward, and the robot will stretch; when the reduction motor 26 reverses for a certain number of circles, the gear 20 will drive the upper rack 29 and the lower rack 21 to shrink inward; by controlling the forward and reverse rotation of the reduction motor 26 and the support mode of the head spiral mechanism 1 and the tail spiral mechanism 3, the peristaltic movement of the robot can be realized.

[0020] In this embodiment, the cleaning mechanism 16 is arranged at the front end of the head spiral mechanism 1, including a sensor module 17 for identifying lumps in the ash lowering pipe and a cleaning device with jet and rotation cleaning. Preferably, the sensor module is a laser radar, which can scan the inner wall of the ash lowering pipe.

[0021] In this embodiment, the spiral angles of the driving wheel 13 of the head spiral mechanism 1 and the driving wheel 13 of the tail spiral mechanism 3 are opposite in direction. The opposite spiral angles can offset the reverse torque when the motor rotates, ensuring that the intermediate peristaltic mechanism maintains a relatively stable posture.

[0022] See also Figure 3 As shown, the guide rail mechanism 19 includes a linear guide rail 24, a slider 22 and a limit block 23. The housings of the head spiral mechanism 1 and the tail spiral mechanism 3 are provided with sliders 22 respectively, the linear guide rail 24 is provided on the two sliders 22, and the two ends of the linear guide rail 24 are provided with limit blocks 23 respectively. The stability of the creeping motion is improved by setting the guide rail mechanism 19, and the limit blocks 23 limit the creeping motion range of the robot to ensure the safety of the creeping motion.

[0023] See also Figure 4 and Figure 5As shown, the cleaning device includes a cylindrical disk 34, a blade 18 and a DD motor 30. The blades 18 are evenly distributed on the outer circumference of the cylindrical disk 34. The DD motor 30 is installed at the front end of the head spiral mechanism 1. The output shaft of the DD motor 30 is connected to the cylindrical disk 34. The sensor module 17 is arranged in the cylindrical disk 34. An annular air cavity 33 is arranged between the inner and outer walls of the cylindrical disk 34. An air inlet 32 ​​connected to the annular air cavity 33 is arranged on one side of the cylindrical disk 34. The air inlet 32 ​​is connected to one end of the air inlet pipe 31 through a sealing bearing 36. The other end of the air inlet pipe 31 is connected to an external high-pressure air source. A plurality of exhaust holes 27 connected to the air cavity are arranged in the blade 18. The cleaning device uses the DD motor 30 to drive the cylindrical disk 34 and the blade 18 to rotate and crush the agglomerates, and generates a strong airflow through high-pressure jetting to clean the inner wall of the ash discharge pipe, which can achieve comprehensive and in-depth cleaning of the inner wall of the ash discharge pipe, and can effectively improve the cleaning efficiency and quality.

[0024] In this embodiment, the blade of the blade 18 does not contact the inner wall of the ash discharge pipe, and a gap is provided between the blade and the inner wall of the ash discharge pipe to prevent damage to the pipe wall.

[0025] In this embodiment, the rear end of the shell of the tail screw mechanism 3 is provided with an inspection port 25 for monitoring the internal conditions. Through the inspection port 25, the internal mechanical structure of the robot, the working conditions of the motor, etc. can be directly observed, which is convenient for status monitoring and troubleshooting.

[0026] The spiral motion of the present invention is suitable for situations where the lumps are small or loose, and the peristaltic motion is suitable for situations where the lumps are large, tight or difficult to penetrate, because the peristaltic mode can gradually advance through continuous small movements, reducing the direct impact on the lumps, and the peristaltic motion helps to gradually disperse or disintegrate the lumps while maintaining contact with the lumps.

[0027] See also Figure 6 As shown, when the present invention is working, the robot enters from the ash lowering pipe, the driving wheel 13 is supported on the inner wall of the ash lowering pipe, the hydraulic motor 28 drives the driving wheel 13 to rotate, and the robot moves in a spiral manner; When the sensor module 17 identifies a lump in front, it can be switched to a peristaltic mode. In the peristaltic mode: the support wheel 12 of the tail spiral mechanism 3 is controlled to provide support force, the support wheel 12 and the driving wheel 13 in the head spiral mechanism 1 are suspended in the air, the blade 18 rotates and sprays high-pressure airflow, and the middle peristaltic mechanism 2 provides the driving force. The reduction motor 26 in the middle peristaltic mechanism 2 drives the gear 20 to rotate clockwise, and the lower rack 21 moves forward, driving the head spiral mechanism 1 to peristalsis forward; When the head spiral mechanism 1 is pushed forward a certain distance, the support wheel 12 of the head spiral mechanism 1 is controlled to provide supporting force, the support wheel 12 and the driving wheel 13 of the tail spiral mechanism 3 are suspended in the air, and the reduction motor 26 is controlled to drive the gear 20 to rotate counterclockwise and the upper rack 29 to move forward, dragging the tail spiral mechanism 3 to creep forward, and repeating the above process can realize the creeping cleaning operation of the robot.

[0028] The robot can also realize a travel mode that combines spiral movement and peristalsis. The driving wheels 13 in the head spiral mechanism 1 and the tail spiral mechanism 3 are supported on the pipe wall, and the hydraulic motor 28 drives the driving wheel 13 to rotate, and the machine moves in a spiral motion. At this time, combined with the linear slide rail 19, the reduction motor 26 drives the gear 20 to rotate clockwise, and the robot extends; the gear 20 rotates counterclockwise, and the robot contracts. Through the transmission of the upper rack 29 and the lower rack 21, the robot can realize spiral peristalsis.

