A multi-mode compound motion robot for cleaning ash agglomerates in ash pipes under ash storage

Abstract

The present invention discloses a multi-mode compound motion robot for cleaning lumps in ash pipes under ash bins, comprising a head spiral mechanism, an intermediate peristaltic mechanism, a tail spiral mechanism, and a cleaning mechanism. The head spiral mechanism and the tail spiral mechanism each comprise a housing, a large bevel gear, a small bevel gear, a variable diameter motor, a support wheel trapezoidal screw, a drive wheel trapezoidal screw, a bracket, a belt, a light bar, a support wheel, a drive wheel, a support wheel connector, and a drive wheel connector. The intermediate peristaltic mechanism comprises an intermediate housing, a reduction motor, a gear, an upper rack, a lower rack, and a guide rail mechanism. The cleaning mechanism is located at the front end of the head spiral mechanism and comprises a sensor module for identifying lumps in the lower ash pipe and a cleaning device with air jet and rotary cleaning. The present invention is applicable to cleaning pipes made of various materials, can realize support wheel support and drive wheel support modes, and can realize spiral travel, peristaltic travel, and spiral peristaltic travel modes, which can effectively improve cleaning efficiency and quality.

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 for cleaning ash pipelines under ash storage bins. Background Art

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

[0003] Known authorization publication number CN114718508B discloses a pipeline inner wall cleaning robot, comprising an actuator and a control module, wherein the actuator comprises a telescopic rod, two magnetic attractors, and a scraping unit. The telescopic rod extends in a direction parallel to the extension direction of the pipeline. The two magnetic attractors are respectively connected to the ends of the telescopic rod. The magnetic attractors are operable to generate a magnetic force to attract the inner wall of the pipeline. The scraping unit is connected to the magnetic attractors and abuts against the inner wall of the pipeline to scrape impurities from the inner wall of the pipeline. The control module is electrically connected to the actuator and is used to issue working instructions 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 attractors, thereby enabling the actuator to move along the pipeline and clean it. However, the robot may not have a good adsorption effect on the inner wall of non-magnetic or weakly magnetic pipelines, which affects the robot's stability and propulsion efficiency. In addition, the scraping unit abutting against the inner wall of the pipeline is likely to cause certain damage to the pipeline wall. The flat scraping unit has a single cleaning method for lumps, resulting in poor cleaning effect. 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 bins.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0006] A multi-mode compound motion robot for cleaning ash agglomerates in ash pipes under ash silos, comprising a head spiral mechanism, a middle peristaltic mechanism, a tail spiral mechanism and a cleaning mechanism.

[0007] The gear train is connected with the gear axle by the support gear of the gear train, and the gear train is connected with the gear train by the support gear of the gear train.

[0008] The supporting wheel connecting member is equipped with a supporting wheel, the driving wheel connecting member is equipped with a driving wheel and a hydraulic motor that drives the driving wheel, and the bracket is provided with a light bar for guiding the supporting wheel connecting member and the driving wheel connecting member. The corresponding supporting wheel trapezoidal screw and the driving wheel trapezoidal screw are connected by a belt and a pulley.

[0009] The supporting wheel moves along the axis of the pipe, while the driving wheel does not move along the axis of the ash discharge pipe. The driving wheel is set at a helical angle so that the robot can achieve spiral motion in the ash discharge pipe.

[0010] 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;

[0011] 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 discharge pipe and a cleaning device with air jet and rotary cleaning.

[0012] Furthermore, the helical angle directions of the driving wheel of the head helical mechanism and the driving wheel of the tail helical mechanism are opposite.

[0013] 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 provided on the two sliders, and the two ends of the linear guide rail are respectively provided with limit blocks.

[0014] 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 provided between the inner and outer walls of the cylindrical disk. An air inlet hole connected to the annular air cavity is provided on one side of the cylindrical disk. The air inlet hole is connected to one end of the air inlet pipe through a sealed bearing. The other end of the air inlet pipe is connected to an external high-pressure air source. A number of exhaust holes connected to the air cavity are provided in the blade.

[0015] 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.

[0016] Furthermore, an inspection port is provided at the tail end of the shell of the tail spiral mechanism.

