Boiler slag removal robot and slag removal system

Abstract

The embodiment of the invention provides a slag removal robot and a slag removal system for a boiler. The slag removal robot comprises a walking mechanism, a lifting mechanism and a slag removal mechanism. The walking mechanism comprises a chassis and walking wheels, and the multiple walking wheels are arranged on the chassis and used for driving the chassis to walk freely. The lifting mechanism is arranged at one end of the chassis, is connected with the slag removal mechanism and is used for driving the slag removal mechanism to execute pitching action; the slag removing mechanism comprises a feeding structure and a slag removing tamping rod, the feeding structure is arranged on the lifting mechanism and used for pitching along with the lifting mechanism, the slag removing tamping rod is movably arranged in the feeding structure, and the feeding structure can drive the slag removing tamping rod to reciprocate in the axial direction of the slag removing tamping rod. According to the embodiment of the invention, manual operation is completely replaced, the safety of field operation is improved, and the personal safety of operators is prevented from being damaged; and the working efficiency and the cleaning effect of slag removal can be improved, so that the operation efficiency of the boiler is improved.

Description

Technical Field

[0001] The present application relates to the technical field of boiler slag cleaning, and more specifically, to a boiler slag cleaning robot and a slag cleaning system. Background Art

[0002] At present, when the power plant boiler is working, a large amount of carbon powder will be blown into the combustion chamber of the furnace by compressed air, and the combustion temperature can reach above 2000℃. In this process, incomplete combustion compounds will be generated, and the mixed slag will block the exhaust pipe, causing safety accidents. Therefore, it is necessary to set slag cleaning ports at intervals on the exhaust pipe of the boiler, and regularly perform slag cleaning operations through the slag cleaning ports to ensure the normal operation of the boiler.

[0003] In the prior art, the cost of stopping the boiler is too high, so the slag cleaning operation is performed when the boiler is running. During the slag cleaning process at the slag cleaning port, incomplete combustion compounds, water vapor, carbon powder, and slag will be carried out by the compressed air at high temperature. At present, the slag cleaning operation can only be performed manually, which is very likely to cause safety accidents such as burns. Even if the operator is wearing full-body protective clothing, it is still easy to be burned. In addition, the high temperature and low oxygen environment can easily cause the operator to faint. Furthermore, due to the small manual slag cleaning force, the slag cleaning effect is not ideal, thus affecting the normal operation of the boiler. Summary of the invention

[0004] In view of the shortcomings of the existing methods, the present application proposes a boiler slag cleaning robot and a slag cleaning system to solve the technical problems existing in the prior art that the safety of operators is affected by the harsh slag cleaning environment, and the technical problems that the slag cleaning effect is poor, thus affecting the operating efficiency of the boiler.

[0005] In the first aspect, an embodiment of the present application provides a slag cleaning robot for a boiler, which is used to clean the exhaust duct of the boiler, including: a walking mechanism, a lifting mechanism and a slag cleaning mechanism; the walking mechanism includes a chassis and walking wheels, and the chassis is provided with a plurality of walking wheels for driving the chassis to move freely; the lifting mechanism is arranged at one end of the chassis and is connected to the slag cleaning mechanism, and is used to drive the slag cleaning mechanism to perform a pitching action; the slag cleaning mechanism includes a feeding structure and a slag cleaning tamping rod, the feeding structure is arranged on the lifting mechanism, and is used to follow the pitching of the lifting mechanism, and the slag cleaning tamping rod is movably arranged in the feeding structure, and the feeding structure can drive the slag cleaning tamping rod to reciprocate along its own axis.

[0006] In one embodiment of the present application, the feeding structure includes a conveying device and a clamping device. The conveying device can be selectively pressed against the conveying device to cooperate with the conveying device to clamp the outer periphery of the slag cleaning ramming rod. The conveying device can provide a driving force to drive the slag cleaning ramming rod to reciprocate.

[0007] In one embodiment of the present application, the conveying device includes a mounting bracket, a conveying wheel and a driver, a plurality of the conveying wheels are sequentially mounted in the mounting bracket, and the outer circumferential surfaces of the plurality of conveying wheels have accommodating grooves for accommodating the slag cleaning ramming rods; the driver is transmission-connected to the plurality of conveying wheels.

[0008] In one embodiment of the present application, the conveying device also includes a transmission wheel and a transmission member, the plurality of transmission wheels are respectively installed on one side of the plurality of conveying wheels, and the transmission member is transmission-connected to the plurality of transmission wheels, and the driver is transmission-connected to any one of the transmission wheels.

[0009] In one embodiment of the present application, the conveying device also includes a rotating structure, which includes a driving unit and a rotating wheel. The rotating wheel is located between two adjacent conveying wheels, and the axis of the rotating wheel is arranged orthogonally to the axis of the conveying wheel. The driving unit drives the slag cleaning rod to rotate through the rotating wheel.

[0010] In one embodiment of the present application, the clamping device includes a mounting shell and a clamping wheel. A plurality of the clamping wheels are arranged at the bottom of the mounting shell and are arranged in sequence. One side of the mounting shell is hinged to one side of the conveying device, and the other side is snap-connected to the other side of the conveying device for clamping the slag cleaning ramming rod.

