Robot for cleaning interior of boiler header

Abstract

The invention discloses a robot for cleaning the interior of a boiler header. The robot comprises a walking mechanism and a cleaning operation mechanism. The cleaning operation mechanism comprises a grinding cleaning mechanism, a negative pressure cleaning mechanism and a visual identification mechanism, and the grinding cleaning mechanism comprises a grinding head, a rotation driving mechanism used for driving the grinding head to rotate, a telescopic driving mechanism used for driving the grinding head to stretch out and draw back and a swing driving mechanism used for driving the grinding head to swing; the driving direction of the telescopic driving mechanism is parallel to the diameter direction of the main pipeline, and the plane, driving the grinding head to swing, of the swing driving mechanism is parallel to the diameter direction of the main pipeline. The negative pressure cleaning mechanism comprises a negative pressure cover, a negative pressure pipe and a negative pressure pump, the negative pressure cover is located on the outer side of the grinding head, and the negative pressure pipe is connected between the negative pressure cover and the negative pressure pump. The cleaning robot can enter the main pipeline to clean welding slag and dirt at the connector, the branch pipelines are prevented from being blocked, and normal heat exchange work is guaranteed.

Description

Technical Field

[0001] The invention relates to a cleaning robot, in particular to a boiler header internal cleaning robot. Background Art

[0002] In order to improve boiler efficiency, drum boilers have gradually developed into tubular boilers to increase the heat transfer area. The boiler water flows from the drum through the downcomer into the box below, and is distributed to each tube bundle by the box. The water in these tube bundles continuously absorbs heat energy, gathers in the box above, and then flows back into the drum. The main function of the boiler header is to gather the working fluid, or redistribute the working fluid to other pipes through the header, that is, to gather, mix, and distribute the working fluid to ensure uniform distribution and uniform heating of the working fluid.

[0003] The manufacturing process of the header is: first, holes are punched on the main pipe of the header, and then the branch pipes are welded to the holes. The header manufactured in this way may have the following problems:

[0004] 1. When welding at the interface, the welding slag on the outside can be easily cleaned off, but the welding slag on the inside cannot be removed, which may block the distribution pipe and have a negative impact on the subsequent heat exchange.

[0005] 2. After long-term use, dirt is easily accumulated at the interface of the distribution pipes, affecting the heat exchange effect. Summary of the invention

[0006] The purpose of the present invention is to overcome the above-mentioned problems and provide a boiler header internal cleaning robot that can enter the interior of the main pipeline to clean welding slag and dirt at the interface, prevent branch pipelines from being blocked, and ensure normal heat exchange.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] A boiler header internal cleaning robot comprises a walking mechanism and a cleaning operation mechanism arranged on the walking mechanism;

[0009] The cleaning mechanism includes a grinding cleaning mechanism, a negative pressure cleaning mechanism and a visual recognition mechanism. The grinding cleaning mechanism includes a grinding head, a rotation driving mechanism for driving the grinding head to rotate, a telescopic driving mechanism for driving the grinding head to telescope, and a swing driving mechanism for driving the grinding head to swing. The driving direction of the telescopic driving mechanism is parallel to the diameter direction of the main pipe, and the plane of the swing driving mechanism driving the grinding head to swing is parallel to the diameter direction of the main pipe.

[0010] The negative pressure cleaning mechanism comprises a negative pressure cover, a negative pressure pipe and a negative pressure pump. The negative pressure cover is located outside the grinding head, and the negative pressure pipe is connected between the negative pressure cover and the negative pressure pump.

[0011] The working principle of the above boiler header internal cleaning robot is as follows:

[0012] An inlet and outlet is preset on the main pipeline and sealed with a cover.

