A conveniently controllable reaction tower cleaning robot

Abstract

This invention relates to the field of reaction tower cleaning technology, specifically a conveniently controllable reaction tower cleaning robot, comprising a crossbeam, a cleaning mechanism mounted on the crossbeam, a swing mechanism mounted on the cleaning mechanism, a support mechanism mounted on the crossbeam, a suspension mechanism mounted on the crossbeam, a control mechanism mounted on the top of the suspension mechanism, a rotating mechanism mounted on the control mechanism, and a connecting mechanism installed between the suspension mechanism and the control mechanism. The control mechanism and the rotating mechanism facilitate the connection to the suspension mechanism, thereby enabling height control of the cleaning mechanism for better cleaning performance. The cooperation of the support mechanism and the swing mechanism ensures stable operation of the cleaning mechanism inside the reaction tower. The installation of the connecting mechanism ensures stable connection between the control mechanism and the suspension mechanism and facilitates subsequent free disassembly, thus facilitating subsequent disassembly, assembly, and maintenance of the cleaning mechanism.

Description

Technical Field

[0001] This invention relates to the field of reaction tower cleaning technology, specifically a reaction tower cleaning robot that is easy to control. Background Technology

[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 measures when the flue gas passes through. The reaction tower is a device used in many fields. Its core function is to promote the chemical reaction. After the reaction tower has been working for a long time, a lot of debris will be accumulated on the inner wall, which needs to be cleaned to facilitate subsequent reactions.

[0003] However, in traditional reactor towers, the internal wall cleaning is mostly done manually by entering the tower through a hoisting rope. This is very inconvenient when adjusting the cleaning position, and when fine adjustments are needed during cleaning, the crane needs to be used again to move the position. This back-and-forth operation is time-consuming and labor-intensive. At the same time, there are some residual corrosive substances inside the reactor 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] To address the problems in the existing technology, 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 problem is: a reaction tower cleaning robot that is easy to control, including a crossbeam, a cleaning mechanism installed on the crossbeam, a swing mechanism installed on the cleaning mechanism, a support mechanism installed on the crossbeam, a suspension mechanism installed on the crossbeam, a control mechanism installed on the top of the suspension mechanism, a rotation mechanism installed on the control mechanism, and a connection mechanism installed between the suspension mechanism and the control mechanism.

[0006] Specifically, the cleaning mechanism includes a connecting rod, one end of the crossbeam is detachably connected to the connecting rod, one end of the connecting rod is detachably connected to a robotic arm, one end of the robotic arm is connected to a connecting shaft, three fan-shaped scrapers are mounted on the connecting shaft, and a control box is mounted on the robotic arm.

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

[0008] Specifically, one end of each of the three scrapers is rotatably connected to one end of the connecting shaft in a fan shape. The top of one end of the connecting shaft is fixedly connected to a fixed plate with a fan-shaped structure. The fixed plate is provided with a movable groove, which is an arc-shaped structure. Three handle screws are slidably connected inside the movable groove. The bottom of the three handle screws is threadedly connected to the three scrapers, and the three handle screws abut against the fixed plate.

[0009] Specifically, the swing mechanism includes a connecting block, which is fixedly connected to the end of the robotic arm. The connecting block is rotatably connected to the end of the connecting rod via a rotating block. The control box is connected to the top of the connecting block. Arc-shaped drive plates are fixedly connected to both sides of the connecting block. The drive plates extend to one side of the connecting rod. A second hydraulic cylinder is rotatably connected to one side of the connecting rod. The output shaft of one end of the second hydraulic cylinder is rotatably connected to the drive plate.

[0010] Specifically, the support mechanism includes a support frame, two support frames are rotatably connected to the end of the crossbeam, and two third hydraulic cylinders are rotatably connected to the end of the crossbeam. The two third hydraulic cylinders are respectively located between the two support frames, and the output shafts of one end of the two third hydraulic cylinders are rotatably connected to the center of the side wall of the two support frames through a fixing block.