[0011] In one embodiment of the present application, the clamping device also includes an elastic component, and the clamping wheel is connected to the mounting shell through the elastic component, which is used to provide an elastic preload force for the slag cleaning ramming rod; the outer peripheral surface of the clamping wheel has a receiving groove for accommodating the slag cleaning ramming rod.

[0012] In one embodiment of the present application, the lifting mechanism includes a mounting plate, a lifting arm and a telescopic rod, the mounting plate is arranged on the chassis, one end of the lifting arm is hinged to the mounting plate, and the other end is freely movable, and the slag cleaning mechanism arranges the lifting arm to face the side of the chassis; the two ends of the telescopic rod are respectively connected to the chassis and the middle position of the lifting arm, and are used to drive the lifting arm to pivot relative to the chassis.

[0013] In one embodiment of the present application, the mounting plate is connected to the chassis via a slewing bearing, and a telescopic device is provided between the mounting plate and the chassis for driving the mounting plate to rotate relative to the chassis.

[0014] In one embodiment of the present application, the lifting mechanism further includes a guide tube, which is disposed at the top of the lifting arm and aligned with the feeding structure for accommodating and guiding the slag cleaning ramming rod.

[0015] In one embodiment of the present application, the inner diameter of the guide tube is arranged from small to large, and the end with a relatively larger inner diameter is close to the feeding structure. A conical sleeve is also arranged at one end of the guide tube located at the feeding structure, and the end with a relatively larger opening of the conical sleeve is arranged close to the feeding structure.

[0016] In one embodiment of the present application, one end of the slag cleaning ramming rod is located in the feeding structure, and the other end is fixedly connected to a coil spring, and the length of the coil spring is adjustable.

[0017] In one embodiment of the present application, the walking mechanism also includes a power mechanism, which is a hydraulic power system for providing power to the walking mechanism, the lifting mechanism and the feeding structure; the walking wheels are omnidirectional wheels or Mecanum wheels.

[0018] In the second aspect, an embodiment of the present application provides a slag cleaning system for a boiler, comprising: a control device, a central control device, a monitoring device and a slag cleaning robot as provided in the first aspect, wherein the control device is communicated with the slag cleaning robot via the central control device for controlling the movement of the slag cleaning robot; the monitoring device is connected to the control device for monitoring the operating status of the slag cleaning robot in real time.

[0019] The beneficial technical effects brought about by the technical solution provided by the embodiment of the present application are:

[0020] The embodiment of the present application sets the lifting mechanism and the slag cleaning mechanism on the walking mechanism, and the walking mechanism drives the two to achieve free movement, and the lifting mechanism drives the slag cleaning mechanism to perform a pitching action so that the slag cleaning mechanism can be aligned with the slag cleaning port, and then the slag cleaning mechanism is used to perform the slag cleaning operation on the exhaust pipe, so that the present application can completely replace manual operation, thereby not only improving the safety of on-site operations, but also effectively preventing the personal safety of operators from being harmed. Furthermore, due to the use of the slag cleaning mechanism, the strength of slag cleaning can be greatly increased, thereby improving the work efficiency and cleaning effect of slag cleaning, and then improving the operating efficiency of the boiler.

[0021] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A schematic diagram of the structure of a slag cleaning robot provided in an embodiment of the present application;

[0024] Figure 2 A structural schematic diagram of a feeding structure provided in an embodiment of the present application;

[0025] Figure 3 A structural schematic diagram of a feeding structure provided in an embodiment of the present application from another perspective;

[0026] Figure 4 A schematic diagram of the side structure of a lifting mechanism provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of a top view of a lifting mechanism provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a top view of a walking mechanism provided in an embodiment of the present application;

[0029] Figure 7 A schematic cross-sectional structure diagram of a guide tube provided in an embodiment of the present application;

[0030] Figure 8 A schematic diagram of the structure of a slag cleaning tamping rod provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of the structure of a slag cleaning robot in working state provided in an embodiment of the present application;

[0032] Fig.10 A schematic structural diagram of a slag cleaning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The present application is described in detail below, and examples of embodiments of the present application are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components with the same or similar functions. In addition, if the detailed description of the known technology is unnecessary for the features of the present application shown, it will be omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0034] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0035] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0036] The embodiment of the present application provides a boiler slag cleaning robot for cleaning the exhaust pipe of the boiler. The structural schematic diagram of the boiler slag cleaning robot is as follows: Figure 1 As shown, it includes: a walking mechanism 1, a lifting mechanism 2 and a slag cleaning mechanism 3; the walking mechanism 1 includes a chassis 11 and walking wheels 12, and a plurality of walking wheels 12 are provided on the chassis 11 for driving the chassis 11 to move freely; the lifting mechanism 2 is arranged at one end of the chassis 11, and is connected to the slag cleaning mechanism 3, and is used to drive the slag cleaning mechanism 3 to perform a pitching action; the slag cleaning mechanism 3 includes a feeding structure 31 and a slag cleaning tamping rod 32, the feeding structure 31 is arranged on the lifting mechanism 2, and is used to pitch with the lifting mechanism 2, and the slag cleaning tamping rod 32 is movably arranged in the feeding structure 31, and the feeding structure 31 can drive the slag cleaning tamping rod 32 to reciprocate along its own axial direction.

