Electrostatic precipitator cleaning robot and cleaning method

Abstract

The application belongs to the field of cleaning of electric dust removal equipment, and particularly relates to an electric dust removal equipment cleaning robot and a cleaning method. A polar plate cleaning system comprises hoisting equipment, cleaning equipment and two groups of bottom switching equipment. The cleaning equipment comprises two driving heads and two cleaning rollers, the driving heads are used to drive the two cleaning rollers to rotate, the hoisting equipment is arranged to hoist the two driving heads to move up and down along the Z direction, the bottom switching equipment comprises a slide arranged along the Y direction of a polar plate assembly and two receiving tubes slidingly arranged on the slide, the cleaning rollers are detachably arranged on the driving heads, and the ends of the cleaning rollers can be embedded in the receiving tubes. The electric dust removal equipment cleaning robot has high cleaning efficiency, high flexibility, can be quickly deployed and can overcome bottom structure obstacles.

Description

Technical Field

[0001] This invention belongs to the field of electrostatic precipitator cleaning, specifically relating to an electrostatic precipitator cleaning robot and cleaning method. Background Technology

[0002] Electrostatic precipitators (ESPs), as highly efficient gas purification devices, are widely used in industries such as power, metallurgy, and chemicals. Their core principle is to use a high-voltage electric field to charge dust particles in flue gas, which are then captured and collected onto collecting electrodes (anode plates) under the influence of the electric field. However, as the collection process continues, a layer of dust accumulates on the electrode surface. When the dust accumulation becomes too thick, it can cause back corona discharge and corona blockage, severely reducing dust removal efficiency. Therefore, regularly cleaning the electrodes and restoring their clean surface is crucial for ensuring the long-term stable operation of the ESP.

[0003] Currently, plate cleaning mainly relies on manual cleaning and fixed mechanical cleaning. Manual cleaning requires personnel to enter the equipment and use high-pressure water guns or tools, which is labor-intensive, unsafe, inefficient, and produces uneven cleaning results. While fixed mechanical cleaning systems reduce the workload of manual labor, they are usually customized for specific equipment, have high initial investment, and are difficult to adapt to the modification of existing non-standard equipment; moreover, their mechanisms are exposed to harsh working conditions for a long time, making them prone to damage and blockage, resulting in high maintenance costs and insufficient flexibility.

[0004] Especially for plate electrostatic precipitators, the internal space is compact, the spacing between the plates is limited, and the bottom cathode frame structure is complex. Existing mechanical devices are often bulky and cumbersome to move, making it difficult to move flexibly and accurately position them in narrow channels. Furthermore, they cannot effectively avoid the obstruction of the bottom frame to achieve continuous and automated sequential cleaning of multiple plates. Therefore, there is an urgent need in this field for an automated cleaning system that combines high cleaning efficiency, high flexibility, rapid deployment, and the ability to overcome bottom structural obstacles. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a cleaning robot and cleaning method for electrostatic precipitators that has high cleaning efficiency, high flexibility, rapid deployment and can overcome bottom structural obstacles.

[0006] This invention provides a cleaning robot for electrostatic precipitators, comprising a hoisting device, a cleaning device, and two sets of bottom switching devices; The cleaning device includes two drive heads and two cleaning rollers. One end of the two cleaning rollers is fixed to one of the drive heads, and the other end of the two cleaning rollers is fixed to the other drive head. At least one of the drive heads is used to drive the two cleaning rollers to rotate. The two cleaning rollers are sandwiched between the two sides of a plate to be cleaned, and / or the two cleaning rollers are disposed between two plates to be cleaned, and each cleaning roller is in contact with one plate to be cleaned. The hoisting equipment is installed on the top frame of the electrode plate assembly of the electrostatic precipitator system and is used to hoist the two drive heads to move up and down along the Z direction; Two sets of bottom switching devices are set at both ends of the bottom of the electrode assembly in the X direction. The bottom switching device includes a slide rail set along the Y direction of the electrode assembly and two receiving cylinders slidably set on the slide rail. The slide rail is set below the bottom frame of the electrode assembly. The cleaning roller is detachably mounted on the drive head, and the end of the cleaning roller can be embedded in the receiving cylinder.