[0013] When the inner cavity of the main pipeline needs to be cleaned, the cover is opened, and the cleaning robot is placed into the inner cavity of the main pipeline through the entrance and exit. The walking mechanism carries the cleaning operation mechanism to move in the main pipeline, close to the interface of the branch pipeline to be cleaned, and with the assistance of the visual recognition mechanism, the grinding head of the grinding cleaning mechanism is placed on the section corresponding to the interface of the branch pipeline to be cleaned, and the grinding head is driven to swing by the swing drive mechanism so that the grinding head is facing the interface of the branch pipeline to be cleaned, and the grinding head is driven to approach the interface of the branch pipeline to be cleaned by the telescopic drive mechanism, and then the grinding head is driven to rotate by the rotary drive mechanism, so as to clean the welding slag or dirt at the interface. During this period, a negative pressure force is generated at the negative pressure cover by the negative pressure pipe and the negative pressure pump, so that the ground slag can be sucked away in real time to avoid being missed in the main pipeline.

[0014] Furthermore, the inner wall of the main pipe is identified and observed through a visual recognition mechanism, especially below the interface, as welding slag may fall during welding; if impurities and dirt are found on the inner wall of the main pipe, the grinding head is driven close to the impurities and dirt through the telescopic drive mechanism and the swing drive mechanism, and the non-fixed impurities are sucked away by the negative pressure cleaning mechanism. If stubborn dirt still exists, the stubborn dirt is ground away and the waste is sucked away by the negative pressure cleaning mechanism, thereby improving the cleanliness of the inside of the main pipe and facilitating better heat exchange effects.

[0015] In a preferred embodiment of the present invention, the grinding head is a truncated cone structure, which can not only extend into the inner cavity of the branch pipe to grind the interface, but also adapt to interfaces of different sizes, and has good versatility.

[0016] Furthermore, the side of the grinding head is provided with a plurality of processing grooves arranged circumferentially around the axis of the grinding head. The advantages of such a setting are, firstly, the processing groove can be used as a debris discharge port. Combined with the negative pressure of the negative pressure cleaning mechanism, the debris on the side of the grinding head can be quickly cleaned away to avoid affecting the grinding operation; secondly, the opening of the processing groove is equivalent to a knife edge, which can cut the deposited dirt, which is conducive to the rapid removal of stubborn dirt, and is very clever.

[0017] Furthermore, a separation groove is provided at the outer end of the grinding head, which divides the outer end of the grinding head into a plurality of cutting parts arranged circumferentially around the axis of the grinding head. In this way, when facing large pieces of dirt deposited on the inner cavity wall of the main pipeline, the cutting parts can cut and remove them.

[0018] Furthermore, a screen is provided in the negative pressure cover, and the screen is a hollow structure; the grinding head is located at the center of the screen;

[0019] The screen is provided with a plurality of screen holes, the diameter of which is smaller than the diameter of the negative pressure pipe. Through the above structure, when large pieces of dirt are cut off, larger pieces may be generated, which are intercepted by the screen to prevent the negative pressure pipe from being blocked.

[0020] In a preferred embodiment of the present invention, the cleaning operation mechanism further includes an operation protection cover.

[0021] A preferred embodiment of the present invention is that the swing drive mechanism includes a swing drive motor and a swing mounting frame, the swing drive motor is arranged on the body of the walking mechanism, the swing mounting frame is connected to the output shaft of the swing drive motor, and the telescopic drive mechanism and the rotation drive mechanism are arranged on the swing mounting frame.

[0022] Furthermore, the telescopic drive mechanism includes a telescopic mounting frame, a telescopic drive motor and a telescopic transmission assembly, the telescopic drive motor is arranged on the swing mounting frame, the telescopic transmission assembly includes a telescopic screw rod and a telescopic screw rod nut, the telescopic screw rod nut is fixedly connected to the telescopic mounting frame, and the rotary drive mechanism is arranged on the telescopic mounting frame.

[0023] Furthermore, the rotary drive mechanism comprises a rotary drive motor, which is arranged on the telescopic mounting frame, and the output shaft of the rotary drive motor is connected to the grinding head.

[0024] In a preferred embodiment of the present invention, the negative pressure cover is telescopically arranged on the telescopic mounting frame of the telescopic drive mechanism, and an adaptive spring is arranged between the negative pressure cover and the telescopic mounting frame. With the above structure, when the grinding head is driven close to the inner wall of the main pipe, the open end of the negative pressure cover will first stick to the inner wall of the main pipe to ensure a certain sealing performance. As the telescopic drive mechanism continues to drive, the grinding head continues to move forward. At this time, the negative pressure cover will compress the adaptive spring in exchange for space for the grinding head to move, which is suitable for cleaning impurities and dirt of different sizes, and is very clever.