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

[0012] Specifically, the suspension mechanism includes upright plates, with upright plates vertically fixedly connected to both ends of the crossbeam. The tops of the two upright plates are rotatably connected to first pulleys, and the tops of the two upright plates are provided with connecting plates. The bottoms of both ends of the connecting plates are rotatably connected to second pulleys. The robotic arm and the support frame are respectively fixedly connected to first cables. One end of each of the two first cables is wound around the two first pulleys and the two second pulleys in an "S" shape. One end of each of the two first cables extends outward through the connecting plate.

[0013] Specifically, the control mechanism includes a fixed base, the top of the connecting plate is provided with a fixed base, the top of the fixed base is equipped with a mounting frame, the top of the mounting frame is equipped with two symmetrically distributed cranes, the two cranes are respectively wound with second cables, the two second cables pass through the mounting frame and the fixed base and extend to the top of the connecting plate, and the two second cables are respectively connected to two first cables.

[0014] Specifically, the rotating mechanism includes a turntable, the turntable is rotatably connected to the top center of the fixed base, the mounting bracket is fixedly connected to the top of the turntable, a gear disk is fixedly connected to the outer wall of the turntable, a drive motor is detachably connected to the bottom of one end of the fixed base, a drive gear is fixedly connected to the output shaft of the drive motor, the drive gear meshes with the gear disk, and the diameter of the drive gear is smaller than the diameter of the gear disk.

[0015] Specifically, the connecting mechanism includes a fixed sleeve, the bottom of the two second cables are rotatably connected to the fixed sleeve, the top of the two first cables are rotatably connected to the connecting sleeve, the top of the two connecting sleeves is threaded to the inner side of the bottom of the two fixed sleeves, and the sidewalls of the two fixed sleeves are vertically threaded with bolts, the bolts extending to the inner side of the fixed sleeves and abutting against the sidewalls of the connecting sleeves.

[0016] The beneficial effects of this invention are:

[0017] (1) The reaction tower cleaning robot described in this invention is easy to control. By installing the control mechanism and the rotation mechanism, it is easy to connect the suspension mechanism, thereby realizing the adjustment of the height and position of the cleaning mechanism and achieving better cleaning work.

[0018] (2) The reaction tower cleaning robot described in this invention is easy to control. Through the coordinated installation of the suspension mechanism and the cleaning mechanism, it is convenient to remove the attached materials from the inner wall of the reaction tower, making the subsequent work of the reaction tower more efficient.

[0019] (3) The reaction tower cleaning robot described in this invention is easy to control. Through the cooperation of the support mechanism and the swing mechanism, it is conducive to the stable operation of the cleaning mechanism inside the reaction tower and can be finely adjusted, reducing the shaking of the cleaning mechanism.

[0020] (4) The reaction tower cleaning robot described in this invention is easy to control. Through the installation of the connecting mechanism, the connection between the control mechanism and the suspension mechanism is stable and easy to disassemble and reassemble, which facilitates the subsequent disassembly and maintenance of the cleaning mechanism. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the connection structure between the beam and the robotic arm of the present invention;

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

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

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

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

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

[0029] Figure 8 This 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] Figure 9 This is a schematic diagram of the connection structure between the crane and the fixed base of the present invention;

[0031] Figure 10 This is a schematic diagram of the connection structure between the turntable and the fixed base of the present invention;

