Boiler ash removal and decoking device

Abstract

The invention provides a boiler ash removal and decoking device, and relates to the technical field of boiler hearth cleaning, the boiler ash removal and decoking device comprises a moving chassis, a dust collection assembly is mounted on the side wall of the moving chassis, a first rotating table is fixedly connected to the upper surface of the moving chassis, and the rotating end of the first rotating table is fixedly connected with a vertically-arranged multi-section lifting assembly; a lifting table moving in the vertical direction is arranged on the multi-section lifting assembly, a workbench sliding in the horizontal direction is arranged on the lifting table, a second rotating table is fixedly connected to the upper surface of the workbench, an angle adjusting assembly is fixedly connected to the rotating end of the second rotating table, and a working assembly is arranged on the upper surface of the angle adjusting assembly; and the working assembly is used for deashing and decoking. When the device is used for deashing and decoking the boiler, the device is remotely controlled to enter the boiler to complete deashing and decoking, so that workers are prevented from entering the boiler, the labor intensity of the workers is reduced, and the safety of deashing and decoking work is improved.

Description

Technical Field

[0001] The invention relates to the technical field of boiler furnace cleaning, and in particular to a boiler dust cleaning and decoking device. Background Art

[0002] During the operation of the boiler, ash and coke will inevitably accumulate inside the furnace. Ash and coke will not only reduce the thermal efficiency of the boiler and increase fuel consumption, but may also cause safety hazards to the boiler. Traditional ash cleaning and decoking methods, such as manual cleaning and mechanical decoking, have problems such as complex operation, low efficiency, and great damage to the boiler body. Therefore, it is particularly important to develop an efficient, safe, and automated furnace ash cleaning and decoking device.

[0003] Existing ash cleaning and decoking devices, such as a thermal power plant boiler decoking vibrating sleeve disclosed in CN118049657A, still require workers to enter the boiler and hold the decoking device to complete ash cleaning and decoking work, which has the disadvantages of high labor intensity, low work efficiency and poor working environment. Summary of the invention

[0004] The present invention provides a boiler dust cleaning and decoking device, which is used to solve the defects of XXXX in the prior art.

[0005] On the one hand, the present invention provides a boiler ash cleaning and decoking device, comprising a mobile chassis, a dust suction assembly is installed on the side wall of the mobile chassis, a rotating table one is fixedly connected to the upper surface of the mobile chassis, a vertically arranged multi-stage lifting assembly is fixedly connected to the rotating end of the rotating table one, a lifting platform moving in an up and down direction is arranged on the multi-stage lifting assembly, a workbench sliding in a horizontal direction is arranged on the lifting platform, a rotating table two is fixedly connected to the upper surface of the workbench, an angle adjustment assembly is fixedly connected to the rotating end of the rotating table two, a working assembly is arranged on the upper surface of the angle adjustment assembly, and the working assembly is used for cleaning and decoking.

[0006] Preferably, a sliding groove is provided on the upper surface of the lifting platform, a third motor is provided in the sliding groove, an output end of the third motor is fixedly connected to a horizontally arranged threaded rod three, a translation block is threadedly connected to the threaded rod three, and the translation block is fixedly connected to the lower surface of the workbench.

[0007] Preferably, the multi-stage lifting assembly includes a first lifting frame, which is fixedly connected to the rotating end of a rotating platform, a first motor is arranged in the first lifting frame, an output end of the first motor is fixedly connected to a vertically arranged threaded rod one, a threaded block is threadedly connected to the threaded rod one, the threaded block is fixedly connected to the side wall of the second lifting frame, an auxiliary hole is arranged on the top surface of the first lifting frame, a connecting plate is fixedly connected to the side wall of the second lifting frame, an auxiliary rod is fixedly connected to the lower surface of the connecting plate, the auxiliary rod is slidably connected in the auxiliary hole along the up and down directions, a second motor is arranged in the second lifting frame, an output end of the second motor is fixedly connected to a vertically arranged threaded rod two, and the lifting platform is threadedly connected to the threaded rod two.