[0037] like Figure 1 As shown, the walking mechanism 1 may include a chassis 11 and walking wheels 12. Two walking wheels 12 are arranged on both sides of the chassis 11, and the two walking wheels 12 are arranged close to the two ends of the chassis 11 in the length direction, respectively. The multiple walking wheels 12 drive the chassis 11 to move freely. The lifting mechanism 2 is arranged at one end of the chassis 11, for example, at the left end of the chassis 11. The lifting mechanism 2 is connected to the slag cleaning mechanism 3 to drive the slag cleaning mechanism 3 to perform a pitching action, so that the slag cleaning mechanism 3 can be aligned with the slag cleaning port 502 of the exhaust pipe 501, so as to facilitate the slag cleaning in the exhaust pipe 501. For details, refer to FIG. Fig. 9 As shown. The slag cleaning mechanism 3 includes a feeding structure 31 and a slag cleaning ramming rod 32. The feeding structure 31 is specifically arranged on the lifting mechanism 2, and is used to drive the slag cleaning ramming rod 32 to perform a reciprocating motion to achieve slag cleaning of the slag cleaning port 502. One end of the slag cleaning ramming rod 32 is slidably arranged in the feeding structure 31, and the other end can be used to extend into the slag cleaning port 502, and through its own reciprocating motion, the slag in the slag cleaning port 502 is crushed. Since there is a certain pressure in the exhaust pipe 501 itself, the slag can be ejected. Since the walking mechanism 1 is used as a carrier, the lifting mechanism 2 is placed on it, and the lifting mechanism 2 can adjust the angle of the slag cleaning mechanism 3, so that the slag cleaning ramming rod 32 can extend into the slag cleaning port 502, thereby achieving the cleaning of the slag in the exhaust pipe 501.

[0038] The embodiment of the present application sets the lifting mechanism and the slag cleaning mechanism on the walking mechanism, and the walking mechanism drives the two to achieve free movement, and the lifting mechanism drives the slag cleaning mechanism to perform a pitching action so that the slag cleaning mechanism can be aligned with the slag cleaning port, and then the slag cleaning mechanism is used to perform the slag cleaning operation on the exhaust pipe, so that the present application can completely replace manual operation, thereby not only improving the safety of on-site operations, but also effectively preventing the personal safety of operators from being harmed. Furthermore, due to the use of the slag cleaning mechanism, the strength of slag cleaning can be greatly increased, thereby improving the work efficiency and cleaning effect of slag cleaning, and then improving the operating efficiency of the boiler.

[0039] In one embodiment of the present application, Figures 1 to 3 As shown, the feeding structure 31 includes a conveying device 33 and a clamping device 34, and the conveying device 33 can be selectively pressed against the conveying device 33, and is used to cooperate with the conveying device 33 to clamp the outer periphery of the slag cleaning rod 32, and the conveying device 33 can provide a driving force to drive the slag cleaning rod 32 to reciprocate. Specifically, the feeding structure 31 is arranged on the lifting mechanism 2, wherein the conveying device 33 is arranged on the lifting mechanism 2, and the clamping device 34 can be connected with the conveying device 33, and selectively pressed against the conveying device 33, and the two cooperate to clamp the slag cleaning rod 32, thereby realizing the reciprocating motion of the slag cleaning rod 32. The above design enables the present application to adopt a relatively simple structure to realize the reciprocating motion of the slag cleaning rod 32, which can not only greatly improve the work efficiency, but also effectively reduce the maintenance efficiency. It should be noted that either the clamping device 34 or the conveying device 33 is arranged on the lifting mechanism 2, and the other can be connected to the device. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to their needs.

[0040] In one embodiment of the present application, Figure 2 and Figure 3As shown, the conveying device 33 includes a mounting bracket 331, a conveying wheel 332 and a driver 333. A plurality of conveying wheels 332 are sequentially mounted in the mounting bracket 331, and the outer circumference of the plurality of conveying wheels 332 has a receiving groove for receiving the slag cleaning rod 32; the driver 333 is connected to the plurality of conveying wheels 332 in a transmission manner. Specifically, the mounting bracket 331 includes two supports, which are relatively arranged on the lifting mechanism 2. A single support is provided with two mounting holes for respectively installing bearings. The two conveying wheels 332 are installed between the two supports and arranged along the length direction of the supports, for example, respectively arranged near the two ends of the supports. An arc-shaped groove may be provided on the outer circumference of the conveying wheel 332 for receiving the slag cleaning rod 32 and driving the slag cleaning rod 32 to move, that is, the outer circumference of the conveying wheel 332 has a receiving groove. The driver 333 can be arranged on one side of the mounting bracket 331, for example, installed on the outside of a certain support. The driver 333, for example, adopts a hydraulic motor, which is connected to a plurality of conveying wheels 332 by transmission, or the driver 333 is connected to one of the conveying wheels 332 by transmission, so as to drive the conveying wheels 332 to rotate, and drive the slag cleaning rod 32 to reciprocate by the rolling of the conveying wheels 332. The above design makes the structure of the embodiment of the present application relatively simple, and only one driver 333 can drive the reciprocating linear motion of the slag cleaning rod 32, which can not only greatly reduce the failure rate, but also effectively reduce the application and maintenance costs. It should be noted that the present application does not limit the specific type of the driver 333, for example, the driver 333 can be implemented by an electric motor; and the embodiment of the present application does not limit the specific number of conveying wheels 332, for example, the number of conveying wheels 332 can be more than two. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to their needs.