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

[0033] In the diagram: 1. Crossbeam; 2. Cleaning mechanism; 201. Connecting rod; 202. Robotic arm; 203. Control box; 204. Scraper; 205. Connecting shaft; 206. Fixed plate; 207. Movable groove; 208. Handle screw; 209. First hydraulic cylinder; 3. Swinging mechanism; 301. Connecting block; 302. Drive plate; 303. Second hydraulic cylinder; 304. Rotating block; 4. Support mechanism; 401. Support frame; 402. Third hydraulic cylinder; 403. Fixed block; 404. Fourth hydraulic cylinder; 405. Extension 406. Retractable frame; 407. Mounting base; 408. Roller; 5. Suspension mechanism; 501. First cable; 502. Connecting plate; 503. Vertical plate; 504. First pulley; 505. Second pulley; 6. Control mechanism; 601. Fixed base; 602. Crane; 603. Second cable; 604. Mounting frame; 7. Rotating mechanism; 701. Turntable; 702. Gear disk; 703. Drive gear; 704. Drive motor; 8. Connecting mechanism; 801. Fixed sleeve; 802. Connecting sleeve; 803. Bolt. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0035] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 10 and Figure 11 As shown, the present invention discloses a conveniently controllable reaction tower cleaning robot, comprising a crossbeam 1, a cleaning mechanism 2 mounted on the crossbeam 1, a swing mechanism 3 mounted on the cleaning mechanism 2, a support mechanism 4 mounted on the crossbeam 1, a suspension mechanism 5 mounted on the crossbeam 1, a control mechanism 6 mounted on the top of the suspension mechanism 5, a rotation mechanism 7 mounted on the control mechanism 6, and a connecting mechanism 8 mounted between the suspension mechanism 5 and the control mechanism 6.

[0036] Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the cleaning mechanism 2 includes a connecting rod 201. One end of the crossbeam 1 is detachably connected to the connecting rod 201, and one end of the connecting rod 201 is detachably connected to a robotic arm 202. One end of the robotic arm 202 is connected to a connecting shaft 205, and three fan-shaped scrapers 204 are installed on the connecting shaft 205. A control box 203 is installed on the robotic arm 202. The installation of the crossbeam 1 facilitates the connection of the connecting rod 201, thereby enabling the installation of the robotic arm 202. The installation of the three scrapers 204 facilitates the cleaning of the inside of the reaction tower. The robotic arm 202 is controlled by the control box 203, thereby enabling the scrapers 204 to clean the inner wall of the reaction tower.

[0037] Specifically, such as Figure 6 As shown, one end of the connecting rod 201 is slidably connected to the inside of the crossbeam 1. First hydraulic cylinders 209 are fixedly connected to both sides of the crossbeam 1. The output shafts of the two first hydraulic cylinders 209 are fixedly connected to both sides of the connecting rod 201. The connecting rod 201 has a "+" shaped structure. By sliding one end of the connecting rod 201 to the inside of the crossbeam 1, the length of the connecting rod 201 can be adjusted. By synchronously driving the two first hydraulic cylinders 209, the length of movement of the connecting rod 201 can be controlled, so that the robotic arm 202 can better clean the ash inside the reaction tower.

[0038] Specifically, such as Figure 3 and Figure 4As shown, one end of each of the three scrapers 204 is rotatably connected to one end of a connecting shaft 205 in a fan shape. A fixed plate 206 with a fan-shaped structure is fixedly connected to the top of one end of the connecting shaft 205. The fixed plate 206 has a movable groove 207, which 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 threadedly connected to the three scrapers 204, and the three handle screws 208 abut against the fixed plate 206. The scrapers 204 and the scrapers 204... The rotation of the connecting shaft 205 facilitates angle adjustment as needed, achieving better dust removal. 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, enabling the scraper 204 to be fixedly positioned with the fixing plate 206, ensuring stable operation of the scraper 204. By rotating the handle screw 208 in the opposite direction, the handle screw 208 is separated from the fixing plate 206, facilitating the adjustment of the scraper 204's rotation angle.

[0039] Specifically, such as Figure 5 As shown, the swing mechanism 3 includes a connecting block 301. The end of the robotic 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. Arc-shaped drive plates 302 are fixedly connected to both sides of the connecting block 301. The drive plates 302 extend to one side of the connecting rod 201. A second hydraulic cylinder 303 is rotatably connected to one side of the connecting rod 201. One end of the output shaft of the second hydraulic cylinder 303 is rotatably connected to the drive plate 302. Through the cooperation of the connecting block 301 and the rotating block 304, the robotic arm 202 and the connecting rod 201 can rotate. Through the cooperation of the drive plate 302 and the second hydraulic cylinder 303, the second hydraulic cylinder 303 can control the swing of the drive plate 302, thereby realizing the control of the connecting block 301 by the drive plate 302, and thus adjusting the swing angle of the robotic arm 202 to achieve better dust cleaning in different areas.