[0025] In a preferred embodiment of the present invention, the open end of the negative pressure hood is made of a flexible material so as to better fit with the inner wall of the main pipeline.

[0026] In a preferred embodiment of the present invention, the visual recognition mechanism comprises a camera, and the camera is arranged on a telescopic mounting frame of the telescopic drive mechanism.

[0027] In a preferred embodiment of the present invention, the traveling mechanism comprises a vehicle body and a rolling mechanism and an external support mechanism arranged on the vehicle body;

[0028] The rolling mechanism includes rollers and a rolling drive mechanism, wherein the rollers are provided in three groups and are arranged circumferentially around the axis of the main pipeline;

[0029] The external support mechanism comprises an external support swing arm and an external support driving mechanism. The external support swing arm is provided with three groups and is directly or indirectly connected to the three groups of rollers respectively.

[0030] Furthermore, each group of rollers includes a front roller and a rear roller, wherein the front roller is rotatably connected to one end of a front wheel frame, the other end of which is rotatably connected to the vehicle body, and the rear roller is rotatably connected to one end of a rear wheel frame, the other end of which is rotatably connected to the vehicle body.

[0031] Further, the rolling drive mechanism includes a rolling drive motor and a rolling transmission assembly, and the rolling transmission assembly includes a worm gear assembly and a synchronous belt assembly;

[0032] The worm gear assembly includes a worm and three worm wheels, the worm is connected to the output shaft of the rolling drive motor, and the three worm wheels are arranged circumferentially on the outside of the worm;

[0033] The synchronous belt assembly includes a first synchronous belt assembly and a second synchronous belt assembly, each of the first synchronous belt assembly and the second synchronous belt assembly is provided with three groups, the first synchronous belt assembly is connected between the worm gear and the other end of the rear wheel frame, and the second synchronous belt assembly is connected between the other end of the rear wheel frame and the rear roller.

[0034] Through the above structure, driven by the rolling drive motor, the three groups of rear rollers can roll simultaneously, thereby obtaining the power of movement so as to move in the main pipeline.

[0035] Further, the external support driving mechanism includes an external support driving motor and an external support transmission assembly;

[0036] The external support transmission assembly includes an external support screw, an external support screw nut and a synchronous gear set, wherein the external support screw nut is hinged to one end of three external support swing arms, and the other ends of the three external support swing arms are respectively hinged to the three front wheel frames;

[0037] The synchronous gear set is provided with three groups and each group includes two mutually meshing synchronous gears. The two synchronous gears in the same group are respectively fixedly connected to the other end of the front wheel frame and the other end of the rear wheel frame or are integrally formed.

[0038] Through the above structure, under the drive of the external support driving motor, the external support screw nut moves on the external support screw, and the front wheel frame is driven to swing around its rotation center through the external support swing arm, so that the three sets of front rollers are simultaneously supported on the inner wall of the main pipe, so as to stably move inside the main pipe. Further, under the action of the synchronous gear set, the front wheel frame and the rear wheel frame swing synchronously in the opposite direction, so as to synchronously support the external support, which can simplify the structure and reduce the cost, which is very clever.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The cleaning robot of the present invention can enter the interior of the main pipeline to clean the welding slag and dirt at the interface, prevent the branch pipeline from being blocked, and ensure normal heat exchange work.

[0041] 2. The cleaning robot of the present invention can clean the welding slag and dirt at the bottom of the main pipeline to prevent the welding slag and dirt from affecting the heat exchange work.

[0042] 3. The waste is sucked away by the negative pressure cleaning mechanism to avoid being left in the main pipeline, which improves the cleanliness inside the main pipeline and is conducive to obtaining better heat exchange effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a three-dimensional structural schematic diagram of the boiler header interior cleaning robot of the present invention in a working state.