[0041] In one embodiment of the present application, Figure 2 and Figure 3As shown, the conveying device 33 also includes a transmission wheel 334 and a transmission member (not shown in the figure), and the plurality of transmission wheels 334 are respectively installed on one side of the plurality of conveying wheels 332, and the transmission member is connected to the plurality of transmission wheels 334 in a transmission manner, and the driver 333 is connected to any transmission wheel 334 in a transmission manner. Specifically, the conveying device 33 may include two transmission wheels 334, each transmission wheel 334 is correspondingly arranged on one side of each conveying wheel 332, and the transmission wheel 334 is coaxially arranged with the conveying wheel 332 to achieve synchronous rotation of the transmission wheel 334 and the conveying wheel 332. Further, the transmission wheel 334 can be a sprocket, and the transmission member can be a chain, the transmission member is arranged around the two transmission wheels 334, and one of the conveying wheels 332 is driven by the driver 333, that is, the synchronous rotation of the plurality of conveying wheels 332 can be achieved, thereby effectively reducing the manufacturing and maintenance costs. Further, the use of chain transmission can effectively improve the transmission efficiency and impact resistance, thereby greatly improving the reliability of the present application. It should be noted that the embodiment of the present application does not limit the specific number of the conveying wheel 332 and the transmission wheel 334, and those skilled in the art can adjust the settings according to actual needs. Optionally, the conveying wheel 332 uses a knurled wheel, that is, the inner circumference of the receiving groove of the conveying wheel 332 can form various forms of knurling to increase the friction between the outer circumference of the slag cleaning rod 32, and further, the outer circumference of the slag cleaning rod 32 can also form a knurling structure to further increase the friction between the two. However, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to needs.

[0042] In one embodiment of the present application, Figures 1 to 3 As shown, the conveying device 33 also includes a rotating structure, and the rotating structure includes a driving unit 335 and a rotating wheel 336. The rotating wheel is located between two adjacent conveying wheels, and the axis of the rotating wheel is orthogonal to the axis of the conveying wheel. The driving unit 335 drives the slag cleaning rod 32 to rotate by the rotating wheel. Specifically, the rotating wheel 336 can be raised and lowered, and can be used to press the slag cleaning rod 32 in cooperation with the clamping device 34. The outer peripheral surface of the rotating wheel 336 is in contact with the outside of the slag cleaning rod 32. The driving unit 335 drives the slag cleaning rod 32 to rotate by the rotating wheel 336, thereby achieving a better slag cleaning effect. However, the embodiment of the present application does not limit the specific implementation of the rotating structure. For example, there can be two rotating wheels, which are selectively clamped by the upper and lower parts of the slag cleaning rod 32, and then driven by the driving unit 335 through the rotating wheel 336 to rotate. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to actual conditions.

[0043] In one embodiment of the present application, Figures 1 to 3As shown, the clamping device 34 includes a mounting shell 341 and a clamping wheel 342. A plurality of clamping wheels 342 are arranged at the bottom of the mounting shell 341 and are arranged in sequence. One side of the mounting shell 341 is hinged to one side of the conveying device 33, and the other side is connected to the other side of the conveying device 33 by snapping, so as to clamp the slag cleaning rod 32. Specifically, the mounting shell 341 is a rectangular shell structure made of metal. One side of the mounting shell 341 can extend downward with two connecting rods. The two connecting rods are hinged to the mounting bracket 331. An elastic convex block structure can be arranged on the other side of the mounting shell 341, and a snap ring is arranged on the mounting bracket 331. The two can cooperate to make the clamping wheel 342 of the clamping device 34 press against the slag cleaning rod 32. Two clamping wheels 342 can be arranged at the bottom of the mounting shell 341 and arranged in parallel along the length direction of the mounting shell 341 to correspond to the two conveying wheels 332, so as to clamp the slag cleaning rod 32. The above design can not only effectively improve the usability of the present application, but also greatly reduce the failure rate of the present application, thereby further improving the work efficiency. Moreover, the design that the clamping device 34 and the conveying device 33 can be opened and closed can greatly improve the installation efficiency of the slag cleaning rod 32, thereby further improving the work efficiency of the present application. Optionally, the clamping device 34 also includes a rolling wheel (not shown in the figure) arranged corresponding to the rotating wheel 336, and the rolling wheel is telescopically installed in the mounting shell 341. The rolling wheel can cooperate with the rotating wheel 336 through a telescopic action to clamp the slag cleaning rod 32, thereby realizing the self-rotation of the slag cleaning rod 32. It should be noted that the embodiment of the present application does not limit the specific number of the clamping wheels 342, for example, the number of the clamping wheels 342 is three or four, and multiple clamping wheels 342 and multiple conveying wheels are arranged crosswise in the vertical direction to further improve the impact force of the slag cleaning rod 32. However, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to their needs.