[0007] Furthermore, the hoisting equipment is detachably mounted on the top frame of the electrode assembly; The bottom switching device is detachably mounted on the bottom frame of the electrode assembly.

[0008] Furthermore, the hoisting equipment includes a frame and a double-rope winch disposed in the middle of the frame. The frame is disposed on the top frame of the electrode plate assembly. One rope of the double-rope winch passes around one end of the frame and is connected to one of the drive heads, and the other rope passes around the other end of the frame and is connected to the other drive head.

[0009] Furthermore, the frame includes a central fixed frame and telescopic frames hinged to both sides of the central fixed frame, the ends of which are detachably engaged with the X-direction ends of the top frame of the electrode assembly; The dual-rope winch is mounted on the intermediate fixed frame.

[0010] Furthermore, the hoisting equipment also includes a positioning detection device; The positioning detection device includes a detection device installed at the end of the frame and a trigger disc installed at the end of the rope of the double rope winch. The detection device includes a fixed frame, a fixed pulley mounted on the fixed frame, a trigger ring hinged to the fixed frame, and a trigger rod mounted on one side of the trigger ring, the trigger rod being connected to a trigger sensor; The rope of the dual-rope winch passes through the trigger ring arrangement; After the trigger plate contacts the trigger ring, the trigger ring moves the trigger rod, activating the trigger sensor.

[0011] Furthermore, hooks are provided at both ends of the slide, and the hooks can be detachably hung on the bottom frame or lower end frame of the electrode assembly.

[0012] Furthermore, the drive head is provided with an output drive wheel, and the drive head is also provided with two mounting clamps that rotate around the axis of the output drive wheel; The cleaning roller includes a mounting clamp, a cleaning roller body, and a driven wheel. The roller shafts of the driven wheel and the cleaning roller body are rotatably mounted on the mounting clamp, and the driven wheel is fixedly connected to the roller shaft of the cleaning roller body. The mounting clamp is detachably mounted on the mounting clamp. After the mounting clamp is engaged with the mounting clamp, the driven wheel meshes with the output drive wheel. The drive head is also equipped with an angle adjustment mechanism for adjusting the relative angle of the two mounting clamps.

[0013] Furthermore, the mounting clamp is detachably engaged with the receiving cylinder.

[0014] The present invention also provides a method for cleaning electrode plates in an electrostatic precipitator system, using the aforementioned electrostatic precipitator cleaning robot, including an installation stage, a cleaning stage, and a switching stage: The installation phase includes: Align the hoisting equipment with the electrode plates to be cleaned and install them onto the top frame of the electrode plate assembly, and lower the two drive heads to the bottom frame of the electrode plate assembly; Install the two cleaning rollers from below the bottom frame of the electrode assembly onto the two drive heads to complete the installation of the cleaning equipment; The cleaning phase includes: The hoisting equipment pulls two drive heads and two cleaning rollers upwards. The two cleaning rollers are sandwiched between the two sides of a plate to be cleaned, and / or the two cleaning rollers are positioned between two plates to be cleaned, with each cleaning roller contacting one plate to be cleaned. The hoisting equipment was reset, and the two drive heads and two cleaning rollers moved downwards by gravity. During the upward and / or downward movement of the two cleaning rollers, at least one of the drive heads drives the two cleaning rollers to rotate, thus brushing the electrode plate to be cleaned. The switching phase includes: Install the bottom switching device onto the bottom frame of the electrode assembly; The hoisting equipment lowers the two drive heads and two cleaning rollers to above the bottom frame; The two cleaning rollers are removed from the two drive heads and fall into the receiving cylinder; Slide the receiving cylinder along the slide to the position of the next electrode plate to be cleaned; The hoisting equipment pulls the two drive heads above the top frame of the electrode assembly, and then moves the hoisting equipment and the two drive heads to the position of the next electrode to be cleaned; The hoisting equipment lowers the two drive heads to the bottom frame of the electrode assembly, and installs the cleaning rollers from the receiving cylinder into the drive heads, thus completing the switching of the electrode plates to be cleaned.

