Reaction tower ash removal robot convenient to regulate and control

Abstract

The invention relates to the technical field of reaction tower cleaning, in particular to a reaction tower ash removal robot convenient to regulate and control, which comprises a cross beam, a cleaning mechanism is mounted on the cross beam, a swing mechanism is mounted on the cleaning mechanism, a supporting mechanism is mounted on the cross beam, and a suspension mechanism is mounted on the cross beam. A control mechanism is mounted at the top of the suspension mechanism, a rotating mechanism is mounted on the control mechanism, and a connecting mechanism is mounted between the suspension mechanism and the control mechanism; the control mechanism and the rotating mechanism facilitate connection of the suspension mechanism, so that height control over the cleaning mechanism is achieved, better cleaning work is achieved, the supporting mechanism and the swing mechanism are matched, stable work of the cleaning mechanism in the reaction tower is facilitated, and the connecting mechanism is installed, so that stable connection of the control mechanism and the suspension mechanism is facilitated. And follow-up free disassembly is facilitated, so that follow-up disassembly, assembly and maintenance of the cleaning mechanism are facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of reaction tower cleaning, in particular to a reaction tower cleaning robot that is easy to regulate. Background Art

[0002] The reaction tower provides sufficient residence time to create the most suitable spatial conditions for the neutralization reaction, lowers the flue gas temperature to provide the most suitable temperature for the neutralization reaction, and provides the first step of purification when the flue gas passes through. The reaction tower is a kind of equipment used in many fields. Its core function is to promote the progress of chemical reactions. After the reaction tower has been working for a long time, a large amount of debris will be attached to the inner wall, which needs to be cleaned to facilitate subsequent reactions.

[0003] However, when cleaning the inner wall of a traditional reaction tower, most of the operations are done manually by entering the reaction tower through a rope. This is very inconvenient when adjusting the cleaning position, and when the position needs to be fine-tuned during cleaning, the crane needs to work again to move the position. The back-and-forth operation is time-consuming and labor-intensive. At the same time, there will be some residual corrosive substances inside the reaction tower, which can easily cause harm to the health of the workers. The operation is very dangerous, and the construction is slow and inefficient. Summary of the invention

[0004] In view of the problems in the prior art, the present invention provides a reaction tower cleaning robot that is easy to control.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a reaction tower cleaning robot that is easily controlled, comprising a crossbeam, a cleaning mechanism is installed on the crossbeam, a swing mechanism is installed on the cleaning mechanism, a supporting mechanism is installed on the crossbeam, a suspension mechanism is installed on the crossbeam, a control mechanism is installed on the top of the suspension mechanism, a rotating mechanism is installed on the control mechanism, and a connecting mechanism is installed between the suspension mechanism and the control mechanism.

[0006] Specifically, the cleaning mechanism includes a connecting rod, one end of the beam is detachably connected to the connecting rod, one end of the connecting rod is detachably connected to a mechanical arm, one end of the mechanical arm is connected to a connecting shaft, three scrapers distributed in a fan shape are installed on the connecting shaft, and a control box is installed on the mechanical arm.

[0007] Specifically, one end of the connecting rod is slidably connected to the inside of the crossbeam, and first hydraulic cylinders are fixedly connected to both sides of the crossbeam respectively. Output shafts at one end of two first hydraulic cylinders are fixedly connected to both sides of the connecting rod respectively, and the connecting rod is a "cross" shaped structure.

[0008] Specifically, one end of the three scrapers is respectively connected to one end of the connecting shaft in a fan-shaped rotation, the top of one end of the connecting shaft is fixedly connected to a fixing plate with a fan-shaped structure, the fixing plate is provided with a movable groove, the movable groove is an arc structure, three handle screws are slidably connected inside the movable groove, the bottoms of the three handle screws are respectively connected to the three scrapers through threads, and the three handle screws are respectively in conflict with the fixing plate.