[0008] Preferably, the angle adjustment assembly includes an adjustment base, which is fixedly connected to the rotating end of the rotating table two, a control chamber is arranged in the adjustment base, a fourth motor is arranged in the control chamber, an output end of the fourth motor is fixedly connected to a horizontally arranged threaded rod four, a control block is threadedly connected to the threaded rod four, two front-and-rear symmetrical mounting seats are fixedly connected to the upper surface of the adjustment base, a rotating plate is rotatably connected between the two mounting seats, a connecting rod is hinged on the lower surface of the rotating plate, and the other end of the connecting rod is hinged on the control block.

[0009] Preferably, the working assembly comprises a working box, the working box is fixedly connected to the upper surface of the rotating plate, and a jet box is fixedly installed on the top surface of the working box, and a high-pressure steam nozzle is installed in the jet box, and the high-pressure steam nozzle is communicated with an external steam source, and the inner wall of the working box is rotatably connected to a cam driven to rotate by a driving element, and the inner bottom surface of the working box is fixedly connected to two vertically arranged mounting rods, the top of the mounting rod is fixedly connected to a limiting plate, and the scraping plate is slidably connected to the two mounting rods in the up and down directions, and the scraping plate is located at the lower side of the cam, and a spring 1 is sleeved on the mounting rod, and the upper and lower ends of the spring 1 are respectively fixedly connected to the lower surface of the scraping plate and the lower bottom surface of the working box, and the right end of the scraping plate is fixedly connected to a scraping plate, and two mounting frames and a limit block are fixedly connected to the top surface of the working box, and an impact frame is slidably connected to the mounting frame in the left and right directions, and the left end of the impact frame is fixedly connected to the control board, and multiple groups of spring rod assemblies are fixedly connected to the left side wall of the working box, and the control board is fixedly connected to the movable end of the spring rod assembly, and the control board is located on the left side of the limit block.

[0010] Preferably, it also includes a work control system, which includes:

[0011] Data acquisition module, used to collect working environment parameters inside the boiler;

[0012] A route planning module is used to plan the route of the mobile chassis inside the boiler;

[0013] The work control module is used to control the dust cleaning and decoking work.

[0014] Preferably, the working environment parameters include actual temperature and actual relative humidity, and the data acquisition module includes:

[0015] The temperature sensor is set on the workbench to detect the actual temperature of the working point;

[0016] The humidity sensor is installed on the workbench to detect the actual relative humidity at the working point.

[0017] Preferably, the route planning module includes:

[0018] Visual collection unit, used to collect the distribution of dust and coke blocks on the inner wall of the boiler;

[0019] A model generation unit, used to generate a distribution model of dust and coke blocks according to the distribution of dust and coke blocks on the inner wall of the boiler;

[0020] The work point planning unit is used to determine the distribution of work points according to the distribution model of dust and coke blocks;

[0021] The route planning unit is used to determine the movement trajectory according to the distribution of work points.

[0022] Preferably, the work control module includes:

[0023] A model calling unit, used for calling the distribution model of dust and coke;

[0024] A positioning unit, used to determine the real-time position of the mobile chassis;

[0025] A height control unit, used to control the rising height of the lifting platform;

[0026] An angle control unit, used to control the working angle of the angle adjustment component;

[0027] The cycle control unit is used to control the rotation cycle of the cam.