[0015] Furthermore, the cleaning stage also includes: The anode plates of the electrode assembly are cleaned, with two cleaning rollers clamped on both sides of an anode plate. The cathode wires of the electrode assembly are cleaned. At this time, two cleaning rollers are placed between the two cathode wires, and each cleaning roller is in contact with one cathode wire.

[0016] The electrostatic precipitator cleaning robot provided by this invention has the following beneficial effects: I. The cleaning equipment adopts a rectangular layout with two drive heads and two cleaning rollers, supporting three cleaning modes (cleaning of a single electrode plate on both sides, cleaning of two electrode plates opposite each other, and cleaning of three electrode plates simultaneously), offering high flexibility. The cleaning rollers rotate under the drive head, brushing the electrode plates during their up-and-down movement. This results in a large coverage area, thorough cleaning, and effective removal of accumulated dust and impurities from the electrode plate surface, restoring the electrostatic precipitator's efficiency.

[0017] II. The hoisting equipment is integrated into the top frame of the electrode assembly, controlling the lifting and lowering of the drive head and cleaning rollers, thus mechanizing the cleaning process. The bottom switching equipment, via slides and receiving cylinders, allows for the rapid disassembly and repositioning of the cleaning rollers, reducing manual handling and adjustment time and lowering labor intensity. Specifically: The bottom of the electrode assembly in an electrostatic precipitator (above the ash hopper) has a complex and crisscrossing structure, forming an obstacle zone. Traditional integrated cleaning equipment is almost impossible to move or switch positions in this area. This invention solves this industry problem through a combination design of a detachable connection for the cleaning equipment and a bottom switching device. Specifically, the lower frame of the cathode wire assembly (including the lower longitudinal beam and lower transverse beam of the cathode) is located above or in the same space as the bottom frame of the anode plate assembly, forming a dense grid-like obstacle. If the cleaning roller and the drive head are rigidly connected as a single unit, the movement of the entire cleaning equipment in the Y direction (electrode plate arrangement direction) will be severely blocked by these transverse beams, making it impossible to directly move to the next adjacent cleaning position. This invention, by designing the cleaning roller to be quickly detached and installed from the drive head, decomposes the large cleaning equipment into two parts in the bottom area: the upper part is the drive head and hoisting equipment, and the lower part is the cleaning roller.

[0018] At this point, the drive head is lifted by the hoisting equipment and moved from the open area above the electrode assembly (above the upper frame). This area is spacious and unobstructed by the lower crossbeams, allowing it to easily traverse the entire electrode assembly and hover directly above the next electrode to be cleaned.

[0019] After being disassembled, the cleaning roller falls directly into the receiving cylinder located below the lower frame and above the ash hopper. The receiving cylinder not only receives the cleaning roller but also provides precise positioning. Once the cleaning roller slides to the designated position on the track, its central axis is aligned with the centering position of the next electrode plate to be cleaned. At this point, the mechanical track and receiving cylinder transfer the cleaning roller, preventing deformation or damage that could occur from haphazard placement or dragging at the bottom. It also prevents collision damage to the cleaning equipment or the electrode plate frame itself when attempting to force its way over the bottom crossbeam. When the drive head descends, it can easily and quickly dock with the cleaning roller, avoiding errors that might occur with manual positioning. This space is located further below the lower frame of the cathode wire assembly, and therefore is completely unaffected by structures such as the lower cathode crossbeam. The cleaning roller slides on the bottom track, moving within an unobstructed plane.