[0044] Figure 2 This is a cross-sectional view of the boiler header interior cleaning robot of the present invention cleaning the interface of the branch pipes.

[0045] Figure 3 This is a cross-sectional view of the boiler header interior cleaning robot of the present invention cleaning the inner wall of the main pipeline.

[0046] Figure 4-Figure 5 It is a three-dimensional structural schematic diagram of two different states of the boiler header interior cleaning robot of the present invention.

[0047] Figure 6 The front view of the cleaning operation mechanism of the present invention hides the operation protection cover.

[0048] Figure 7 The three-dimensional structural diagram of the cleaning operation mechanism of the present invention hides the operation protection cover.

[0049] Figure 8 It is a three-dimensional structural schematic diagram of the walking mechanism of the present invention.

[0050] Fig. 9 It is a three-dimensional structural schematic diagram of another embodiment of the cleaning operation mechanism of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0052] Example 1

[0053] Combination Figure 2-Figure 6 The boiler header internal cleaning robot of this embodiment includes a walking mechanism and a cleaning operation mechanism arranged on the walking mechanism; the cleaning operation mechanism includes an operation protection cover 1, a grinding cleaning mechanism, a negative pressure cleaning mechanism and a visual recognition mechanism, the grinding cleaning mechanism includes a grinding head 2, a rotation driving mechanism for driving the grinding head 2 to rotate, a telescopic driving mechanism for driving the grinding head 2 to extend and retract, and a swing driving mechanism for driving the grinding head 2 to swing, the driving direction of the telescopic driving mechanism is parallel to the diameter direction of the main pipe 3, and the plane in which the swing driving mechanism drives the grinding head 2 to swing is parallel to the diameter direction of the main pipe 3.

[0054] Furthermore, the grinding head 2 is a truncated cone-shaped structure, so that it can not only extend into the inner cavity of the branch pipe 4 to grind the interface, but also be adapted to interfaces of different sizes, and has good versatility.

[0055] Furthermore, the side of the grinding head 2 is provided with a plurality of processing grooves 2-1 arranged circumferentially around the axis of the grinding head 2. The advantages of such a configuration are: first, the processing groove 2-1 can be used as a debris discharge port. Combined with the negative pressure of the negative pressure cleaning mechanism, the debris on the side of the grinding head 2 can be quickly cleaned away to avoid affecting the grinding operation; second, the opening of the processing groove 2-1 is equivalent to a knife edge, which can cut the deposited dirt, which is conducive to the rapid removal of stubborn dirt, which is very clever.

[0056] Combination Figure 4-Figure 7 The swing drive mechanism includes a swing drive motor 5 and a swing mounting frame 6. The swing drive motor 5 is arranged on the body 14 of the walking mechanism. The swing mounting frame 6 is connected to the output shaft of the swing drive motor 5. The telescopic drive mechanism and the rotation drive mechanism are arranged on the swing mounting frame 6.

[0057] Furthermore, the telescopic drive mechanism includes a telescopic mounting frame 7, a telescopic drive motor 8 and a telescopic transmission assembly, the telescopic drive motor 8 is arranged on the swing mounting frame 6, the telescopic transmission assembly includes a telescopic screw rod 9 and a telescopic screw rod nut 10, the telescopic screw rod nut 10 is fixedly connected to the telescopic mounting frame 7, and the rotation drive mechanism is arranged on the telescopic mounting frame 7.

[0058] Furthermore, the rotary drive mechanism includes a rotary drive motor 11 , which is disposed on the telescopic mounting frame 7 , and an output shaft of the rotary drive motor 11 is connected to the grinding head 2 .

[0059] Combination Figure 4-Figure 7 The negative pressure cleaning mechanism includes a negative pressure cover 12, a negative pressure pipe (not shown in the figure) and a negative pressure pump (not shown in the figure). The negative pressure cover 12 is located outside the grinding head 2, and the negative pressure pipe is connected between the negative pressure cover 12 and the negative pressure pump. Furthermore, a hose can be used at one end of the negative pressure pipe close to the negative pressure cover 12 to cooperate with the grinding head 2 to swing and retract; in addition, in actual operation, the cleaning robot will drag the power cord and the negative pressure pipe to work.