[0009] Specifically, the swing mechanism includes a connecting block, the end of the robotic arm is fixedly connected to the connecting block, the connecting block is rotatably connected to the end of the connecting rod through a swivel block, the control box is connected to the top of the connecting block, and both sides of the connecting block are fixedly connected to driving plates with an arc structure, the driving plate extends to one side of the connecting rod, one side of the connecting rod is rotatably connected to a second hydraulic cylinder, and one end of the second hydraulic cylinder has an output shaft rotatably connected to the driving plate.

[0010] Specifically, the supporting mechanism includes a supporting frame, the end of the cross beam is rotatably connected to two supporting frames, the end of the cross beam is rotatably connected to two third hydraulic cylinders, the two third hydraulic cylinders are respectively located between the two supporting frames, and the output shafts at one end of the two third hydraulic cylinders are rotatably connected to the center of the side walls of the two supporting frames through fixed blocks.

[0011] Specifically, one end of the two support frames is slidably connected to a telescopic frame, a fourth hydraulic cylinder is installed between the two telescopic frames and the two support frames, one end of the two telescopic frames is fixedly connected to a mounting seat, and rollers are rotatably connected to the two mounting seats.

[0012] Specifically, the suspension mechanism includes a vertical plate, and the two ends of the cross beam are vertically fixedly connected to the vertical plates, the tops of the two vertical plates are respectively rotatably connected to the first pulleys, and the tops of the two vertical plates are provided with connecting plates, and the bottoms of the two ends of the connecting plates are rotatably connected to the second pulleys, and the first cables are respectively fixedly connected to the mechanical arm and the support frame, and one end of the two first cables is respectively connected to the two first pulleys and the two second pulleys in an "S" shape, and one end of the two first cables passes through the connecting plate and extends to the outside.

[0013] Specifically, the control mechanism includes a fixed seat, a fixed seat is provided on the top of the connecting plate, a mounting frame is installed on the top of the fixed seat, two symmetrically distributed cranes are installed on the top of the mounting frame, and second cables are respectively wrapped around the two cranes. The two second cables pass through the mounting frame and the fixed seat and extend to the top of the connecting plate. The two second cables are respectively connected to the two first cables.

[0014] Specifically, the rotating mechanism includes a turntable, which is rotatably connected to the top center of the fixed seat, the mounting frame is fixedly connected to the top of the turntable, the outer wall of the turntable is fixedly connected to a gear plate, and the bottom of one end of the fixed seat is detachably connected to a driving motor, a driving gear is fixedly connected to the output shaft of the driving motor, the driving gear is meshed with the gear plate, and the diameter of the driving gear is smaller than the diameter of the gear plate.

[0015] Specifically, the connecting mechanism includes a fixing sleeve, the bottoms of the two second cables are respectively rotatably connected to the fixing sleeves, the tops of the two first cables are respectively rotatably connected to the connecting sleeves, the tops of the two connecting sleeves are threadedly connected to the inner sides of the bottoms of the two fixing sleeves, the side walls of the two fixing sleeves are vertically threadedly connected to the bolts, and the bolts extend to the inside of the fixing sleeves and contact the side walls of the connecting sleeves.

[0016] The beneficial effects of the present invention are:

[0017] (1) The reaction tower cleaning robot described in the present invention is easy to control. By installing a control mechanism and a rotating mechanism, it is convenient to connect the suspension mechanism, thereby adjusting the height and position of the cleaning mechanism to achieve better cleaning work.

[0018] (2) The reaction tower cleaning robot described in the present invention is easy to control and can be installed by the coordination of the suspension mechanism and the cleaning mechanism, so as to facilitate the removal of attachments from the inner wall of the reaction tower, thereby making the subsequent work of the reaction tower more efficient.

[0019] (3) The reaction tower cleaning robot that is easy to control described in the present invention facilitates the stable operation of the cleaning mechanism inside the reaction tower through the cooperation of the supporting mechanism and the swinging mechanism, and can be fine-tuned to reduce the shaking of the cleaning mechanism.