[0029] In addition, when the sensor module 17 recognizes that there is agglomeration ahead, the present invention can also speed up the rotation speed of the blade 18 and / or increase the jet pressure to accelerate the crushing and blowing of the agglomeration, thereby improving the cleaning efficiency.

Claims

1. A multi-mode compound motion robot for cleaning ash lumps in ash pipes under ash silos, characterized in that: It comprises a head spiral mechanism (1), a middle peristaltic mechanism (2), a tail spiral mechanism (3) and a cleaning mechanism (16). The head screw mechanism (1) and the tail screw mechanism (3) both comprise a housing, a large bevel gear (4), a small bevel gear (5), a variable diameter motor (6), a support wheel trapezoidal screw (7), a drive wheel trapezoidal screw (8), a bracket (9), a belt (10), a light bar (11), a support wheel (12), a drive wheel (13), a support wheel connecting member (14) and a drive wheel connecting member (15), wherein the variable diameter motor (6) is mounted in the housing via a mounting plate (100), the output shaft of the variable diameter motor (6) is fixedly connected to the large bevel gear (4), four small bevel gears (5) are meshed around the large bevel gear (4), and the small bevel gears (5) are meshed with the support wheel trapezoidal screw. (7) connection, a driving wheel trapezoidal screw (8) corresponding to each supporting wheel trapezoidal screw (7) is arranged on one side of the mounting plate (100) away from the large bevel gear (4), one end of the supporting wheel trapezoidal screw (7) and one end of the driving wheel trapezoidal screw (8) are respectively installed in the housing through a bracket (9), and the other ends of the supporting wheel trapezoidal screw (7) and the driving wheel trapezoidal screw (8) are respectively extended out of the housing, the extended end of the supporting wheel trapezoidal screw (7) is threadedly connected to the supporting wheel connecting piece (14), and the extended end of the driving wheel trapezoidal screw (8) is threadedly connected to the driving wheel connecting piece (15), and the thread directions of the supporting wheel trapezoidal screw (7) and the driving wheel trapezoidal screw (8) are opposite; A support wheel connecting member (14) is mounted on a support wheel (12), a drive wheel connecting member (15) is mounted on a drive wheel (13) and a hydraulic motor (28) for driving the drive wheel (13), a light bar (11) for guiding the support wheel connecting member (14) and the drive wheel connecting member (15) is arranged on the bracket (9), and the corresponding support wheel trapezoidal screw (7) and the drive wheel trapezoidal screw (8) are connected through a belt (10) and a pulley transmission; The support wheel (12) moves along the axis of the pipeline, and the driving wheel (13) does not move along the axis of the ash discharge pipeline. The driving wheel (13) is arranged at a helical angle so that the robot can realize helical movement in the ash discharge pipeline. The intermediate peristaltic mechanism (2) comprises an intermediate housing, a reduction motor (26), a gear (20), an upper rack (29), a lower rack (21) and a guide rail mechanism (19), wherein; The upper rack (29) is fixedly connected to the housing of the tail screw mechanism (3), the lower rack (21) is fixedly connected to the housing of the head screw mechanism (1), the reduction motor (26) is arranged inside the middle housing, and the output end of the reduction motor (26) is provided with a gear (20) meshing with the upper rack (29) and the lower rack (21); The cleaning mechanism (16) is arranged at the front end of the head spiral mechanism (1), and comprises a sensor module (17) for identifying agglomerates in the ash lowering pipe and a cleaning device with jetting and rotating cleaning.

2. The multi-mode compound motion robot for cleaning ash lumps in the ash pipe under the ash silo according to claim 1 is characterized by: The helical angle directions of the driving wheel (13) of the head helical mechanism (1) and the driving wheel (13) of the tail helical mechanism (3) are opposite.

3. The multi-mode compound motion robot for cleaning ash lumps in ash pipes under ash silos according to claim 1 is characterized in that: The guide rail mechanism (19) comprises a linear guide rail (24), a slider (22) and a limit block (23); the outer shells of the head spiral mechanism (1) and the tail spiral mechanism (3) are respectively provided with a slider (22); the linear guide rail (24) is arranged on the two sliders (22); and the two ends of the linear guide rail (24) are respectively provided with a limit block (23).

4. The multi-mode compound motion robot for cleaning ash agglomerates in ash pipes under ash silos according to claim 1, characterized in that: The cleaning device comprises a cylindrical disk (34), a blade (18) and a DD motor (30). The blades (18) are evenly distributed on the outer circumference of the cylindrical disk (34). The DD motor (30) is installed at the front end of the head spiral mechanism (1). The output shaft of the DD motor (30) is connected to the cylindrical disk (34). The sensor module (17) is arranged in the cylindrical disk (34). An annular air cavity (33) is arranged between the inner and outer walls of the cylindrical disk (34). An air inlet (32) connected to the annular air cavity (33) is arranged on one side of the cylindrical disk (34). The air inlet (32) is connected to one end of the air inlet pipe (31) through a sealing bearing (36). The other end of the air inlet pipe (31) is connected to an external high-pressure air source. A plurality of exhaust holes (27) connected to the air cavity are arranged in the blade (18).

5. The multi-mode compound motion robot for cleaning ash lumps in the ash pipe under the ash silo according to claim 4 is characterized in that: The blade of the blade (18) does not contact the inner wall of the ash discharge pipe, and a gap is provided between the blade and the inner wall of the ash discharge pipe.

6. The multi-mode compound motion robot for cleaning ash lumps in the ash pipe under the ash silo according to claim 4 is characterized by: An inspection port (25) is provided at the rear end of the shell of the rear spiral mechanism (3).

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