[0060] Furthermore, the negative pressure cover 12 is telescopically arranged on the telescopic mounting frame 7 of the telescopic driving mechanism, and an adaptive spring 13 is arranged between the negative pressure cover 12 and the telescopic mounting frame 7. Through the above structure, when the grinding head 2 is driven to approach the inner wall of the main pipe 3, the open end of the negative pressure cover 12 will first stick to the inner wall of the main pipe 3 to ensure a certain sealing performance. As the telescopic driving mechanism continues to drive, the grinding head 2 continues to move forward. At this time, the negative pressure cover 12 will compress the adaptive spring 13 in exchange for the space for the grinding head 2 to move, which is suitable for cleaning impurities and dirt of different sizes, which is very clever.

[0061] Combination Figure 4-Figure 7 The visual recognition mechanism includes a camera 28, which is arranged on the telescopic mounting frame 7 of the telescopic driving mechanism.

[0062] Combination Figure 1 and Figure 8 The walking mechanism includes a body 14 and a rolling mechanism and an external support mechanism arranged on the body 14; the rolling mechanism includes rollers and a rolling drive mechanism, and the rollers are provided in three groups and are arranged circumferentially around the axis of the main pipeline 3; further, each group of rollers includes a front roller 15 and a rear roller 16, the front roller 15 is rotatably connected to one end of a front wheel frame 17, and the other end of the front wheel frame 17 is rotatably connected to the body 14, and the rear roller 16 is rotatably connected to one end of a rear wheel frame 18, and the other end of the rear wheel frame 18 is rotatably connected to the body 14.

[0063] Furthermore, the rolling drive mechanism includes a rolling drive motor 19 and a rolling transmission assembly, and the rolling transmission assembly includes a worm gear assembly and a synchronous belt assembly; the worm gear assembly includes a worm 20 and three worm wheels 21, the worm 20 is connected to the output shaft of the rolling drive motor 19, and the three worm wheels 21 are circumferentially arranged on the outside of the worm 20; the synchronous belt assembly includes a first synchronous belt assembly 22 and a second synchronous belt assembly 23, and the first synchronous belt assembly 22 and the second synchronous belt assembly 23 are each provided with three groups, the first synchronous belt assembly 22 is connected between the worm wheel 21 and the other end of the rear wheel frame 18, and the second synchronous belt assembly 23 is connected between the other end of the rear wheel frame 18 and the rear roller 16.

[0064] Through the above structure, under the drive of the rolling drive motor 19 , the three groups of rear rollers 16 can roll simultaneously, thereby obtaining the power of movement so as to move in the main pipeline 3 .

[0065] Combination Figure 1 and Figure 8 The external support mechanism includes an external support swing arm 24 and an external support driving mechanism, and the external support driving mechanism includes an external support driving motor 25 and an external support transmission assembly; the external support transmission assembly includes an external support screw 26, an external support screw nut 27 and a synchronous gear set, the external support screw nut 27 is hinged to one end of the three external support swing arms 24, and the other ends of the three external support swing arms 24 are respectively hinged to the three front wheel frames 17; the synchronous gear set is provided with three groups and each includes two mutually meshing synchronous gears, and the two synchronous gears in the same group are respectively fixedly connected or integrally formed with the other end of the front wheel frame 17 and the other end of the rear wheel frame 18.

[0066] Through the above structure, under the drive of the external support driving motor 25, the external support screw nut 27 moves on the external support screw 26, and drives the front wheel frame 17 to swing around its rotation center through the external support swing arm 24, so that the three groups of front rollers 15 are simultaneously supported outwardly on the inner wall of the main pipe 3, as shown in FIG. Figure 4 , so as to stably move inside the main pipe 3. Further, under the action of the synchronous gear set, the front wheel frame 17 and the rear wheel frame 18 swing synchronously in opposite directions, thereby synchronously supporting the outside, which can simplify the structure and reduce costs, which is very clever. In addition, in the non-working state, the front wheel frame 17 and the rear wheel frame 18 fold inward, making the entire robot more compact, such as Figure 5 , which is convenient for putting in and taking out from the entrance and exit of the main pipeline 3.