[0040] Specifically, such as Figure 1 , Figure 2 and Figure 6As shown, the support mechanism 4 includes a support frame 401. Two support frames 401 are rotatably connected to the end of the crossbeam 1, and two third hydraulic cylinders 402 are rotatably connected to the end of the crossbeam 1. The two third hydraulic cylinders 402 are respectively located between the two support frames 401. One output shaft of each of the two third hydraulic cylinders 402 is rotatably connected to the center of the side wall of the two support frames 401 through a fixing block 403. The rotatable connection of the two support frames 401 provides support for the inner wall of the reaction tower. The synchronous control of the two third hydraulic cylinders 402 allows the angle between the two support frames 401 to be adjusted, which facilitates the support and resistance of different inner walls of the reaction tower, enabling the robotic arm 202 to stably clean the dust on the inner wall of the reaction tower.

[0041] Specifically, such as Figure 6 and Figure 7 As shown, one end of each 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 each of the two telescopic frames 405 is fixedly connected to a mounting base 406. Rollers 407 are rotatably connected to the two mounting bases 406. By installing the two telescopic frames 405 and the two support frames 401, the length of the support frame 401 is increased. By synchronously controlling the two fourth hydraulic cylinders 404, the length of the two telescopic frames 405 can be adjusted, which helps to stabilize the support frame 401 against the inner wall of the reaction tower and increases the support stroke, making it more adaptable. At the same time, the installation of the mounting bases 406 facilitates the connection of the rollers 407, so that when the robotic arm 202 rotates inside the reaction tower, the rollers 407 move smoothly inside the reaction tower.

[0042] Specifically, such as Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, the suspension mechanism 5 includes upright plates 503. Upright plates 503 are vertically fixedly connected to both ends of the crossbeam 1. First pulleys 504 are rotatably connected to the tops of the two upright plates 503 respectively. Connecting plates 502 are provided at the tops of the two upright plates 503. Second pulleys 505 are rotatably connected to the bottoms of both ends of the connecting plates 502. First cables 501 are fixedly connected to the robotic arm 202 and the support frame 401 respectively. One end of each of the two first cables 501 is wound in an "S" shape with the two first pulleys 504 and the two second pulleys 505. One end of each of the two first cables 501 passes through... The connecting plate 502 extends to the outside. The installation of the two upright plates 503 facilitates the connection of the first pulley 504, thereby enabling 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 facilitates the connection of the two cables with the robotic arm 202 and the support frame 401. This enables the tension to suspend and lift the fixed frame, and allows control of the lifting of the robotic arm 202 and the support frame 401, enabling the robotic arm 202 to swing up and down for dust removal.

[0043] Specifically, such as Figure 1 , Figure 9 and Figure 10 As shown, the control mechanism 6 includes a fixed base 601. The top of the connecting plate 502 is provided with the fixed base 601, and a mounting frame 604 is mounted on the top of the fixed base 601. Two symmetrically distributed cranes 602 are mounted on the top of the mounting frame 604. Second cables 603 are wound and connected to each of the two cranes 602. The two second cables 603 pass through the mounting frame 604 and the fixed base 601, extending to the top of the connecting plate 502. The two second cables 603 are respectively connected to two first cables 501. The mounting of the fixed base 601 to the top of the reaction tower provides support for the mounting frame 604 and the cranes 602. Installation is achieved by simultaneously operating two cranes 602, thereby lifting the two second cables 603. The connection between the two second cables 603 and the two first cables 501 enables the lifting of the fixed frame and the robotic arm 202, facilitating dust removal at different locations. The operation of one crane 602 lifts one of the second cables 603, allowing the robotic arm 202 to be lifted and tilted upwards. The operation of the other crane 602 lifts and tilts the mounting frame 604, enabling the robotic arm 202 to swing vertically, which facilitates better scraping and dust removal of the reaction tower sidewalls.