[0020] (4) The reaction tower cleaning robot that is easy to control described in the present invention facilitates the stable connection between the control mechanism and the suspension mechanism through the installation of the connecting mechanism, and is convenient for subsequent free disassembly, thereby facilitating the subsequent disassembly, assembly and maintenance of the cleaning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 A schematic diagram of the overall structure provided by the present invention;

[0023] Figure 2 It is a schematic diagram of the connection structure between the crossbeam and the mechanical arm of the present invention;

[0024] Figure 3 It is a schematic diagram of the connection structure between the scraper and the mechanical arm of the present invention;

[0025] Figure 4It is a schematic diagram of the connection structure between the scraper and the fixing plate of the present invention;

[0026] Figure 5 It is a schematic diagram of the connection structure of the connection block and the connection rod of the present invention;

[0027] Figure 6 It is a schematic diagram of the connection structure between the support frame and the crossbeam of the present invention;

[0028] Figure 7 It is a schematic diagram of the connection structure between the telescopic frame and the supporting frame of the present invention;

[0029] Figure 8 It is a schematic diagram of the connection structure between the first cable and the first pulley and the second pulley of the present invention;

[0030] Fig. 9 It is a schematic diagram of the connection structure between the crane and the fixing seat of the present invention;

[0031] Fig.10 It is a schematic diagram of the connection structure between the turntable and the fixing seat of the present invention;

[0032] Fig.11 It is a schematic diagram of the connection structure between the connecting sleeve and the fixing sleeve of the present invention.

[0033] In the figure: 1, beam; 2, cleaning mechanism; 201, connecting rod; 202, mechanical arm; 203, control box; 204, scraper; 205, connecting shaft; 206, fixed plate; 207, movable groove; 208, handle screw; 209, first hydraulic cylinder; 3, swing mechanism; 301, connecting block; 302, driving plate; 303, second hydraulic cylinder; 304, rotating block; 4, supporting mechanism; 401, supporting frame; 402, third hydraulic cylinder; 403, fixed block; 404, fourth hydraulic cylinder; 405, extension Retractable frame; 406, mounting seat; 407, roller; 5, suspension mechanism; 501, first cable; 502, connecting plate; 503, vertical plate; 504, first pulley; 505, second pulley; 6, control mechanism; 601, fixed seat; 602, crane; 603, second cable; 604, mounting frame; 7, rotating mechanism; 701, turntable; 702, gear plate; 703, driving gear; 704, driving motor; 8, connecting mechanism; 801, fixing sleeve; 802, connecting sleeve; 803, bolt. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0035] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Fig.10 and Fig.11 As shown, the reaction tower cleaning robot which is easy to control described in the present invention comprises a crossbeam 1, a cleaning mechanism 2 is installed on the crossbeam 1, a swing mechanism 3 is installed on the cleaning mechanism 2, a supporting mechanism 4 is installed on the crossbeam 1, a suspension mechanism 5 is installed on the crossbeam 1, a control mechanism 6 is installed on the top of the suspension mechanism 5, a rotating mechanism 7 is installed on the control mechanism 6, and a connecting mechanism 8 is installed between the suspension mechanism 5 and the control mechanism 6.

[0036] Specifically, Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the cleaning mechanism 2 includes a connecting rod 201, one end of the beam 1 is detachably connected to the connecting rod 201, one end of the connecting rod 201 is detachably connected to a mechanical arm 202, one end of the mechanical arm 202 is connected to a connecting shaft 205, three scrapers 204 distributed in a fan shape are installed on the connecting shaft 205, and a control box 203 is installed on the mechanical arm 202. The installation of the beam 1 facilitates the connection of the connecting rod 201, thereby realizing the installation of the mechanical arm 202. The installation of the three scrapers 204 facilitates the cleaning of the inside of the reaction tower. The control of the control box 203 realizes the operation of the mechanical arm 202, thereby realizing the cleaning of the inner wall of the reaction tower by the scraper 204.