[0017] The multi-mode compound motion robot for cleaning ash agglomerates in ash pipes under ash silos of the present invention has the following beneficial effects:

[0018] 1. The present invention is applicable to cleaning of pipes of various materials. Both the head spiral mechanism and the tail spiral mechanism are equipped with support wheels and drive wheels, and the support wheels and the drive wheels can be switched for use. The robot can realize support wheel support and drive wheel support modes, spiral movement, peristalsis, and spiral peristalsis movement modes. The support mode and movement mode can be reasonably selected by identifying the agglomeration situation in the ash pipe through the sensor module. The cleaning device adopts a blade with air jet and rotation to crush the agglomeration and generates a strong airflow through high-pressure air jet to clean the inner wall of the ash pipe, which can realize comprehensive and in-depth cleaning of the inner wall of the ash pipe, and can effectively improve the cleaning efficiency and quality.

[0019] 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.

[0020] 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 sufficient contact between the robot and the pipe wall and stable movement in the pipeline.

[0021] 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 middle peristaltic structure maintains a relatively stable posture and does not twist around the axis in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a preferred embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the head spiral mechanism in a preferred embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of the intermediate peristaltic mechanism in a preferred embodiment of the present invention;

[0025] Figure 4 This is a schematic structural diagram of a cleaning mechanism in a preferred embodiment of the present invention;

[0026] Figure 5 A cross-sectional view of a cleaning device in a preferred embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the working of the present invention in a pipeline;

[0028] 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 bar 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 holes 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, ash lowering pipe 35, sealed bearing 36, mounting plate 100. DETAILED DESCRIPTION

[0029] 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 with reference to the accompanying drawings and embodiments.

[0030] Example 1: See Figures 1 to 6As shown, a multi-mode compound motion robot for cleaning ash pipe agglomerates under an ash bin comprises a head spiral mechanism 1, an intermediate peristaltic mechanism 2, a tail spiral mechanism 3 and a cleaning mechanism 16. The head spiral mechanism 1 and the tail spiral mechanism 3 each 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 facing 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 respectively extend out of the housing. 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. 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 that drives the driving wheel 13. The bracket 9 is provided with a light bar 11 for guiding the support wheel connecting member 14 and the driving wheel connecting member 15. Specifically, the support 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 support wheel 12 and the driving wheel 13. More specifically, the large bevel gear is driven forward and reverse by controlling the variable diameter motor 6. 4 rotates, which can drive the four small bevel gears 5 and the support wheel trapezoidal screw 7 to rotate, and the support wheel connecting piece 14 and the support wheel 12 are driven by the screw principle to move, so that the support wheel 12 can be retracted in the ash discharge pipe or supported on the inner wall of the ash discharge pipe to achieve variable diameter support. Since the thread direction of the support wheel trapezoidal screw 7 is opposite to that of the driving wheel trapezoidal screw 8, and the support wheel trapezoidal screw 7 and the driving wheel trapezoidal screw 8 are connected by the belt 10 and the pulley transmission, when the support 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 support wheel 12 retracts, the driving wheel 13 supports; when the support wheel 12 supports, the driving wheel 13 retracts, thereby realizing the switching of the support mode.

[0031] The support wheel 12 moves along the axis of the pipe, but the driving wheel 13 does not move along the axis of the ash pipe. The driving wheel 13 is set at a spiral angle so that the robot can realize spiral motion in the ash pipe. When the driving wheel 13 contacts the wall of the ash pipe, each wheel will not only generate forward thrust when rotating, but also generate a component force, which will cause the robot to move in a spiral manner along the pipe wall.

[0032] See also Figure 3 As shown, the intermediate peristaltic mechanism 2 includes an intermediate shell, 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 shell of the tail spiral mechanism 3, and the lower rack 21 is fixedly connected to the shell of the head spiral mechanism 1, the reduction motor 26 is arranged inside the intermediate shell, and the output end of the reduction motor 26 is provided with a gear 20 engaged 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 stretches; 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 retract 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 peristalsis of the robot can be realized.

[0033] 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 agglomerates 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.

[0034] In this embodiment, the spiral angle directions of the driving wheel 13 of the head spiral mechanism 1 and the driving wheel 13 of the tail spiral mechanism 3 are opposite. The opposite spiral angle directions can offset the reverse torque when the motor rotates, ensuring that the intermediate peristaltic mechanism maintains a relatively stable posture.