[0044] In one embodiment of the present application, Figures 1 to 3As shown, the clamping device 34 also includes an elastic component 343, and the clamping wheel 342 is connected to the mounting shell 341 through the elastic component 343, which is used to provide an elastic preload force for the slag cleaning rod 32; the outer peripheral surface of the clamping wheel 342 has a receiving groove for accommodating the slag cleaning rod 32. Specifically, the elastic component 343 includes a support frame and a disc spring, wherein the top of the support frame can be slidably penetrated into the mounting shell 341, and the bottom of the support frame is used to install the clamping wheel 342. The disc spring is sleeved on the support frame to provide an elastic preload force when the clamping wheel 342 presses against the slag cleaning rod 32. Furthermore, the number of disc springs can be freely adjusted, for example, different numbers of disc springs can be set according to the diameter of the slag cleaning rod 32, so as to increase different elastic preload forces. It should be noted that the present application does not limit the specific structure of the elastic component 343 and the type of spring, and those skilled in the art can adjust the settings according to actual conditions. Furthermore, the outer periphery of the clamping wheel 342 is provided with an arc-shaped receiving groove, so that the clamping wheel 342 and the conveying wheel 332 cooperate with each other to compress the slag cleaning rod 32, and the above-mentioned setting can further increase the contact area between the feeding structure 31 and the slag cleaning rod 32, thereby further increasing the friction between the two, and further increasing the stability and impact force of the slag cleaning rod 32. Optionally, the clamping wheel 342 adopts a knurled wheel of the same type as the conveying wheel 332, and the inner peripheral surface of the receiving groove of the clamping wheel 342 can be formed with various forms of knurling to further increase the friction between the outer peripheral surface of the slag cleaning rod 32. However, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the setting according to their needs.

[0045] In one embodiment of the present application, Figure 1 , Figures 4 to 5As shown, the lifting mechanism 2 includes a mounting plate 21, a lifting arm 22 and a telescopic rod 23. The mounting plate 21 is arranged on the chassis 11. One end of the lifting arm 22 is hinged to the mounting plate 21, and the other end is free to move. The slag cleaning mechanism 3 is provided with the lifting arm 22 facing the side of the chassis 11; the two ends of the telescopic rod 23 are respectively connected to the chassis 11 and the middle position of the lifting arm 22, and are used to drive the lifting arm 22 to pivot relative to the chassis 11. Specifically, the mounting plate 21 adopts a disc-shaped structure, for example, and the mounting plate 21 can be connected to the chassis 11 by screwing. The lifting arm 22 can adopt a rectangular frame structure, one end of the lifting arm 22 is hinged to the mounting plate 21, and the feeding structure 31 can be installed in the middle position of the length direction of the lifting arm 22, but the embodiment of the present application is not limited to this. Two telescopic rods 23 are respectively arranged on both sides of the lifting arm 22, and one end is hinged to the mounting plate 21, and the other end is hinged to the middle position of the side of the lifting arm 22. The lifting arm 22 is driven to pivot relative to the mounting plate 21 by the telescopic action of the telescopic rod 23, thereby realizing the pitching action of the slag cleaning rod 32. The telescopic rod 23 can adopt a hydraulic telescopic cylinder or an electric telescopic cylinder, but the embodiment of the present application does not limit the specific type and number of the telescopic rod 23, and those skilled in the art can adjust the setting according to the actual situation. With the above design, the flexible movement of the slag cleaning rod 32 can be realized with a relatively simple structure, thereby greatly improving the working efficiency of the embodiment of the present application and reducing the failure rate.

[0046] In one embodiment of the present application, Figures 4 to 6 As shown, the mounting plate 21 is connected to the chassis 11 through a slewing bearing 25, and a telescopic device 24 is provided between the mounting plate 21 and the chassis 11, which is used to drive the mounting plate 21 to rotate relative to the chassis 11. Specifically, since the mounting plate 21 adopts a disc-shaped structure, the mounting plate 21 can be connected through a slewing bearing 25, so that the lifting mechanism 2 can rotate freely relative to the chassis 11, thereby further improving the flexibility and work efficiency of the action of the present application. The telescopic device 24 can adopt a hydraulic telescopic cylinder, wherein one section of the telescopic device 24 is fixed to the ear plate on one side of the mounting plate 21, the ear plate can be set on the side of the mounting plate 21 close to the chassis 11, and the other section is fixed on the frame of the chassis 11. Since the mounting plate 21 is fixed on the slewing bearing 25, when the telescopic device 24 is extended and retracted, the lifting mechanism 2 as a whole can rotate freely relative to the chassis 11. The embodiment of the present application does not limit the specific type and installation position of the telescopic device 24, and those skilled in the art can adjust the setting according to actual conditions.