[0028] Preferably, the cycle control unit comprises:

[0029] A target calculation subunit, used for calculating a target rotation period of the cam;

[0030] Where Z is the target rotation period of the cam; T is the actual temperature of the working point; T b is the preset ideal cleaning temperature inside the boiler; δ is the actual relative humidity at the working point; δ bis the preset ideal clean relative humidity inside the boiler; ln is a logarithmic function with e as the base; e is a natural constant; t1 is the decoking time obtained by testing with hammering and scraping under standard experimental conditions; t2 is the decoking time obtained by testing with hammering only under standard experimental conditions; t0 is the unit time; m is the mass of the impact frame; k1 is the stiffness coefficient of the spring rod assembly; L is the maximum compression distance of the spring rod assembly; H0 is the total thickness of the coke block; D is the preset single coke block removal thickness; t z is the preset collision action time; E is the elastic modulus of the coke block; A is the cross-sectional area of ​​the impact end of the impact frame;

[0031] The regulating subunit is used to modify the output frequency of the driving element so that the actual rotation period of the cam reaches the target rotation period of the cam.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] When cleaning and de-ashing the boiler, the device is remotely controlled to enter the boiler to complete the cleaning and de-ashing, thereby avoiding the workers from entering the boiler, reducing the labor intensity of the workers, and avoiding the workers from entering the boiler with a harsh environment, thereby avoiding the impact of the harsh working environment on the health of the workers and improving the safety of the cleaning and de-ashing work. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of the structure of the present invention;

[0036] Figure 2 yes Figure 1 The enlarged structural diagram at A in the middle;

[0037] Figure 3 yes Figure 1 The enlarged structural diagram at B in the middle;

[0038] Figure 4 yes Figure 3 Enlarged structural diagram at point C in the middle.

[0039] Reference numerals:

[0040] 1. Mobile chassis; 2. Dust collection assembly; 3. Rotating table 1; 4. Lifting table; 5. Workbench; 6. Rotating table 2; 7. Sliding groove; 8. Third motor; 9. Threaded rod 3; 10. Translation block; 11. First lifting frame; 12. First motor; 13. Threaded rod 1; 14. Threaded block; 15. Second lifting frame; 16. Auxiliary hole; 17. Connecting plate; 18. Auxiliary rod; 19. Second motor; 20. Threaded rod 2; 21. Adjustment base; 22. Control chamber; 23. The fourth motor; 24, threaded rod four; 25, control block; 26, mounting seat; 27, rotating plate; 28, connecting rod; 29, working box; 30, jet box; 31, cam; 32, mounting rod; 33, limit plate; 34, scraping plate; 35, spring one; 36, scraping plate; 37, mounting frame; 38, limit block; 39, impact frame; 40, control board; 41, spring rod assembly; 411, rod seat; 412, mounting hole; 413, rod core; 414, spring two. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] Example 1

[0044] An embodiment of the present invention provides a boiler ash cleaning and decoking device, comprising a mobile chassis 1, a dust suction assembly 2 is installed on the side wall of the mobile chassis 1, a rotating table 3 is fixedly connected to the upper surface of the mobile chassis 1, a rotating end of the rotating table 3 is fixedly connected to a vertically arranged multi-stage lifting assembly, a lifting platform 4 moving in an up and down direction is arranged on the multi-stage lifting assembly, a workbench 5 sliding in a horizontal direction is arranged on the lifting platform 4, a rotating table 6 is fixedly connected to the upper surface of the workbench 5, a rotating end of the rotating table 6 is fixedly connected to an angle adjustment assembly, a working assembly is arranged on the upper surface of the angle adjustment assembly, and the working assembly is used for ash cleaning and decoking.

[0045] Preferably, a sliding groove 7 is provided on the upper surface of the lifting platform 4, a third motor 8 is provided in the sliding groove 7, an output end of the third motor 8 is fixedly connected to a horizontally arranged threaded rod three 9, a translation block 10 is threadedly connected to the threaded rod three 9, and the translation block 10 is fixedly connected to the lower surface of the workbench 5.

[0046] In this embodiment, the dust collection component 2 is a prior art, such as a dust collection component 2 in a concrete cutting machine disclosed in CN118927412A.

[0047] In this embodiment, the rotating table 1 3 and the rotating table 2 6 are both existing technologies, such as the rotating table in the road construction stone cutting device disclosed in CN118769402A.