[0037] Specifically, Figure 6 As shown, one end of the connecting rod 201 is slidably connected to the inside of the beam 1, and the first hydraulic cylinders 209 are fixedly connected to both sides of the beam 1 respectively. The output shafts at one end of the two first hydraulic cylinders 209 are fixedly connected to both sides of the connecting rod 201 respectively. The connecting rod 201 is a "cross" structure. By slidingly installing one end of the connecting rod 201 with the inside of the beam 1, the length of the connecting rod 201 can be adjusted. By synchronously driving the two first hydraulic cylinders 209, the moving length of the connecting rod 201 can be controlled, so that the robotic arm 202 can better perform the cleaning work inside the reaction tower.

[0038] Specifically, Figure 3 and Figure 4As shown, one end of the three scrapers 204 is respectively connected to one end of the connecting shaft 205 in a fan-shaped rotation, and the top of one end of the connecting shaft 205 is fixedly connected to a fixing plate 206 with a fan-shaped structure, and a movable groove 207 is provided on the fixing plate 206, and the movable groove 207 is an arc structure, and three handle screws 208 are slidably connected inside the movable groove 207, and the bottoms of the three handle screws 208 are respectively threadedly connected to the three scrapers 204, and the three handle screws 208 are respectively in conflict with the fixing plate 206, and the scrapers 204 are connected to the fixing plate 206. The rotation of the connecting shaft 205 makes it convenient to adjust the angle as needed to achieve better cleaning work. The installation of the fixing plate 206 facilitates the insertion of the handle screw 208, and the handle screw 208 is threadedly connected to the scraper 204, so that the scraper 204 and the fixing plate 206 can be fixed and limited, so that the scraper 204 can work stably. By rotating the handle screw 208 in the opposite direction, the handle screw 208 is separated from the fixing plate 206, which facilitates the rotation and adjustment of the scraper 204.

[0039] Specifically, Figure 5 As shown, the swing mechanism 3 includes a connecting block 301, the end of the mechanical arm 202 is fixedly connected with the connecting block 301, the connecting block 301 is rotatably connected to the end of the connecting rod 201 through a rotating block 304, the control box 203 is connected to the top of the connecting block 301, and driving plates 302 with an arc structure are fixedly connected on both sides of the connecting block 301, the driving plate 302 extends to one side of the connecting rod 201, and a second hydraulic cylinder 303 is rotatably connected to one side of the connecting rod 201, and an output shaft at one end of the second hydraulic cylinder 303 is rotatably connected to the driving plate 302, through the cooperation of the connecting block 301 and the rotating block 304, the mechanical arm 202 and the connecting rod 201 can rotate, through the cooperation of the driving plate 302 and the second hydraulic cylinder 303, the second hydraulic cylinder 303 can control the driving plate 302 to swing, so that the driving plate 302 controls the rotation of the connecting block 301, and then the swing angle of the mechanical arm 202 is adjusted, so as to achieve better cleaning of different areas.

[0040] Specifically, Figure 1 , Figure 2 and Figure 6As shown, the supporting mechanism 4 includes a supporting frame 401, two supporting frames 401 are rotatably connected to the end of the beam 1, two third hydraulic cylinders 402 are rotatably connected to the end of the beam 1, and the two third hydraulic cylinders 402 are respectively located between the two supporting frames 401, and the output shafts at one end of the two third hydraulic cylinders 402 are rotatably connected to the center of the side walls of the two supporting frames 401 through fixed blocks 403 respectively. The inner wall of the reaction tower is supported by the rotating connection of the two supporting frames 401, and the angle between the two supporting frames 401 is adjusted by synchronous control of the two third hydraulic cylinders 402, which is beneficial to the support and resistance of the inner walls of different reaction towers, so that the mechanical arm 202 can stably clean the inner wall of the reaction tower.

[0041] Specifically, Figure 6 and Figure 7 As shown, one end of the two support frames 401 is respectively slidably connected with a telescopic frame 405, a fourth hydraulic cylinder 404 is installed between the two telescopic frames 405 and the two support frames 401, one end of the two telescopic frames 405 is respectively fixedly connected with a mounting seat 406, and the two mounting seats 406 are rotatably connected with rollers 407. By installing the two telescopic frames 405 and the two support frames 401, the length of the support frame 401 is increased, and the length of the two telescopic frames 405 is adjusted by synchronous control of the two fourth hydraulic cylinders 404, which is beneficial to the stable support of the support frame 401 and the inner wall of the reaction tower, and the support stroke is increased, and the adaptability range is wider. At the same time, through the installation of the mounting seat 406, it is beneficial to connect the roller 407, so that when the mechanical arm 202 rotates an angle inside the reaction tower, the roller 407 and the inside of the reaction tower move smoothly.