[0047] In one embodiment of the present application, Figure 1 , Figure 4 and Figure 7As shown, the lifting mechanism 2 further includes a guide tube 26, which is arranged at the top of the lifting arm 22 and aligned with the feeding structure 31, and is used to accommodate and guide the slag cleaning rod 32. Optionally, the inner diameter of the guide tube 26 is set from small to large, and the end with a relatively large inner diameter is close to the feeding structure 31. A conical sleeve is also arranged at one end of the guide tube 26 located at the feeding structure 31, and the end with a relatively large opening of the conical sleeve is close to the feeding structure 31. Specifically, the guide tube 26 is a tubular structure, the tail end of the guide tube 26 is installed on the lifting arm 22, the head end is extended in a direction away from the lifting arm 22, and the two are arranged axially parallel. The guide tube 26 adopts an inner conical tube structure, the inner diameter of the head end is relatively small, and the inner diameter of the tail end is relatively large, so as to guide the slag cleaning rod 32, and because the inner diameter of the tail end is relatively large, it is convenient for the slag cleaning rod 32 to penetrate, thereby reducing mechanical interference and improving the ease of use of the embodiment of the present application. Furthermore, the head end of the guide tube 26 is designed with a smaller inner diameter and a thicker wall within a certain distance of the head end, which can not only effectively prevent thermal deformation, but also effectively reduce the slag from entering the guide tube 26. Optionally, the inner hole of the tail end of the guide tube 26 is large, and a trumpet-shaped expansion design is adopted at the tail end, that is, a conical sleeve is also provided at one end of the guide tube 26 located at the feeding structure 31, which can make the slag cleaning rod 32 enter the guide tube 26 more smoothly, so as to reduce the friction between the slag cleaning rod 32 and the guide tube 26.

[0048] In one embodiment of the present application, Figure 1 and Figure 8 As shown, one end of the slag cleaning ramming rod 32 is located in the feeding structure 31, and the other end is fixedly connected with a coil spring 321, and the length of the coil spring 321 is adjustable. Specifically, one end of the slag cleaning ramming rod 32 cooperates with the conveying device 33 for transmission, and the other end can be connected with a coil spring 321. The length and density of the coil spring 321 can be adjusted according to the needs, and the coil spring 321 can adopt a cylindrical structure, or a conical structure, and the relatively smaller end is directly connected to one end of the slag cleaning ramming rod 32, but the embodiment of the present application does not limit the specific shape of the threaded spring. With the above design, during the reciprocating motion of the slag cleaning ramming rod 32, the coil spring 321 can swing accordingly to knock the slag in the slag cleaning port, thereby further improving the cleaning effect. Optionally, a counterweight block can also be provided at the end of the coil spring 321 to further increase the knocking force, thereby further improving the cleaning effect. Optionally, in combination with reference Figures 2 to 3 Since a rotating structure is provided, the rotating wheel 336 of the rotating structure can drive the slag cleaning rod 32 to rotate, thereby increasing the swing amplitude of the spiral spring 321, and combined with the knocking effect of the counterweight block, the cleaning effect is further improved.

[0049] In one embodiment of the present application, Figure 1and Figure 6 As shown, the traveling mechanism 1 also includes a power mechanism 13, which is a hydraulic power system for providing power to the traveling mechanism 1, the lifting mechanism 2 and the feeding structure 31; the traveling wheel 12 is an omnidirectional wheel or a Mecanum wheel. Specifically, the hydraulic power system is arranged on the chassis 11, and is connected to the traveling mechanism 1, the lifting mechanism 2 and the feeding structure 31, so as to provide pressure force to each mechanism. The hydraulic power system specifically includes an electric control box, which can also be called a vehicle-mounted electric control box, which mainly controls the power distribution of each mechanism; the hydraulic valve group is equipped with a solenoid valve, which is connected to the electric control box to control the opening and closing of each hydraulic circuit and the flow rate; the hydraulic oil tank is connected to the hydraulic pump, and the hydraulic pump is used to deliver the hydraulic oil in the hydraulic oil tank to each hydraulic actuator; the radiator is connected in series between the valve group and the hydraulic oil tank, and is used to dissipate heat for the hydraulic oil; the battery compartment is used to install batteries and corresponding components, and the battery compartment is connected to the hydraulic pump and the electric control box, and is used to power electrical components such as the hydraulic pump and the electric control box. The above design can effectively improve the transmission efficiency, transmission accuracy and high temperature resistance of the present application, making the present application more suitable for harsh environments such as high temperature and high dust, thereby greatly improving the applicability and scope of application of the present application. It should be noted that the present application does not limit the specific type of the power mechanism 13. For example, the power mechanism 13 can also adopt an electric drive system. Therefore, the embodiments of the present application are not limited to this. Those skilled in the art can adjust the settings according to actual conditions.