[0048] The beneficial effects of the above technical solution are:

[0049] When cleaning and de-ashing the boiler, the device is remotely controlled to enter the boiler to complete the cleaning and de-ashing, thereby avoiding the workers from entering the boiler, reducing the labor intensity of the workers, and avoiding the workers from entering the boiler with a harsh environment, thereby avoiding the impact of the harsh working environment on the health of the workers and improving the safety of the cleaning and de-ashing work.

[0050] By arranging the rotating table 1 3, the rotating table 2 6, the multi-stage lifting component, the working table 5 sliding on the lifting table 4 and the angle adjustment component, the flexibility of the working components is improved, so that the working components can complete the cleaning and decoking work at different angles and positions under the condition that the mobile chassis 1 stays in place, reducing the number of movements of the mobile chassis 1, thereby improving the working efficiency of the cleaning and decoking work, and by arranging the dust suction component 2, the dust and coke blocks are recovered, avoiding the dust and coke blocks generated during the cleaning process from being left inside the boiler and causing secondary adhesion, thereby ensuring the cleanliness of the boiler after cleaning and decoking.

[0051] Example 2

[0052] On the basis of Example 1, the multi-stage lifting assembly includes a first lifting frame 11, which is fixedly connected to the rotating end of the rotating platform 3. A first motor 12 is arranged in the first lifting frame 11, and the output end of the first motor 12 is fixedly connected to a vertically arranged threaded rod 13, and a threaded block 14 is threadedly connected to the threaded rod 13, and the threaded block 14 is fixedly connected to the side wall of the second lifting frame 15. An auxiliary hole 16 is arranged on the top surface of the first lifting frame 11, and a connecting plate 17 is fixedly connected to the side wall of the second lifting frame 15. An auxiliary rod 18 is fixedly connected to the lower surface of the connecting plate 17, and the auxiliary rod 18 is slidably connected in the auxiliary hole 16 along the up and down directions. A second motor 19 is arranged in the second lifting frame 15, and the output end of the second motor 19 is fixedly connected to a vertically arranged threaded rod 20, and the lifting platform 4 is threadedly connected to the threaded rod 20.

[0053] The beneficial effects of the above technical solution are:

[0054] Through the arrangement of the first lifting frame 11 and the second lifting frame 15, multi-stage lifting is completed, and the size of the multi-stage lifting assembly in the storage state is reduced, which is convenient for the device to smoothly enter the boiler. At the same time, the lifting range is expanded, so that it can adapt to boilers of more sizes. Through the cooperation of the auxiliary hole 16 and the auxiliary rod 18, the connection stability of the second lifting frame 15 and the first lifting frame 11 is improved, the safety of use is improved, and the service life is extended.

[0055] Example 3

[0056] On the basis of any one of Examples 1-2, the angle adjustment assembly includes an adjustment base 21, which is fixedly connected to the rotating end of the rotating table 26, a control chamber 22 is arranged in the adjustment base 21, a fourth motor 23 is arranged in the control chamber 22, an output end of the fourth motor 23 is fixedly connected to a horizontally arranged threaded rod 4 24, a control block 25 is threadedly connected to the threaded rod 4 24, two front-and-rear symmetrical mounting seats 26 are fixedly connected to the upper surface of the adjustment base 21, a rotating plate 27 is rotatably connected between the two mounting seats 26, a connecting rod 28 is hinged on the lower surface of the rotating plate 27, and the other end of the connecting rod 28 is hinged on the control block 25.

[0057] The beneficial effects of the above technical solution are:

[0058] When the vertical angle needs to be adjusted, the fourth motor 23 drives the threaded rod four 24 to rotate, so that the control block 25 moves horizontally on the threaded rod four 24, and under the action of the connecting rod 28, the rotating plate 27 is lifted up, thereby realizing the vertical angle adjustment.