[0042] Specifically, Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, the suspension mechanism 5 includes a vertical plate 503, and the two ends of the crossbeam 1 are vertically fixedly connected with the vertical plates 503, and the tops of the two vertical plates 503 are respectively rotatably connected with first pulleys 504, and the tops of the two vertical plates 503 are provided with connecting plates 502, and the bottoms of the two ends of the connecting plates 502 are rotatably connected with second pulleys 505, and the first cables 501 are respectively fixedly connected to the mechanical arm 202 and the support frame 401, and one end of the two first cables 501 is respectively connected to the two first pulleys 504 and the two second pulleys 505 in an "S" shape, and one end of the two first cables 501 passes through The connecting plate 502 extends to the outside, and the installation of the two vertical plates 503 is conducive to the connection of the first pulley 504, thereby realizing the installation of the two first cables 501. Through the installation of the connecting plate 502 and the two second pulleys 505, the direction of the two cables is changed, which is conducive to the connection of the two cables with the mechanical arm 202 and the support frame 401, so that the stretching can suspend and lift the fixed frame, and can control the lifting control of the mechanical arm 202 and the support frame 401, so that the mechanical arm 202 can swing up and down to perform dust cleaning operations.

[0043] Specifically, Figure 1 , Fig. 9 and Fig.10 As shown, the control mechanism 6 includes a fixing seat 601, a fixing seat 601 is provided on the top of the connecting plate 502, a mounting frame 604 is installed on the top of the fixing seat 601, two symmetrically distributed cranes 602 are installed on the top of the mounting frame 604, and the two cranes 602 are respectively wound and connected with second cables 603, and the two second cables 603 pass through the mounting frame 604 and the fixing seat 601 and extend to the top of the connecting plate 502. The two second cables 603 are respectively connected to the two first cables 501, and the mounting frame 604 and the crane 602 are supported by the fixing seat 601 and the top of the reaction tower. Installation, through the synchronous operation of the two cranes 602, the two second cables 603 are lifted, and through the connection of the two second cables 603 with the two first cables 501, the fixing frame and the mechanical arm 202 are lifted, and dust cleaning is achieved at different positions. Through the operation of one crane 602, one of the second cables 603 is lifted, which is conducive to the upward lifting and tilting of the mechanical arm 202. Through the operation of the other crane 602, the mounting frame 604 is lifted and tilted, and the vertical swing of the mechanical arm 202 is achieved, which is conducive to better scraping and cleaning the side walls of the reaction tower.

[0044] Specifically, Fig. 9 and Fig.10As shown, the rotating mechanism 7 includes a rotating disk 701, the rotating disk 701 is rotatably connected at the center of the top of the fixed seat 601, the mounting frame 604 is fixedly connected to the top of the rotating disk 701, the outer wall of the rotating disk 701 is fixedly connected to a gear plate 702, and the bottom of one end of the fixed seat 601 is detachably connected to a driving motor 704, and a driving gear 703 is fixedly connected to the output shaft of the driving motor 704, and the driving gear 703 is meshed with the gear plate 702, and the diameter of the driving gear 703 is smaller than the diameter of the gear plate 702 The installation of the turntable 701 facilitates the support of the mounting frame 604, and enables the mounting frame 604 to rotate on the top of the fixing seat 601. The installation of the gear plate 702 enables the driving gear 703 to drive the gear plate 702 to rotate under the operation of the driving motor 704, thereby realizing the control of the turntable 701, facilitating the rotation of the mounting frame 604 and the two cranes 602, so that the angle of the mechanical arm 202 can be greatly adjusted, which is convenient for cleaning at different positions.