[0050] Optionally, the slag cleaning robot of the present application adopts a fireproof and high temperature resistant design as a whole to ensure its working stability and reduce the occurrence of failures. The chassis 11 of the walking mechanism 1 can be welded and assembled with metal materials, mainly used to support and install various mechanisms, the outer layer of the outer covering is made of metal material, and the inner layer is made of thermal insulation materials such as rock wool. The outer covering is designed with a shutter-type vent for the radiator to inhale and exhaust air when working, thereby improving the heat dissipation efficiency of the hydraulic system.

[0051] Furthermore, considering that the on-site space is irregular, the activities of the present application are relatively limited, so the travel of the walking mechanism 1 must be flexible, so the walking wheels 12 use Mecanum wheels or omnidirectional wheels to achieve on-site turning, lateral movement and oblique walking of the walking mechanism 1. Optionally, each walking wheel 12 can be equipped with a corresponding hydraulic motor and reducer to further improve the walking ability and obstacle crossing ability, thereby further improving the flexibility of the present application.

[0052] Based on the same inventive concept, the embodiment of the present application provides a boiler slag cleaning system, the structural schematic diagram of the boiler slag cleaning system is as follows Fig.10As shown, it includes a control device 200, a central control device 300, a monitoring device 400 and the slag cleaning robot 100 provided in the above embodiment. The control device 200 is connected to the slag cleaning robot 100 through the central control device 300 for controlling the movement of the slag cleaning robot 100; the monitoring device 400 is connected to the control device 200 for real-time monitoring of the operation status of the slag cleaning robot 100. Fig.10 As shown, the control device 200 can use a remote control console and a remote controller. For example, the remote control console is set in the control room, and the remote controller can be used in the operation site. Both are connected to the central control device 300 by wired or wireless means, so as to realize the control of the action of the slag cleaning robot 100. The central control device 300 is set on site, and it is also connected to the slag cleaning robot 100 by wired or wireless means, and is used to control the slag cleaning mechanism 100. The above design can not only effectively reduce communication failures and simplify control logic, but also improve the stability of the embodiment of the present application and reduce the failure rate. The monitoring device 400 can be set on the body of the slag cleaning robot 100, or installed at the slag cleaning port accordingly, so as to realize real-time monitoring of the operation. The monitoring device 400 can use a high temperature resistant camera, which is connected to the control device 200 and is used to transmit the monitored image to the control device 200 in real time.

[0053] In order to illustrate the working principle and beneficial effects of the embodiments of the present application, the following Figures 1 to 10 Specifically, when the boiler needs to be deslagging, the deslagging tamping rod 32 is installed and the deslagging robot 100 can be started, the sound and light alarm lights on the deslagging robot 100 light up, and the deslagging robot 100 is controlled by a remote controller to move to the deslagging port 502, and the lifting mechanism 2 is controlled to perform pitch and rotation movements until the guide tube 26 is aligned with the deslagging port 502, and then the deslagging port 502 is opened to perform the deslagging operation.

[0054] For conventional slag cleaning, the feeding structure 31 is first started during slag cleaning, and the conveying wheel 332 starts to rotate, so that the slag cleaning rod 32 moves upward. When reaching a specified height, the slag cleaning rod 32 is driven to rotate by the rotating wheel 336 to peel off the slag at the pipe wall of the slag cleaning port 502. When cleaning slag, slag that is difficult to clean may be encountered. Due to the high temperature, the slag is condensed into blocks and tightly adsorbed on the pipe wall. At this time, a conventional steel pipe is used as the slag cleaning rod 32, that is, the slag cleaning rod 32 without the spiral spring 321 installed. The feeding structure 31 is started, and the conveying wheel 332 rotates, so that the slag cleaning rod 32 quickly reciprocates up and down, and the condensed slag is crushed and taken out.

[0055] The built-in program of the slag cleaning robot 100 can ensure that the robot travels to several designated slag cleaning points along the prescribed path. Magnetic chips can be pre-embedded at the points where slag cleaning is required for precise positioning and calibration. After the slag cleaning robot 100 reaches the designated slag cleaning point, it starts to perform slag cleaning operations according to the preset program (the specific actions are as described above and will not be repeated here). During this period, the operator can observe the slag cleaning effect through the monitoring device 400 installed near the slag cleaning port 502 in a remote control room, or switch to manual operation as needed, such as using a remote control to remotely control the robot to perform various actions.

[0056] By applying the embodiments of the present application, at least the following beneficial effects can be achieved:

[0057] The embodiment of the present application sets the lifting mechanism and the slag cleaning mechanism on the walking mechanism, and the walking mechanism drives the two to achieve free movement, and the lifting mechanism drives the slag cleaning mechanism to perform a pitching action so that the slag cleaning mechanism can be aligned with the slag cleaning port, and then the slag cleaning mechanism is used to perform the slag cleaning operation on the exhaust pipe, so that the present application can completely replace manual operation, thereby not only improving the safety of on-site operations, but also effectively preventing the personal safety of operators from being harmed. Furthermore, due to the use of the slag cleaning mechanism, the strength of slag cleaning can be greatly increased, thereby improving the work efficiency and cleaning effect of slag cleaning, and then improving the operating efficiency of the boiler.