[0059] Example 4

[0060] On the basis of any one of embodiments 1-3, the working assembly includes a working box 29, which is fixedly connected to the upper surface of the rotating plate 27, and a jet box 30 is fixedly installed on the top surface of the working box 29. A high-pressure steam nozzle is installed in the jet box 30, and the high-pressure steam nozzle is connected to an external steam source. A cam 31 driven to rotate by a driving element is rotatably connected to the inner wall of the working box 29, and two vertically arranged mounting rods 32 are fixedly connected to the inner bottom surface of the working box 29. The top of the mounting rod 32 is fixedly connected to a limiting plate 33, and a scraping plate 34 is slidably connected to the two mounting rods 32 in the up and down directions. The scraping plate 34 is located on the lower side of the cam 31. A spring 35 is mounted on the mounting rod 32, and the upper and lower ends of the spring 35 are fixedly connected to the lower surface of the scraping plate 34 and the lower bottom surface of the working box 29 respectively. A scraping plate 36 is fixedly connected to the right end of the scraping plate 34. Two mounting frames 37 and a limit block 38 are fixedly connected to the top surface of the working box 29. An impact frame 39 is slidably connected to the mounting frame 37 along the left and right directions. The left end of the impact frame 39 is fixedly connected to the control board 40. A plurality of spring rod assemblies 41 are fixedly connected to the left side wall of the working box 29. The control board 40 is fixedly connected to the movable end of the spring rod assembly 41, and the control board 40 is located on the left side of the limit block 38.

[0061] In this embodiment, the driving element is a driving motor.

[0062] In this embodiment, the spring rod assembly 41 includes a rod seat 411, which is fixedly connected to the left side wall of the working box 29. A mounting hole 412 is provided in the rod seat 411. A rod core 413 is slidably connected in the mounting hole 412 along the left and right directions. A spring 2 414 is fixedly connected between the rod core 413 and the inner wall of the mounting hole 412.

[0063] In this embodiment, the high-pressure steam nozzle is a prior art, such as a high-pressure steam nozzle in a power station boiler steam pipeline cleaning device disclosed in CN117450842A.

[0064] The beneficial effects of the above technical solution are:

[0065] When performing dust cleaning and decoking operations, the surface to be cleaned is firstly flushed by a high-pressure steam nozzle to remove loose dust on the surface to be cleaned, and then the cam 31 is rotated to first press down the scraping plate 34. When the cam 31 rotates to the short side, the scraping plate 34 is bounced upward by the action of the spring 1 35, thereby driving the scraping plate 36 to scrape the surface to be cleaned. Then the cam 31 squeezes the control plate 40, so that the multiple groups of spring rod assemblies 41 are compressed at the same time. After the cam 31 rotates, the impact plate is hammered on the surface to be cleaned by the action of the spring rod assemblies 41. The setting of the limiting plate 33 and the limiting block 38 respectively limits the rebound degree of the scraping plate 34 and the control plate 40, thereby avoiding the scraping plate 34 and the control plate 40 from colliding with the cam 31 and causing damage to the cam 31. The cleaning effect is improved by the simultaneous implementation of multiple cleaning means. The scraping plate 36 and the impact frame 39 are controlled to work at the same time by the drive of a single driving device, thereby reducing the energy loss during use.

[0066] Example 5

[0067] Based on any one of embodiments 1-4, it further includes a work control system, and the work control system includes:

[0068] Data acquisition module, used to collect working environment parameters inside the boiler;

[0069] A route planning module, used for planning a route for the mobile chassis (1) to move inside the boiler;

[0070] The work control module is used to control the dust cleaning and decoking work.

[0071] Preferably, the working environment parameters include actual temperature and actual relative humidity, and the data acquisition module includes:

[0072] A temperature sensor is provided on the workbench 5 and is used to detect the actual temperature of the working point;

[0073] The humidity sensor is arranged on the workbench 5 and is used to detect the actual relative humidity at the working point.