[0020] The system reorganizes the hoisting equipment, drive head, receiving cylinder, and cleaning rollers to the position of the next electrode plate to be cleaned, thus enabling the cleaning of the next electrode plate. By eliminating obstruction, the system can sequentially clean multiple electrode plates. This reduces the need for personnel to enter the electrostatic precipitator for heavy and dangerous handling and positioning work. It significantly reduces labor intensity and safety risks, and shortens the cleaning interval for individual electrode plates.

[0021] 3. The hoisting equipment is installed on the top frame, and the drive head synchronously drives the cleaning rollers to avoid tilting or collisions during the cleaning process. The bottom switching equipment is located below the bottom frame, and the receiving cylinder reliably supports the cleaning rollers to prevent the equipment from falling or being damaged, thus improving operational safety. Attached Figure Description

[0022] Appendix Figure 1 This is a schematic diagram of the cleaning robot of the electrostatic precipitator in this invention; Appendix Figure 2 For the appendix Figure 1 A magnified view of a section at point A in the middle; Appendix Figure 3 For the appendix Figure 2 A magnified view of a section at point B in the middle; Appendix Figure 4 For the appendix Figure 1 A magnified view of a section at point C; Appendix Figure 5 This is a partial front view of the cleaning robot of the electrostatic precipitator in this invention; Appendix Figure 6 This is a schematic diagram of the hoisting equipment at a first angle in this invention; Appendix Figure 7 This is a schematic diagram of the second angle structure of the hoisting equipment in this invention; Appendix Figure 8 This is a schematic diagram of the cleaning equipment in this invention; Appendix Figure 9 This is a schematic diagram of the drive head structure in this invention; Appendix Figure 10 This is a schematic diagram of the first angle structure of the cleaning roller in this invention; Appendix Figure 11 This is a schematic diagram of the second angle structure of the cleaning roller in this invention; Appendix Figure 12 This is an exploded view of the cleaning equipment in this invention.

[0023] In the diagram, 1-lifting equipment; 11-frame; 111-intermediate fixed frame; 112-telescopic frame; 12-double rope winch; 13-position detection device; 131-detection device; 1311-fixed frame; 1312-fixed pulley; 1313-trigger ring; 1314-trigger rod; 132-trigger disc; 133-compression spring; 14-limiting component; 2-cleaning equipment; 21-drive head; 211-rotary drive mechanism; 2111-output drive wheel; 2112-bevel gear set. ; 2113-Rotary drive component; 212-Mounting chuck; 2121-Housing; 21211-Opening; 21212-Cavity; 212121-Guide structure; 21213-Interlocking structure; 2122-Rotating part; 21221-Cylinder structure; 212211-Arc groove; 21222-Rotary mounting plate; 2123-Tension spring connecting pin; 213-Angle adjustment mechanism; 2131-Tension spring; 2132-Upper positioning pin; 2133-Lower positioning pin; 21 34-Arc-shaped chute; 214-Positioning shaft; 215-Guide wheel assembly; 22-Cleaning roller; 221-Mounting clamp; 2211-Interlocking structure; 2212-Guiding structure; 2213-Accommodating cavity; 2214-Through groove; 222-Cleaning roller body; 2221-Roller shaft; 2222-Brush body; 22221-Plate body; 22222-Brush bristles; 223-Driven wheel; 3-Bottom switching device; 31-Slide rail; 311-Hook; 32-Receiving cylinder; 4-Electrode plate assembly Components; 41-Electrode plate to be cleaned; 411-Anode plate; 412-Cathode wire; 42-Top frame; 421-Top longitudinal beam; 422-Top crossbeam; 423-Top connecting beam; 43-Bottom frame; 431-Bottom longitudinal beam; 432-Bottom crossbeam; 44-Cathode mounting frame; 441-Lower frame; 4411-Lower longitudinal beam of cathode; 4412-Lower crossbeam of cathode; 442-Column; 443-Upper frame; 4431-Upper longitudinal beam of cathode; 4432-Upper crossbeam of cathode. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0025] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0026] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0029] As attached Figure 1 - Appendix Figure 12 As shown, the present invention discloses a cleaning robot for electrostatic precipitators, used for cleaning the electrode plate assembly 4 of the electrostatic precipitator system, wherein the structure of the electrode plate assembly 4 can be as follows: It includes an anode plate assembly and a cathode wire assembly. The anode plate assembly includes a top frame 42, a bottom frame 43 and several anode plates 411. The bottom frame 43 is hollow and is used to connect a dust hopper.