[0044] Specifically, such as Figure 9 and Figure 10As shown, the rotating mechanism 7 includes a turntable 701. The turntable 701 is rotatably connected to the top center of the fixed base 601. The mounting bracket 604 is fixedly connected to the top of the turntable 701. A gear disk 702 is fixedly connected to the outer wall of the turntable 701. A drive motor 704 is detachably connected to the bottom of one end of the fixed base 601. A drive gear 703 is fixedly connected to the output shaft of the drive motor 704. The drive gear 703 meshes with the gear disk 702. The diameter of the drive gear 703 is smaller than the diameter of the gear disk 702. The installation of the turntable 701 facilitates the support of the mounting frame 604 and allows the mounting frame 604 to rotate on the top of the fixed base 601. The installation of the gear disk 702, under the operation of the drive motor 704, causes the drive gear 703 to drive the gear disk 702 to rotate, thereby realizing the control of the turntable 701. This facilitates the rotation of the mounting frame 604 and the two cranes 602, thereby allowing for a large-scale adjustment of the angle of the robotic arm 202, which is convenient for cleaning dust at different locations.

[0045] Specifically, such as Figure 11 As shown, the connecting mechanism 8 includes a fixed sleeve 801. The bottoms of the two second cables 603 are rotatably connected to the fixed sleeve 801, and the tops of the two first cables 501 are rotatably connected to the connecting sleeve 802. The tops of the two connecting sleeves 802 are threadedly connected to the inner sides of the bottoms of the two fixed sleeves 801. Bolts 803 are vertically threadedly connected to the sidewalls of the two fixed sleeves 801. The bolts 803 extend to the inner side of the fixed sleeves 801 and abut against the sidewalls of the connecting sleeves 802. By installing the fixed sleeves 801 and the connecting sleeves 802, the connecting sleeves 802 are threadedly connected to the inside of the fixed sleeves 801, thereby enabling the disassembly and assembly of the first cables 501 and the second cables 603, which facilitates the subsequent disassembly and maintenance of the robotic arm 202. By installing the bolts 803, the bolts 803 abut against the sidewalls of the connecting sleeves 802, which serves to limit the connection sleeves 802 and prevent the connecting sleeves 802 from rotating and loosening from the fixed sleeves 801.