[0074] Preferably, the route planning module includes:

[0075] Visual collection unit, used to collect the distribution of dust and coke blocks on the inner wall of the boiler;

[0076] A model generation unit, used to generate a distribution model of dust and coke blocks according to the distribution of dust and coke blocks on the inner wall of the boiler;

[0077] The work point planning unit is used to determine the distribution of work points according to the distribution model of dust and coke blocks;

[0078] The route planning unit is used to determine the movement trajectory according to the distribution of work points.

[0079] Preferably, the work control module includes:

[0080] A model calling unit, used for calling the distribution model of dust and coke;

[0081] A positioning unit, used to determine the real-time position of the mobile chassis (1);

[0082] A height control unit, used to control the rising height of the lifting platform 4;

[0083] An angle control unit, used to control the working angle of the angle adjustment component;

[0084] The period control unit is used to control the rotation period of the cam 31 .

[0085] Preferably, the cycle control unit comprises:

[0086] A target calculation subunit, used to calculate a target rotation period of the cam 31;

[0087] Wherein, Z is the target rotation period of the cam 31; T is the actual temperature of the working point; T b is the preset ideal cleaning temperature inside the boiler; δ is the actual relative humidity at the working point; δ b is the preset ideal clean relative humidity inside the boiler; ln is a logarithmic function with e as the base; e is a natural constant; t1 is the decoking time obtained by testing with hammering and scraping under standard experimental conditions; t2 is the decoking time obtained by testing with hammering only under standard experimental conditions; t0 is the unit time; m is the mass of the impact frame 39; k1 is the stiffness coefficient of the spring rod assembly 41; L is the maximum compression distance of the spring rod assembly 41; H0 is the total thickness of the coke block; D is the preset single coke block removal thickness; t z is the preset collision action time; E is the elastic modulus of the coke block; A is the cross-sectional area of ​​the collision end of the collision frame 39;

[0088] The regulating subunit is used to modify the output frequency of the driving element so that the actual rotation period of the cam 31 reaches the target rotation period of the cam 31 .

[0089] In this embodiment, the rotation period of the cam 31 is the time required for the cam 31 to rotate one circle.

[0090] In this embodiment, the total thickness is obtained by comparing the distribution model of dust and coke blocks with the boiler model.

[0091] In this embodiment, the working point is the position where the movable chassis 1 stays when the device performs dust cleaning and decoking operations;

[0092] In this embodiment, the standard test conditions include: ideal cleaning temperature, ideal cleaning relative humidity conditions and coke blocks of standard thickness.

[0093] In this embodiment, the maximum compression distance of the spring rod assembly 41 is the compressed length of the spring rod assembly 41 when the protruding end of the cam 31 faces the control board 40 .

[0094] In this embodiment, the single coke block removal thickness is the preset thickness of the coke blocks removed in one cleaning process. For example, the total thickness of the coke blocks is 10 mm, and it is expected that two cleaning processes will be performed to complete the removal of the coke blocks there. The first cleaning process is expected to complete the removal of coke blocks with a thickness of 6 mm, and the second cleaning process is expected to complete the removal of coke blocks with a thickness of 4 mm. In this case, the single coke block removal thickness of the first cleaning process is 6 mm, and the single coke block removal thickness of the second cleaning process is 4 mm.

[0095] In this embodiment, the collision action time is the length of time from the start of the collision to the end of the collision.

[0096] The beneficial effects of the above technical solution are:

[0097] By obtaining the actual temperature and relative humidity at the working position, the work intensity during subsequent cleaning and decoking operations can be adjusted to ensure efficient cleaning and decoking efficiency and reduce damage to the inner wall of the boiler.

[0098] By collecting the distribution of dust and coke blocks on the inner wall of the boiler, the distribution of working points is determined, which can effectively reduce the total number of working points and the number of movements of the device, thereby improving the efficiency of cleaning and decoking. By determining the distribution of all working points before cleaning and decoking, a more efficient motion trajectory can be planned, further improving the efficiency of cleaning and decoking.