[0045] Specifically, Fig.11 As shown, the connecting mechanism 8 includes a fixing sleeve 801, the bottoms of the two second cables 603 are rotatably connected to the fixing sleeves 801, the tops of the two first cables 501 are rotatably connected to the connecting sleeves 802, the tops of the two connecting sleeves 802 are threadedly connected to the inner sides of the bottoms of the two fixing sleeves 801, and the side walls of the two fixing sleeves 801 are vertically threadedly connected to bolts 803, the bolts 803 extend to the inner sides of the fixing sleeves 801 and contact the side walls of the connecting sleeves 802, and through the installation of the fixing sleeves 801 and the connecting sleeves 802, the connecting sleeves 802 are threadedly connected to the inner sides of the fixing sleeves 801, so as to realize the disassembly and assembly of the first cables 501 and the second cables 603, which is beneficial to the subsequent disassembly and assembly and maintenance of the robotic arm 202, and through the installation of the bolts 803, the bolts 803 contact the side walls of the connecting sleeves 802, so as to limit the connecting sleeves 802, so that the connecting sleeves 802 and the fixing sleeves 801 will not rotate loose.

[0046] When the present invention is in use, firstly, the mounting bracket 604 and the crane 602 are supported and installed by installing the fixing seat 601 on the top of the reaction tower, and the two second cables 603 are lifted by the synchronous operation of the two cranes 602. The fixing bracket and the mechanical arm 202 are lifted by connecting the two second cables 603 with the two first cables 501, so as to realize dust cleaning at different positions. One crane 602 is operated to lift one of the second cables 603, which is beneficial for the mechanical arm 202 to lift and tilt upward. The mounting bracket 604 is lifted and tilted by the operation of the other crane 602, so as to realize the vertical swing of the mechanical arm 202, which is beneficial for better scraping and cleaning of the side wall of the reaction tower. The rotary table 7 is used to remove dust from the side wall of the reaction tower. 01 is installed, which is conducive to supporting the mounting frame 604 and enabling the mounting frame 604 to rotate on the top of the fixed seat 601. Through the installation of the gear plate 702, under the operation of the driving motor 704, the driving gear 703 drives the gear plate 702 to rotate, thereby realizing the control of the turntable 701, which is conducive to the rotation of the mounting frame 604 and the two cranes 602, so that the angle of the mechanical arm 202 can be greatly adjusted, which is convenient for cleaning at different positions. The installation of the two vertical plates 503 is conducive to the connection of the first pulley 504, thereby realizing the installation of the two first cables 501. Through the installation of the connecting plate 502 and the two second pulleys 505, the direction of the two cables can be changed, which is conducive to the connection of the two cables with the mechanical arm 202 and the support frame 401. The stretching can lift the fixed frame suspension, and can control the lifting of the mechanical arm 202 and the support frame 401, so that the mechanical arm 202 can swing up and down to perform dust cleaning operations. The installation of the crossbeam 1 is convenient for connecting the connecting rod 201, so as to realize the installation of the mechanical arm 202. The installation of three scrapers 204 facilitates the dust cleaning work inside the reaction tower. The control of the control box 203 realizes the operation of the mechanical arm 202, so that the scraper 204 cleans the inner wall of the reaction tower. The sliding installation of one end of the connecting rod 201 and the inside of the crossbeam 1 can adjust the length of the connecting rod 201. The synchronous driving of the two first hydraulic cylinders 209 can control the moving length of the connecting rod 201. The mechanical arm 202 can better clean the dust inside the reaction tower. The scraper 204 and the connecting shaft 205 are rotated to adjust the angle according to the needs, so as to achieve better cleaning work. The installation of the fixing plate 206 is convenient for inserting the handle screw 208, and the handle screw 208 is threadedly connected with the scraper 204, so that the scraper 204 and the fixing plate 206 can be fixed and limited, so that the scraper 204 can work stably. The handle screw 208 is rotated in the opposite direction to separate the handle screw 208 from the fixing plate 206, so as to facilitate the rotation and adjustment of the scraper 204. The mechanical arm 202 and the connecting rod 201 can be rotated through the cooperation of the connecting block 301 and the rotating block 304. Through the cooperation of the driving plate 302 and the second hydraulic cylinder 303,The second hydraulic cylinder 303 can control the swing of the driving plate 302, so that the driving plate 302 controls the rotation of the connecting block 301, and then adjusts the swing angle of the mechanical arm 202 to achieve better cleaning of different areas. The inner wall of the reaction tower is supported by the rotation connection of the two support frames 401. The angle between the two support frames 401 is adjusted by the synchronous control of the two third hydraulic cylinders 402, which is conducive to the support of the inner walls of different reaction towers, so that the mechanical arm 202 can stably clean the inner wall of the reaction tower. The length of the support frame 401 is increased by installing the two telescopic frames 405 and the two support frames 401. The length of the two telescopic frames 405 is adjusted by the synchronous control of the two fourth hydraulic cylinders 404. , which is conducive to the stable support of the support frame 401 and the inner wall of the reaction tower, and increases the support stroke, with a wider range of adaptability. At the same time, the installation of the mounting seat 406 is conducive to the connection of the roller 407, so that when the mechanical arm 202 rotates an angle inside the reaction tower, the roller 407 and the inside of the reaction tower move smoothly. Through the installation of the fixing sleeve 801 and the connecting sleeve 802, the connecting sleeve 802 is connected to the internal thread of the fixing sleeve 801, thereby realizing the disassembly and assembly of the first cable 501 and the second cable 603, which is conducive to the subsequent disassembly and assembly maintenance of the mechanical arm 202. Through the installation of the bolt 803, the bolt 803 is in contact with the side wall of the connecting sleeve 802, which plays a role in limiting the connecting sleeve 802, so that the connecting sleeve 802 and the fixing sleeve 801 will not rotate loose. ,