[0046] In use, this invention first supports the mounting frame 604 and crane 602 by installing the fixed base 601 on the top of the reaction tower. The synchronous operation of the two cranes 602 lifts the two second cables 603. The connection between the two second cables 603 and the two first cables 501 lifts the fixed frame and robotic arm 202, enabling dust removal at different locations. One crane 602 lifts one of the second cables 603, facilitating the upward tilting of the robotic arm 202. The other crane 602 lifts the mounting frame 604, allowing the robotic arm 202 to swing vertically, facilitating better scraping and dust removal of the reaction tower sidewalls. The turntable 7... The installation of 01 facilitates support for the mounting frame 604 and allows the mounting frame 604 to rotate on top of the fixed base 601. Through the installation of the gear disc 702, the drive motor 704 causes the drive gear 703 to rotate the gear disc 702, thereby controlling the turntable 701. This facilitates the rotation of the mounting frame 604 and the two cranes 602, allowing for significant angle adjustment of the robotic arm 202, facilitating dust cleaning at different locations. The installation of the two vertical plates 503 facilitates the connection of the first pulley 504, enabling the installation of the two first cables 501. The installation of the connecting plate 502 and the two second pulleys 505 allows for changing the direction of the two cables, facilitating connection between the two cables and the robotic arm 202 and the support frame 401. This allows for the tensioning of the fixed frame for suspension and lifting, and enables control of the lifting of the robotic arm 202 and the support frame 401. The robotic arm 202 swings up and down for cleaning operations. The installation of the crossbeam 1 facilitates the connection of the connecting rod 201, thus enabling the installation of the robotic arm 202. The installation of the three scrapers 204 facilitates cleaning of the inside of the reaction tower. Control of the control box 203 enables the robotic arm 202 to operate, allowing the scrapers 204 to clean the inner wall of the reaction tower. The sliding installation of one end of the connecting rod 201 within the crossbeam 1 allows for adjustment of the length of the connecting rod 201. Synchronous drive of the two first hydraulic cylinders 209 controls the length of movement of the connecting rod 201. The robotic arm 202 can better perform ash cleaning inside the reaction tower. The rotation of the scraper 204 and connecting shaft 205 allows for easy angle adjustment as needed, achieving better ash cleaning. The installation of the fixing plate 206 facilitates the insertion of the handle screw 208, which is threaded onto the scraper 204, ensuring the scraper 204 is fixed and stable. Reverse rotation of the handle screw 208 separates it from the fixing plate 206, allowing for easy angle adjustment of the scraper 204. The cooperation of the connecting block 301 and rotating block 304 enables the robotic arm 202 and connecting rod 201 to rotate. The cooperation of the drive plate 302 and the second hydraulic cylinder 303 further facilitates the rotation of the robotic arm.The second hydraulic cylinder 303 controls the swing of the drive plate 302, thereby controlling the rotation of the connecting block 301. This allows for adjustment of the swing angle of the robotic arm 202, enabling better cleaning of different areas. The rotational connection of the two support frames 401 provides support for the inner wall of the reaction tower. Synchronous control of the two third hydraulic cylinders 402 adjusts the angle between the two support frames 401, facilitating better contact with different inner walls of the reaction tower and ensuring stable cleaning of the robotic arm 202 within the tower. The installation of two telescopic frames 405 with the two support frames 401 increases the length of the support frames 401. Synchronous control of the two fourth hydraulic cylinders 404 adjusts the length of the two telescopic frames 405. This design facilitates stable support between the support frame 401 and the inner wall of the reaction tower, increases the support stroke, and broadens the adaptability. Simultaneously, the installation of the mounting base 406 facilitates the connection of the rollers 407, ensuring smooth movement of the rollers 407 within the reaction tower as the robotic arm 202 rotates. The installation of the fixed sleeve 801 and the connecting sleeve 802 allows for a threaded connection between the connecting sleeve 802 and the fixed sleeve 801, enabling the assembly and disassembly of the first cable 501 and the second cable 603. This facilitates subsequent disassembly and maintenance of the robotic arm 202. The installation of the bolt 803 ensures that the bolt abuts against the side wall of the connecting sleeve 802, limiting its position and preventing it from loosening due to rotation.

[0047] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A conveniently controllable reaction tower cleaning robot, characterized in that, Includes a crossbeam (1), a cleaning mechanism (2) installed on the crossbeam (1), a swing mechanism (3) installed on the cleaning mechanism (2), a support mechanism (4) installed on the crossbeam (1), a suspension mechanism (5) installed on the crossbeam (1), a control mechanism (6) installed on the top of the suspension mechanism (5), a rotation mechanism (7) installed on the control mechanism (6), and a connecting mechanism (8) installed between the suspension mechanism (5) and the control mechanism (6). The cleaning mechanism (2) includes 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 robotic arm (202), one end of the robotic arm (202) is connected to a connecting shaft (205), three fan-shaped scrapers (204) are installed on the connecting shaft (205), and a control box (203) is installed on the robotic arm (202). The swing mechanism (3) includes a connecting block (301). The end of the robotic 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). Arc-shaped drive plates (302) are fixedly connected to both sides of the connecting block (301). The drive plates (302) extend to one side of the connecting rod (201). A second hydraulic cylinder (303) is rotatably connected to one side of the connecting rod (201). One end of the output shaft of the second hydraulic cylinder (303) is rotatably connected to the drive plate (302). One end of the connecting rod (201) is slidably connected to the inside of the crossbeam (1). The two sides of the crossbeam (1) are respectively fixedly connected to the first hydraulic cylinder (209). The output shafts of the two first hydraulic cylinders (209) are respectively fixedly connected to the two sides of the connecting rod (201). The connecting rod (201) has a "+" shaped structure. One end of each of the three scrapers (204) is rotatably connected to one end of the connecting shaft (205) in a fan shape. The top of one end of the connecting shaft (205) is fixedly connected to a fixed plate (206) with a fan shape. The fixed plate (206) is provided with a movable groove (207). The movable groove (207) is an arc-shaped structure. Three handle screws (208) are slidably connected inside the movable groove (207). The bottom of the three handle screws (208) is threadedly connected to the three scrapers (204) respectively. The three handle screws (208) abut against the fixed plate (206) respectively.