[0067] Combination Figure 1-Figure 8 The working principle of the above boiler header internal cleaning robot is as follows:

[0068] An inlet and outlet are preset on the main pipeline 3 and sealed with a cover plate.

[0069] When it is necessary to clean the inner cavity of the main pipe 3, open the cover plate, put the cleaning robot into the inner cavity of the main pipe 3 through the entrance and exit, and the walking mechanism brings the cleaning operation mechanism to move in the main pipe 3, close to the interface of the branch pipe 4 to be cleaned, and with the assistance of the visual recognition mechanism, place the grinding head 2 of the grinding cleaning mechanism on the cross section corresponding to the interface of the branch pipe 4 to be cleaned, and drive the grinding head 2 to swing through the swing drive mechanism so that the grinding head 2 is facing the interface of the branch pipe 4 to be cleaned, and drive the grinding head 2 to approach the interface of the branch pipe 4 to be cleaned through the telescopic drive mechanism, and then drive the grinding head 2 to rotate through the rotation drive mechanism, so as to clean the welding slag or dirt at the interface. Figure 2 During this period, a negative pressure force is generated at the negative pressure cover 12 through the negative pressure pipe and the negative pressure pump, so that the ground slag can be sucked away in real time to avoid being missed in the main pipeline 3.

[0070] Furthermore, the inner wall of the main pipe 3 is identified and observed by a visual recognition mechanism, especially below the interface, where welding slag may fall during welding; if impurities and dirt are found on the inner wall of the main pipe 3, the grinding head 2 is driven close to the impurities and dirt by the telescopic driving mechanism and the swing driving mechanism, and the non-fixed impurities are sucked away by the negative pressure cleaning mechanism. If stubborn dirt still exists, the stubborn dirt is ground and eliminated, such as Figure 3 At the same time, the waste is sucked away by the negative pressure cleaning mechanism, which improves the cleanliness inside the main pipeline 3 and is conducive to obtaining a better heat exchange effect.

[0071] Example 2

[0072] Combination Fig. 9 , which is different from the embodiment 1, the outer end of the grinding head 2 is provided with a separation groove 2-2, and the separation groove 2-2 divides the outer end of the grinding head 2 into a plurality of cutting parts 2-3 arranged circumferentially around the axis of the grinding head 2. In this way, when facing large pieces of dirt deposited on the inner cavity wall of the main pipe 3, it can be cut and removed by the cutting part 2-3.

[0073] Furthermore, a screen 29 is provided inside the negative pressure cover 12, and the screen 29 is a hollow structure; the grinding head 2 is located at the center of the screen 29; the screen 29 is provided with a plurality of screen holes, and the diameter of the screen holes is smaller than the diameter of the negative pressure pipe. With the above structure, when large pieces of dirt are cut off, larger pieces may be generated, which are intercepted by the screen 29 to prevent the negative pressure pipe from being blocked.

[0074] The open end of the negative pressure cover 12 is made of a flexible material so as to better fit with the inner wall of the main pipe 3 .

[0075] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A boiler header internal cleaning robot, characterized in that: It includes a traveling mechanism and a cleaning operation mechanism arranged on the traveling mechanism; The cleaning mechanism includes a grinding cleaning mechanism, a negative pressure cleaning mechanism and a visual recognition mechanism. The grinding cleaning mechanism includes a grinding head, a rotation driving mechanism for driving the grinding head to rotate, a telescopic driving mechanism for driving the grinding head to telescope, and a swing driving mechanism for driving the grinding head to swing. The driving direction of the telescopic driving mechanism is parallel to the diameter direction of the main pipe, and the plane of the swing driving mechanism driving the grinding head to swing is parallel to the diameter direction of the main pipe. The negative pressure cleaning mechanism comprises a negative pressure cover, a negative pressure pipe and a negative pressure pump. The negative pressure cover is located outside the grinding head, and the negative pressure pipe is connected between the negative pressure cover and the negative pressure pump.