[0035] See also Figure 3 As shown, the guide rail mechanism 19 includes a linear guide rail 24, a slider 22, and a stop block 23. The housings of the head screw mechanism 1 and the tail screw mechanism 3 are each provided with a slider 22. The linear guide rail 24 is mounted on the two sliders 22, and a stop block 23 is provided at each end of the linear guide rail 24. The guide rail mechanism 19 improves the stability of the robot's peristalsis, and the stop blocks 23 limit the robot's peristalsis range, ensuring its safety.

[0036] See also Figure 4 and Figure 5As shown, the cleaning device includes a cylindrical disk 34, blades 18, and a DD motor 30. Blades 18 are evenly distributed along the outer circumference of the cylindrical disk 34. The DD motor 30 is mounted at the front end of the head screw mechanism 1. The output shaft of the DD motor 30 is connected to the cylindrical disk 34. The sensor module 17 is located within the cylindrical disk 34. An annular air cavity 33 is defined between the inner and outer walls of the cylindrical disk 34. An air inlet 32 ​​is provided on one side of the cylindrical disk 34, communicating with the annular air cavity 33. The air inlet 32 ​​is connected to one end of an air inlet pipe 31 via a sealed bearing 36. The other end of the air inlet pipe 31 is connected to an external high-pressure air source. The blades 18 are provided with a plurality of exhaust holes 27, which communicate with the air cavity. This cleaning device utilizes the DD motor 30 to drive the cylindrical disk 34 and blades 18 to rotate and crush agglomerates. High-pressure jets generate a powerful airflow to clean the inner wall of the ash discharge pipe. This achieves comprehensive and in-depth cleaning of the inner wall of the ash discharge pipe, effectively improving cleaning efficiency and quality.

[0037] 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.

[0038] In this embodiment, the rear end of the housing of the tail screw mechanism 3 is provided with an inspection port 25 for convenient monitoring of 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.

[0039] 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. The peristaltic motion helps to gradually disperse or disintegrate the lumps while maintaining contact with the lumps.

[0040] See also Figure 6 As shown, when the present invention is working, the robot enters from the ash discharge pipe, the driving wheel 13 is supported on the inner wall of the ash discharge pipe, the hydraulic motor 28 drives the driving wheel 13 to rotate, and the robot moves in a spiral manner;

[0041] When the sensor module 17 identifies a lump in front, it can switch to peristaltic mode. In 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;

[0042] When the head spiral mechanism 1 is advanced 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 move the upper rack 29 forward, dragging the tail spiral mechanism 3 to creep forward. Repeating the above process can realize the creeping cleaning operation of the robot.

[0043] 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 manner. At this time, combined with the linear slide 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.

[0044] In addition, when the sensor module 17 of the present invention recognizes that there is an agglomerate in front, it can also speed up the rotation speed of the blade 18 and / or increase the jet pressure to accelerate the crushing and blowing away of the agglomerate, thereby improving the cleaning efficiency.

Claims

1. A multi-mode compound motion robot for cleaning ash lumps in ash pipes under ash silos, characterized by: It includes a head spiral mechanism (1), a middle peristaltic mechanism (2), a tail spiral mechanism (3) and a cleaning mechanism (16). 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 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), an 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 provided on the 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 the 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 provided with a support wheel (12), a drive wheel connecting member (15) is provided with a drive wheel (13) and a hydraulic motor (28) for driving the drive wheel (13), a bracket (9) is provided with a light bar (11) for guiding the support wheel connecting member (14) and the drive wheel connecting member (15), and the corresponding support wheel trapezoidal screw (7) and the drive wheel trapezoidal screw (8) are connected by 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 set at a spiral angle so that the robot can achieve spiral motion 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 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 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 discharge pipe and a cleaning device with air jet and rotary cleaning.

2. 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 spiral angle directions of the driving wheel (13) of the head spiral mechanism (1) and the driving wheel (13) of the tail spiral 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 sliders (22) are respectively provided on the housings of the head spiral mechanism (1) and the tail spiral mechanism (3); the linear guide rail (24) is provided on the two sliders (22); and the limit blocks (23) are respectively provided at both ends of the linear guide rail (24).

4. 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 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 provided between the inner and outer walls of the cylindrical disk (34). An air inlet (32) communicating with the annular air cavity (33) is provided 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) communicating with the air cavity are provided in the blade (18).

5. The multi-mode compound motion robot for cleaning ash lumps in ash pipes under ash silos according to claim 4 is characterized in that: 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 ash pipes under ash silos according to claim 4 is characterized in that: The tail end of the shell of the tail spiral mechanism (3) is provided with an inspection port (25).

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