[0047] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and range of equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0048] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A conveniently controlled reaction tower cleaning robot, characterized in that: The invention comprises a crossbeam (1), a cleaning mechanism (2) is installed on the crossbeam (1), a swing mechanism (3) is installed on the cleaning mechanism (2), a supporting mechanism (4) is installed on the crossbeam (1), a suspension mechanism (5) is installed on the crossbeam (1), a control mechanism (6) is installed on the top of the suspension mechanism (5), a rotating mechanism (7) is installed on the control mechanism (6), and a connecting mechanism (8) is installed between the suspension mechanism (5) and the control mechanism (6); The cleaning mechanism (2) comprises a connecting rod (201), one end of the crossbeam (1) is detachably connected to the connecting rod (201), one end of the connecting rod (201) is detachably connected to a mechanical arm (202), one end of the mechanical arm (202) is connected to a connecting shaft (205), three scrapers (204) distributed in a fan shape are installed on the connecting shaft (205), and a control box (203) is installed on the mechanical arm (202); The swing mechanism (3) comprises a connecting block (301), the end of the mechanical arm (202) is fixedly connected to the connecting block (301), the connecting block (301) is rotatably connected to the end of the connecting rod (201) via a rotating block (304), the control box (203) is connected to the top of the connecting block (301), both sides of the connecting block (301) are fixedly connected to driving plates (302) with an arc structure, the driving plate (302) extends to one side of the connecting rod (201), one side of the connecting rod (201) is rotatably connected to a second hydraulic cylinder (303), and one end of the output shaft of the second hydraulic cylinder (303) is rotatably connected to the driving plate (302).

2. The conveniently controlled reaction tower cleaning robot according to claim 1 is characterized in that: One end of the connecting rod (201) is slidably connected to the inside of the cross beam (1), and first hydraulic cylinders (209) are fixedly connected to both sides of the cross beam (1), and output shafts at one end of the two first hydraulic cylinders (209) are fixedly connected to both sides of the connecting rod (201), respectively, and the connecting rod (201) is a "cross"-shaped structure.