[0030] The top frame 42 includes two top longitudinal beams 421 arranged parallel to each other along the Y direction and several top transverse beams 422 arranged parallel to each other along the X direction, which are erected between the two top longitudinal beams 421. It also includes a top connecting beam 423 arranged along the Y direction to reinforce the several top transverse beams 422. The bottom frame 43 includes two bottom longitudinal beams 431 arranged parallel to each other along the Y direction and several bottom transverse beams 432 arranged parallel to each other along the X direction, which are erected between the two bottom longitudinal beams 431. The two top longitudinal beams 421 and the bottom longitudinal beams 431 are arranged in a rectangular pattern; The number of anode plates 411 is the same as the number of bottom crossbeams 432, and the lower end of one anode plate 411 is fixed on the bottom crossbeam 432, while the upper end is fixed on the top longitudinal beam 421.

[0031] The cathode wire assembly includes a cathode mounting frame 44 and a plurality of cathode wires 412. The cathode mounting frame 44 includes a lower frame 441, an upper frame 443, and a column 442 connecting the lower frame 441 and the upper frame 443. The lower frame 441 includes two cathode lower longitudinal beams 4411 arranged parallel to each other along the Y direction and several cathode lower transverse beams 4412 arranged parallel to each other along the X direction, which are erected between the two cathode lower longitudinal beams 4411. The upper frame 443 includes two cathode upper longitudinal beams 4431 arranged parallel to each other along the Y direction and several cathode upper transverse beams 4432 arranged parallel to each other along the X direction, which are erected between the two cathode upper longitudinal beams 4431. The two lower longitudinal beams 4411 and the upper longitudinal beam 4431 of the cathode are arranged in a rectangular pattern. The number of lower crossbeams 4412 and upper crossbeams 4432 of the cathode are the same and correspond one-to-one. Each set of corresponding lower crossbeams 4412 and upper crossbeams 4432 of the cathode is set between the two anode plates 411. A cathode wire 412 connects the lower cathode crossbeam 4412 and the upper cathode crossbeam 4432. The lower end of the cathode wire 412 is fixed to the lower cathode crossbeam 4412, and the upper end is fixed to the upper cathode crossbeam 4432. At this time, several anode plates 411 and several cathode wires 412 are arranged alternately in sequence. Preferably, between two anode plates 411, several cathode wires 412 are evenly distributed along the X direction, forming a structure similar to a cathode plate.

[0032] A dust removal duct is formed between the two anode plates 411. High voltage is passed between the anode plate 411 and the cathode wire 412. After the airflow carrying impurities and dust passes through the dust removal duct, the dust particles in the airflow become charged and are then captured onto the anode plate 411 under the action of the electric field.