2. The boiler header internal cleaning robot according to claim 1, characterized in that: The grinding head is a truncated cone structure, and a plurality of machining grooves arranged circumferentially around the axis of the grinding head are provided on the side of the grinding head; The outer end of the grinding head is provided with a separation groove, which divides the outer end of the grinding head into a plurality of cutting parts which are arranged circumferentially around the axis of the grinding head.

3. The boiler header internal cleaning robot according to claim 2, characterized in that: A screen is provided inside the negative pressure cover, and the screen is a hollow structure; the grinding head is located at the center of the screen; The screen is provided with a plurality of screen holes, and the diameter of the screen holes is smaller than the diameter of the negative pressure tube.

4. The boiler header internal cleaning robot according to claim 1, characterized in that: The swing drive mechanism comprises a swing drive motor and a swing mounting frame. The swing drive motor is arranged on the body of the walking mechanism. The swing mounting frame is connected to the output shaft of the swing drive motor. The telescopic drive mechanism and the rotation drive mechanism are arranged on the swing mounting frame.

5. The boiler header internal cleaning robot according to claim 4, characterized in that: The telescopic drive mechanism includes a telescopic mounting frame, a telescopic drive motor and a telescopic transmission assembly, the telescopic drive motor is arranged on the swing mounting frame, the telescopic transmission assembly includes a telescopic screw rod and a telescopic screw rod nut, the telescopic screw rod nut is fixedly connected to the telescopic mounting frame, and the rotary drive mechanism is arranged on the telescopic mounting frame.

6. The boiler header internal cleaning robot according to claim 5, characterized in that: The rotary drive mechanism comprises a rotary drive motor, which is arranged on the telescopic mounting frame, and the output shaft of the rotary drive motor is connected to the grinding head.

7. The boiler header internal cleaning robot according to claim 5, characterized in that: The negative pressure cover is telescopically arranged on the telescopic mounting frame of the telescopic driving mechanism, and an adaptive spring is arranged between the negative pressure cover and the telescopic mounting frame.

8. The boiler header internal cleaning robot according to claim 1, characterized in that: The walking mechanism includes a body, a rolling mechanism and an external support mechanism arranged on the body; The rolling mechanism includes rollers and a rolling drive mechanism, wherein the rollers are provided in three groups and are arranged circumferentially around the axis of the main pipeline; The external support mechanism comprises an external support swing arm and an external support driving mechanism. The external support swing arm is provided with three groups and is directly or indirectly connected to the three groups of rollers respectively.

9. The boiler header internal cleaning robot according to claim 8, characterized in that: Each set of rollers includes a front roller and a rear roller, wherein the front roller is rotatably connected to one end of a front wheel frame, the other end of which is rotatably connected to the vehicle body, and the rear roller is rotatably connected to one end of a rear wheel frame, the other end of which is rotatably connected to the vehicle body; The rolling drive mechanism includes a rolling drive motor and a rolling transmission assembly, and the rolling transmission assembly includes a worm gear assembly and a synchronous belt assembly; The worm gear assembly includes a worm and three worm wheels, the worm is connected to the output shaft of the rolling drive motor, and the three worm wheels are arranged circumferentially on the outside of the worm; The synchronous belt assembly includes a first synchronous belt assembly and a second synchronous belt assembly, each of the first synchronous belt assembly and the second synchronous belt assembly is provided with three groups, the first synchronous belt assembly is connected between the worm gear and the other end of the rear wheel frame, and the second synchronous belt assembly is connected between the other end of the rear wheel frame and the rear roller.

10. The boiler header internal cleaning robot according to claim 9, characterized in that: The external support driving mechanism comprises an external support driving motor and an external support transmission assembly; The external support transmission assembly includes an external support screw, an external support screw nut and a synchronous gear set, wherein the external support screw nut is hinged to one end of three external support swing arms, and the other ends of the three external support swing arms are respectively hinged to the three front wheel frames; The synchronous gear set is provided with three groups and each group includes two mutually meshing synchronous gears. The two synchronous gears in the same group are respectively fixedly connected to the other end of the front wheel frame and the other end of the rear wheel frame or are integrally formed.

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