3. The easily controllable reaction tower cleaning robot according to claim 2, characterized in that: One end of the three scrapers (204) is respectively connected to one end of the connecting shaft (205) in a fan-shaped rotational manner, and a fixing plate (206) with a fan-shaped structure is fixedly connected to the top of one end of the connecting shaft (205). A movable groove (207) is provided on the fixing plate (206). The movable groove (207) is an arc-shaped structure. Three handle screws (208) are slidably connected inside the movable groove (207). The bottoms of the three handle screws (208) are respectively threadedly connected to the three scrapers (204), and the three handle screws (208) are respectively in conflict with the fixing plate (206).

4. The easily controllable reaction tower cleaning robot according to claim 1, characterized in that: The support mechanism (4) comprises a support frame (401), the end of the cross beam (1) is rotatably connected to two support frames (401), the end of the cross beam (1) is rotatably connected to two third hydraulic cylinders (402), the two third hydraulic cylinders (402) are respectively located between the two support frames (401), and the output shafts at one end of the two third hydraulic cylinders (402) are rotatably connected to the center of the side walls of the two support frames (401) through fixed blocks (403).

5. The conveniently controlled reaction tower cleaning robot according to claim 4 is characterized in that: One end of the two support frames (401) is slidably connected to a telescopic frame (405), a fourth hydraulic cylinder (404) is installed between the two telescopic frames (405) and the two support frames (401), one end of the two telescopic frames (405) is fixedly connected to a mounting seat (406), and rollers (407) are rotatably connected to the two mounting seats (406).

6. The easily controllable reaction tower cleaning robot according to claim 4, characterized in that: The suspension mechanism (5) comprises a vertical plate (503), the two ends of the cross beam (1) are vertically fixedly connected with the vertical plates (503), the tops of the two vertical plates (503) are respectively rotatably connected with first pulleys (504), the tops of the two vertical plates (503) are provided with connecting plates (502), the bottoms of the two ends of the connecting plates (502) are rotatably connected with second pulleys (505), the mechanical arm (202) and the support frame (401) are respectively fixedly connected with first cables (501), one end of the two first cables (501) is respectively connected to the two first pulleys (504) and the two second pulleys (505) in an "S" shape, and one end of the two first cables (501) passes through the connecting plate (502) and extends to the outside.

7. The easily controllable reaction tower cleaning robot according to claim 6, characterized in that: The control mechanism (6) comprises a fixing seat (601), a fixing seat (601) is provided on the top of the connecting plate (502), a mounting frame (604) is installed on the top of the fixing seat (601), two symmetrically distributed cranes (602) are installed on the top of the mounting frame (604), and second cables (603) are respectively wound around the two cranes (602), and the two second cables (603) pass through the mounting frame (604) and the fixing seat (601) and extend to the top of the connecting plate (502), and the two second cables (603) are respectively connected to the two first cables (501).

8. The easily controllable reaction tower cleaning robot according to claim 7, characterized in that: The rotating mechanism (7) comprises a rotating disk (701), the rotating disk (701) is rotatably connected to the center of the top of the fixed seat (601), the mounting frame (604) is fixedly connected to the top of the rotating disk (701), the outer wall of the rotating disk (701) is fixedly connected to a gear disk (702), the bottom of one end of the fixed seat (601) is detachably connected to a driving motor (704), the output shaft of the driving motor (704) is fixedly connected to a driving gear (703), the driving gear (703) is meshed with the gear disk (702), and the diameter of the driving gear (703) is smaller than the diameter of the gear disk (702).

9. The easily controllable reaction tower cleaning robot according to claim 1 or 8, characterized in that: The connecting mechanism (8) comprises a fixing sleeve (801), the bottoms of the two second cables (603) are rotatably connected to the fixing sleeve (801), the tops of the two first cables (501) are rotatably connected to the connecting sleeve (802), and the tops of the two connecting sleeves (802) are threadedly connected to the inner sides of the bottoms of the two fixing sleeves (801).

10. The easily controllable reaction tower cleaning robot according to claim 9, characterized in that: The side walls of the two fixing sleeves (801) are vertically threadedly connected with bolts (803), and the bolts (803) extend to the inside of the fixing sleeve (801) and abut against the side wall of the connecting sleeve (802).

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