[0033] This electrostatic precipitator cleaning robot includes a hoisting device 1, a cleaning device 2, and two sets of bottom switching devices 3; The cleaning device 2 includes two drive heads 21 and two cleaning rollers 22. One end of each cleaning roller 22 is fixed to one of the drive heads 21, and the other end is fixed to the other drive head 21. The two drive heads 21 and the two cleaning rollers 22 are arranged in a rectangular configuration, with the two drive heads 21 and the two cleaning rollers 22 parallel to each other. At least one of the drive heads 21 is used to drive the two cleaning rollers 22 to rotate. Preferably, the two drive heads 21 have identical structures and are used to synchronously drive the relative rotation of the two cleaning rollers 22. The two cleaning rollers 22 are sandwiched between two electrode plates 41 to be cleaned, and / or the two cleaning rollers 22 are positioned between two electrode plates 41 to be cleaned, with each cleaning roller 22 contacting one electrode plate 41 to be cleaned. There are three cleaning states for the two cleaning rollers 22. State 1: The two cleaning rollers 22 clean one electrode plate 41 to be cleaned. The cleaning rollers 22 are sandwiched between the two sides of the electrode plate 41 to be cleaned and clean both sides of the electrode plate 41 to be cleaned at the same time. At this time, the outer sides of the two cleaning rollers 22 do not contact other structures. State 2: The two cleaning rollers 22 clean two electrode plates 41 to be cleaned (cathode plate structures located on both sides of anode plate 411) at the same time. The outer sides of the two cleaning rollers 22 are used to clean the opposite sides of the two electrode plates 41 to be cleaned. At this time, the two cleaning rollers 22 are located between the two electrode plates 41 to be cleaned, and the outer side of one cleaning roller 22 is in contact with one side of the electrode plate 41 to be cleaned. State 3: The two cleaning rollers 22 clean three electrode plates 41 to be cleaned at the same time. At this time, the two cleaning rollers 22 are sandwiched between the two sides of one electrode plate 41 to be cleaned and clean both sides of the electrode plate 41 to be cleaned at the same time. The outer sides of the two cleaning rollers 22 are used to clean the opposite sides of the two electrode plates 41 to be cleaned. The electrode plate 41 to be cleaned can be an anode plate 411 and cathode plate structures located on both sides of the anode plate 411. In state one, the two cleaning rollers 22 are used only to clean the anode plate 411. In state two, the two cleaning rollers 22 are used only to clean the two cathode plate structures on both sides of the anode plate 411. In state three, the two cleaning rollers 22 clean both the anode plate 411 and the two cathode plate structures on both sides of the anode plate 411 simultaneously. It should be noted that in states one and two, the roller diameter (maximum diameter, i.e., the diameter of the brush body 2222) of the cleaning rollers 22 is smaller than the distance between the anode plate 411 and the cathode plate structures. In this case, the cleaning device 2 can adjust the angle of the two cleaning rollers 22 by setting the angle adjustment mechanism 213, thereby switching between states one and two. In state three, the diameter of the cleaning roller 22 is equal to the distance between the anode plate 411 and the cathode plate structure, meaning the axis of the cleaning roller 22 is located in the middle of the anode plate 411 and the cathode plate structure, allowing simultaneous cleaning of both. At this time, the cleaning equipment 2 can also be equipped with an angle adjustment mechanism 213 to accommodate anode plates 411 of different thicknesses.

[0034] refer to Figure 1 In the XYZ coordinate system, the hoisting equipment 1 is set on the top frame 42 of the electrode plate assembly 4 of the electrostatic precipitator system, and is used to hoist the two drive heads 21 to move up and down along the Z direction; the hoisting equipment 1 can be movably set on the top frame 42, or it can be directly erected on the top frame 42.

[0035] Two sets of bottom switching devices 3 are set at both ends of the bottom of the electrode assembly 4 in the X direction. The bottom switching device 3 includes a slide 31 set along the Y direction of the electrode assembly 4 and two receiving cylinders 32 slidably set on the slide 31. The slide 31 is set below the bottom frame 43 of the electrode assembly 4. The cleaning roller 22 is detachably mounted on the drive head 21, and the end of the cleaning roller 22 can be embedded in the receiving cylinder 32, thereby enabling the cleaning roller 22 to switch to the electrode plate 41 to be cleaned.