2. The easily controllable reaction tower cleaning robot according to claim 1, characterized in that: The support mechanism (4) includes a support frame (401). Two support frames (401) are rotatably connected to the end of the crossbeam (1). Two third hydraulic cylinders (402) are rotatably connected to the end of the crossbeam (1). The two third hydraulic cylinders (402) are located between the two support frames (401). The output shafts of one end of the two third hydraulic cylinders (402) are rotatably connected to the center of the side wall of the two support frames (401) through a fixing block (403).

3. The easily controllable reaction tower cleaning robot according to claim 2, characterized in that: One end of each of the two support frames (401) is slidably connected to a telescopic frame (405), and a fourth hydraulic cylinder (404) is installed between the two telescopic frames (405) and the two support frames (401). One end of each of the two telescopic frames (405) is fixedly connected to a mounting base (406), and a roller (407) is rotatably connected to the two mounting bases (406).

4. The easily controllable reaction tower cleaning robot according to claim 2, characterized in that: The suspension mechanism (5) includes a vertical plate (503), and the two ends of the crossbeam (1) are vertically fixedly connected to the vertical plate (503). The tops of the two vertical plates (503) are respectively rotatably connected to the first pulley (504). The tops of the two vertical plates (503) are provided with a connecting plate (502). The bottoms of the two ends of the connecting plate (502) are rotatably connected to the second pulley (505). The mechanical arm (202) and the support frame (401) are respectively fixedly connected to the first cable (501). One end of the two first cables (501) is respectively wound and connected to the two first pulleys (504) and the two second pulleys (505) in an "S" shape. One end of the two first cables (501) extends outward through the connecting plate (502).

5. The easily controllable reaction tower cleaning robot according to claim 4, characterized in that: The control mechanism (6) includes a fixed seat (601). The top of the connecting plate (502) is provided with a fixed seat (601). The top of the fixed seat (601) is equipped with a mounting frame (604). The top of the mounting frame (604) is equipped with two symmetrically distributed cranes (602). The two cranes (602) are respectively wound with second cables (603). The two second cables (603) pass through the mounting frame (604) and the fixed 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).

6. The reaction tower cleaning robot with convenient control according to claim 5, characterized in that: The rotating mechanism (7) includes a turntable (701), the turntable (701) is rotatably connected to the top center of the fixed base (601), the mounting bracket (604) is fixedly connected to the top of the turntable (701), a gear disk (702) is fixedly connected to the outer wall of the turntable (701), a drive motor (704) is detachably connected to the bottom of one end of the fixed base (601), a drive gear (703) is fixedly connected to the output shaft of the drive motor (704), the drive gear (703) meshes with the gear disk (702), and the diameter of the drive gear (703) is smaller than the diameter of the gear disk (702).

7. The reaction tower cleaning robot with convenient control according to claim 5, characterized in that: The connecting mechanism (8) includes a fixed sleeve (801), the bottom of the two second cables (603) are respectively rotatably connected to the fixed sleeve (801), the top of the two first cables (501) are respectively rotatably connected to the connecting sleeve (802), and the top of the two connecting sleeves (802) is threadedly connected to the inner side of the bottom of the two fixed sleeves (801).

8. The reaction tower cleaning robot with convenient control according to claim 7, characterized in that: The two fixed sleeves (801) are vertically threaded with bolts (803) on their sidewalls, and the bolts (803) extend to the inside of the fixed sleeves (801) and abut against the sidewall of the connecting sleeve (802).

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