[0099] By automatically completing height control, angle control and rotation cycle control of the cam 31 according to the distribution of dust and coke blocks, the automation of cleaning and decoking is realized, and the work intensity of the staff is further reduced. By obtaining the thickness of the coke blocks at different positions and then controlling the rotation cycle of the cam 31 to control the hammering frequency and scraping frequency of the coke blocks, the intensity of the cleaning and decoking work can be adjusted according to the thickness of the coke blocks, thereby ensuring high working efficiency of cleaning and decoking and reducing damage to the inner wall of the boiler.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A boiler dust cleaning and decoking device, characterized in that: The invention comprises a mobile chassis (1), a dust collecting assembly (2) is installed on the side wall of the mobile chassis (1), a rotating table (3) is fixedly connected to the upper surface of the mobile chassis (1), a vertically arranged multi-stage lifting assembly is fixedly connected to the rotating end of the rotating table (3), a lifting table (4) moving in the up-down direction is arranged on the multi-stage lifting assembly, a workbench (5) sliding in the horizontal direction is arranged on the lifting table (4), a rotating table (6) is fixedly connected to the upper surface of the workbench (5), an angle adjustment assembly is fixedly connected to the rotating end of the rotating table (6), a working assembly is arranged on the upper surface of the angle adjustment assembly, and the working assembly is used for cleaning and de-ashing.

2. A boiler dust cleaning and decoking device according to claim 1, characterized in that: The upper surface of the lifting platform (4) is provided with a sliding groove (7), a third motor (8) is provided in the sliding groove (7), an output end of the third motor (8) is fixedly connected to a horizontally arranged threaded rod three (9), a translation block (10) is threadedly connected to the threaded rod three (9), and the translation block (10) is fixedly connected to the lower surface of the workbench (5).

3. A boiler dust cleaning and decoking device according to claim 1, characterized in that: The multi-stage lifting assembly comprises a first lifting frame (11), the first lifting frame (11) is fixedly connected to the rotating end of a rotating platform (3), a first motor (12) is arranged in the first lifting frame (11), an output end of the first motor (12) is fixedly connected to a vertically arranged threaded rod (13), a threaded block (14) is threadedly connected to the threaded rod (13), the threaded block (14) is fixedly connected to the side wall of a second lifting frame (15), an auxiliary hole (16) is arranged on the top surface of the first lifting frame (11), a connecting plate (17) is fixedly connected to the side wall of the second lifting frame (15), an auxiliary rod (18) is fixedly connected to the lower surface of the connecting plate (17), the auxiliary rod (18) is slidably connected in the auxiliary hole (16) along the up-down direction, a second motor (19) is arranged in the second lifting frame (15), an output end of the second motor (19) is fixedly connected to a vertically arranged threaded rod (20), and the lifting platform (4) is threadedly connected to the threaded rod (20).

4. A boiler dust cleaning and decoking device according to claim 1, characterized in that: The angle adjustment component comprises an adjustment base (21), the adjustment base (21) is fixedly connected to the rotating end of the second rotating platform (6), a control chamber (22) is arranged in the adjustment base (21), a fourth motor (23) is arranged in the control chamber (22), an output end of the fourth motor (23) is fixedly connected to a horizontally arranged threaded rod four (24), a control block (25) is threadedly connected to the threaded rod four (24), two front-to-back symmetrical mounting seats (26) are fixedly connected to the upper surface of the adjustment base (21), a rotating plate (27) is rotatably connected between the two mounting seats (26), a connecting rod (28) is hingedly connected to the lower surface of the rotating plate (27), and the other end of the connecting rod (28) is hingedly connected to the control block (25).