[0058] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

[0059] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0060] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0061] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0063] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A boiler slag cleaning robot, used for cleaning the exhaust pipe of the boiler, characterized in that: include: Traveling mechanism, lifting mechanism and slag cleaning mechanism; The walking mechanism includes a chassis and walking wheels, and the chassis is provided with a plurality of walking wheels for driving the chassis to walk freely; The lifting mechanism is arranged at one end of the chassis and is connected to the slag cleaning mechanism, and is used to drive the slag cleaning mechanism to perform a pitching action; The slag cleaning mechanism includes a feeding structure and a slag cleaning ramming rod. The feeding structure is arranged on the lifting mechanism and is used to follow the pitch of the lifting mechanism. The slag cleaning ramming rod is movably arranged in the feeding structure, and the feeding structure can drive the slag cleaning ramming rod to reciprocate along its own axial direction.

2. The slag cleaning robot according to claim 1, characterized in that: The feeding structure includes a conveying device and a clamping device. The conveying device can be selectively pressed against the conveying device to cooperate with the conveying device to clamp the outer periphery of the slag cleaning ramming rod. The conveying device can provide a driving force to drive the slag cleaning ramming rod to reciprocate.

3. The slag cleaning robot according to claim 2, characterized in that: The conveying device includes a mounting bracket, a conveying wheel and a driver. The plurality of conveying wheels are sequentially mounted in the mounting bracket, and the outer circumferential surfaces of the plurality of conveying wheels are provided with accommodating grooves for accommodating the slag cleaning ramming rods; the driver is transmission-connected to the plurality of conveying wheels.

4. The slag cleaning robot according to claim 3, characterized in that: The conveying device also includes a transmission wheel and a transmission member. The plurality of transmission wheels are respectively installed on one side of the plurality of conveying wheels, and the transmission member is transmission-connected to the plurality of transmission wheels. The driver is transmission-connected to any one of the transmission wheels.

5. The slag cleaning robot according to claim 3, characterized in that: The conveying device also includes a rotating structure, which includes a driving unit and a rotating wheel. The rotating wheel is located between two adjacent conveying wheels, and the axis of the rotating wheel is orthogonal to the axis of the conveying wheel. The driving unit drives the slag cleaning rod to rotate through the rotating wheel.

6. The slag cleaning robot according to claim 2, characterized in that: The clamping device includes a mounting shell and a clamping wheel. A plurality of the clamping wheels are arranged at the bottom of the mounting shell and are arranged in sequence. One side of the mounting shell is hinged to one side of the conveying device, and the other side is snap-connected to the other side of the conveying device for clamping the slag cleaning ramming rod.

7. The slag cleaning robot according to claim 6, characterized in that: The clamping device also includes an elastic component, and the clamping wheel is connected to the mounting shell through the elastic component, which is used to provide an elastic pre-tightening force for the slag cleaning ramming rod; the outer peripheral surface of the clamping wheel has a receiving groove for accommodating the slag cleaning ramming rod.

8. The slag cleaning robot according to claim 1, characterized in that: The lifting mechanism includes a mounting plate, a lifting arm and a telescopic rod. The mounting plate is arranged on the chassis. One end of the lifting arm is hinged to the mounting plate, and the other end is free to move. The slag cleaning mechanism arranges the lifting arm on the side facing the chassis; the two ends of the telescopic rod are respectively connected to the chassis and the middle position of the lifting arm, and are used to drive the lifting arm to pivot relative to the chassis.

9. The slag cleaning robot according to claim 8, characterized in that: The mounting plate is connected to the chassis via a slewing bearing, and a telescopic device is provided between the mounting plate and the chassis for driving the mounting plate to rotate relative to the chassis.

10. The slag cleaning robot according to claim 8, characterized in that: The lifting mechanism also includes a guide tube, which is arranged on the top of the lifting arm and aligned with the feeding structure for accommodating and guiding the slag cleaning ramming rod.

11. The slag cleaning robot according to claim 10, characterized in that: The inner diameter of the guide tube is arranged from small to large, and the end with a relatively larger inner diameter is close to the feeding structure. A conical sleeve is also arranged at one end of the guide tube located at the feeding structure, and the end with a relatively larger opening of the conical sleeve is arranged close to the feeding structure.

12. The slag cleaning robot according to any one of claims 1 to 11, characterized in that: One end of the slag cleaning ramming rod is located in the feeding structure, and the other end is fixedly connected with a coil spring, and the length of the coil spring is adjustable.

13. The slag cleaning robot according to any one of claims 1 to 11, characterized in that: The traveling mechanism also includes a power mechanism, which is a hydraulic power system for providing power for the traveling mechanism, the lifting mechanism and the feeding structure; the traveling wheels are omnidirectional wheels or Mecanum wheels.

14. A boiler slag cleaning system, characterized in that: It includes a control device, a central control device, a monitoring device and a slag cleaning robot as described in any one of claims 1 to 13, wherein the control device is communicated with the slag cleaning robot via the central control device and is used to control the movement of the slag cleaning robot; the monitoring device is connected to the control device and is used to monitor the operating status of the slag cleaning robot in real time.

Images