[0036] The present invention also provides a method for cleaning electrode plates in an electrostatic precipitator system, using the aforementioned electrostatic precipitator cleaning robot, including an installation stage, a cleaning stage, and a switching stage: The installation phase includes: Align the hoisting equipment 1 with the electrode plate 41 to be cleaned and install it onto the top frame 42 of the electrode plate assembly 4, and lower the two drive heads 21 to the bottom frame 43 of the electrode plate assembly 4. The two cleaning rollers 22 are installed from below the bottom frame 43 of the electrode assembly 4 onto the two drive heads 21 to complete the installation of the cleaning equipment 2; The cleaning phase includes: The hoisting equipment 1 pulls the two drive heads 21 and the two cleaning rollers 22 upward. The two cleaning rollers 22 are sandwiched on both sides of a plate 41 to be cleaned, and / or the two cleaning rollers 22 are arranged between two plates 41 to be cleaned, and each cleaning roller 22 is in contact with a plate 41 to be cleaned. The hoisting equipment 1 is reset, and the two drive heads 21 and two cleaning rollers 22 move downward by gravity; During the upward and / or downward movement of the two cleaning rollers 22, at least one of the drive heads 21 drives the two cleaning rollers 22 to rotate, thus brushing the electrode plate 41 to be cleaned. The switching phase includes: Install the bottom switching device 3 onto the bottom frame 43 of the electrode assembly 4; The hoisting equipment 1 lowers the two drive heads 21 and the two cleaning rollers 22 to above the bottom frame 43; The two cleaning rollers 22 are removed from the two drive heads 21 and fall into the receiving cylinder 32; Slide the receiving cylinder 32 along the slide 31 to the position of the next electrode plate 41 to be cleaned; The hoisting equipment 1 pulls the two drive heads 21 up to the top frame 42 of the electrode assembly 4, and then moves the hoisting equipment 1 and the two drive heads 21 to the position of the next electrode 41 to be cleaned. The hoisting equipment 1 lowers the two drive heads 21 to the bottom frame 43 of the electrode assembly 4, and installs the cleaning roller 22 in the receiving cylinder 32 into the drive head 21, thus completing the switching of the electrode 41 to be cleaned.

[0037] The electrostatic precipitator cleaning robot provided by this invention has the following beneficial effects: The cleaning equipment 2 adopts a rectangular layout with two drive heads 21 and two cleaning rollers 22, supporting three cleaning states (cleaning of a single electrode plate on both sides, cleaning of two electrode plates opposite sides, and cleaning of three electrode plates simultaneously), offering high flexibility. The cleaning rollers 22 rotate under the drive of the drive heads 21, brushing the electrode plates during their up-and-down movement. This results in a large coverage area, thorough cleaning, and effective removal of accumulated dust and impurities from the electrode plate surface, restoring the electrostatic precipitator's efficiency.

[0038] II. The hoisting equipment 1 is integrated on the top frame 42 of the electrode plate assembly 4, and can control the lifting and lowering of the drive head 21 and the cleaning roller 22, realizing the mechanization of the cleaning process. The bottom switching equipment 3, through the slide 31 and the receiving cylinder 32, allows for the quick disassembly and position switching of the cleaning roller 22, reducing the time for manual handling and adjustment, and lowering labor intensity. Specifically: The bottom of the electrode assembly 4 of the electrostatic precipitator (i.e., above the ash hopper) has a complex and crisscrossing structure, forming an obstacle zone. Traditional integrated cleaning equipment is almost unable to move or switch positions in this area. This invention solves this industry problem through the combined design of the detachable connection of the cleaning equipment 2 and the bottom switching device 3. Specifically, the lower frame 441 of the cathode wire assembly (including the lower cathode longitudinal beam 4411 and the lower cathode cross beam 4412) is located above or in the same space as the bottom frame 43 of the anode plate assembly, forming a dense grid-like obstacle. If the cleaning roller 22 and the drive head 21 are rigidly connected as a whole, the movement of the entire cleaning equipment 2 in the Y direction (electrode plate arrangement direction) will be severely blocked by these cross beams, making it impossible to directly move to the next adjacent cleaning position. This invention, by designing the cleaning roller 22 to be quickly detached and installed from the drive head 21, decomposes the large cleaning equipment 2 into two parts in the bottom area: the upper part is the drive head 21 and the hoisting device 1, and the lower part is the cleaning roller 22.