5. A boiler dust cleaning and decoking device according to claim 1, characterized in that: The working assembly comprises a working box (29), the working box (29) being fixedly connected to the upper surface of the rotating plate (27), a jet box (30) being fixedly installed on the upper top surface of the working box (29), a high-pressure steam nozzle being installed in the jet box (30), the high-pressure steam nozzle being connected to an external steam source, a cam (31) being rotatably connected to the inner wall of the working box (29) and driven to rotate by a driving element, two vertically arranged mounting rods (32) being fixedly connected to the inner bottom surface of the working box (29), the top ends of the mounting rods (32) being fixedly connected to a limiting plate (33), a scraping plate (34) being slidably connected to the two mounting rods (32) in an up-and-down direction, the scraping plate (34) being located at the lower side of the cam (31), and the mounting rods (32) being sleeved thereon. A spring (35) is provided, the upper and lower ends of the spring (35) are respectively fixedly connected to the lower surface of the scraping plate (34) and the lower bottom surface of the working box (29), the right end of the scraping plate (34) is fixedly connected to a scraping plate (36), the inner top surface of the working box (29) is fixedly connected to two mounting frames (37) and a limit block (38), the mounting frame (37) is slidably connected to an impact frame (39) along the left and right directions, the left end of the impact frame (39) is fixedly connected to a control board (40), a plurality of spring rod assemblies (41) are fixedly connected to the left side wall of the working box (29), the control board (40) is fixedly connected to the movable end of the spring rod assembly (41), and the control board (40) is located on the left side of the limit block (38).

6. A boiler dust cleaning and decoking device according to claim 5, characterized in that: It also includes a work control system, which includes: Data acquisition module, used to collect working environment parameters inside the boiler; A route planning module, used for planning a route for the mobile chassis (1) to move inside the boiler; The work control module is used to control the dust cleaning and decoking work.

7. A boiler dust cleaning and decoking device according to claim 6, characterized in that: The working environment parameters include actual temperature and actual relative humidity. The data acquisition module includes: A temperature sensor is arranged on the workbench (5) and is used to detect the actual temperature of the working point; The humidity sensor is arranged on the workbench (5) and is used to detect the actual relative humidity at the working point.

8. A boiler dust cleaning and decoking device according to claim 6, characterized in that: The route planning module includes: Visual collection unit, used to collect the distribution of dust and coke blocks on the inner wall of the boiler; A model generation unit, used to generate a distribution model of dust and coke blocks according to the distribution of dust and coke blocks on the inner wall of the boiler; The work point planning unit is used to determine the distribution of work points according to the distribution model of dust and coke blocks; The route planning unit is used to determine the movement trajectory according to the distribution of work points.

9. A boiler dust cleaning and decoking device according to claim 8, characterized in that: The work control module includes: A model calling unit, used for calling the distribution model of dust and coke; A positioning unit, used to determine the real-time position of the device; A height control unit, used for controlling the rising height of the lifting platform (4); An angle control unit, used to control the working angle of the angle adjustment component; The cycle control unit is used to control the rotation cycle of the cam (31).

10. A boiler dust cleaning and decoking device according to claim 9, characterized in that: The cycle control unit includes: A target calculation subunit, used for calculating a target rotation period of the cam (31); Wherein, Z is the target rotation period of the cam (31); T is the actual temperature of the working point; T b is the preset ideal cleaning temperature inside the boiler; δ is the actual relative humidity at the working point; δ b is the preset ideal clean relative humidity inside the boiler; ln is a logarithmic function with e as the base; e is a natural constant; t1 is the time required for decoking obtained by testing with both hammering and scraping methods under standard experimental conditions; t2 is the time required for decoking obtained by testing with only hammering method under standard experimental conditions; t0 is the unit time; m is the mass of the impact frame (39); k1 is the stiffness coefficient of the spring rod assembly (41); L is the maximum compression distance of the spring rod assembly (41); H0 is the total thickness of the coke block; D is the preset single coke block removal thickness; t z is the preset collision action time; E is the elastic modulus of the coke block; A is the cross-sectional area of ​​the collision end of the collision frame (39); The regulating subunit is used to modify the output frequency of the driving element so that the actual rotation period of the cam (31) reaches the target rotation period of the cam (31).

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