[0039] At this time, the drive head 21 is lifted by the hoisting equipment 1 and moved from the open area above the electrode assembly 4 (above the upper frame 443). This area is spacious and unobstructed by the lower crossbeams, allowing it to easily traverse the entire electrode assembly 4 and hover directly above the next electrode 41 to be cleaned.

[0040] After the cleaning roller 22 is disassembled, it falls directly into the receiving cylinder 32 located below the lower frame 441 and above the ash hopper. The receiving cylinder 32 not only receives the cleaning roller 22 but also plays a role in precise positioning. When the cleaning roller 22 slides to the designated position on the slide rail 31, its central axis is aligned with the centering position of the next electrode plate 41 to be cleaned. At this time, the mechanical slide rail 31 and receiving cylinder 32 transfer the cleaning roller 22, avoiding deformation or damage that may be caused by the cleaning roller 22 being placed randomly or dragged at the bottom. At the same time, it also prevents collision damage to the cleaning equipment 2 or the electrode plate frame itself when attempting to forcibly cross the bottom crossbeam 432. When the drive head 21 descends, it can easily and quickly and accurately dock with the cleaning roller 22, avoiding errors that may be caused by manual positioning. This space is located further below the lower frame 441 of the cathode wire assembly, so it is completely unaffected by structures such as the cathode lower crossbeam 4412. The cleaning roller 22 slides on the bottom slide rail 31, moving in an unobstructed plane.

[0041] After the hoisting equipment 1, drive head 21, receiving cylinder 32, and cleaning roller 22 have all moved to the position of the next electrode plate 41 to be cleaned, they are reorganized to achieve the cleaning of the next electrode plate 41. By solving the obstruction problem, the system can achieve sequential cleaning of multiple electrode plates. This reduces the need for personnel to enter the electrostatic precipitator for heavy and dangerous handling and positioning work. It significantly reduces labor intensity and safety risks, and shortens the cleaning interval of individual electrode plates.

[0042] 3. The hoisting equipment 1 is installed on the top frame 42, and the drive head 21 synchronously drives the cleaning roller 22 to avoid tilting or collision during the cleaning process. The bottom switching equipment 3 is installed below the bottom frame 43, and the receiving cylinder 32 reliably supports the cleaning roller 22 to prevent the equipment from falling or being damaged, thus improving operational safety.

[0043] In one embodiment, the hoisting device 1 is detachably mounted on the top frame 42 of the electrode assembly 4; The bottom switching device 3 is detachably mounted on the bottom frame 43 of the electrode assembly 4.

[0044] In this embodiment, the cleaning system is designed as a modular unit, which can be temporarily installed on existing electrostatic precipitators as an independent mobile cleaning device. Given that the plate cleaning cycle can last for several months, a single system can be deployed in rotation between different electrostatic precipitators, achieving multi-purpose use and significantly improving equipment utilization and return on investment.

[0045] In one embodiment, the hoisting equipment 1 includes a frame 11 and a double-rope winch 12 disposed in the middle of the frame 11. The frame 11 is disposed on the top frame 42 of the pole plate assembly 4. One of the ropes of the double-rope winch 12 passes around one end of the frame 11 and is connected to one of the drive heads 21, and the other rope passes around the other end of the frame 11 and is connected to the other drive head 21.

[0046] In this embodiment, the dual-rope winch 12, acting as a single power source, ensures that the winding and unwinding speeds of the two ropes are strictly synchronized. This allows the two drive heads 21 and the cleaning rollers 22 below them to always remain horizontal and move up and down synchronously, avoiding problems such as equipment jamming, uneven cleaning, or tilting of the electrode plates due to asynchronous lifting, thus ensuring a smooth and safe cleaning process. Compared to using two independent lifting mechanisms, this greatly simplifies the structure, saves costs and installation space, improves transmission efficiency, and achieves control of the movement of the core cleaning components in the simplest and most reliable way.

[0047] In one embodiment, the frame 11 includes a central fixed frame 111 and telescopic frames 112 hinged to both sides of the central fixed frame 111. The ends of the telescopic frames 112 are detachably engaged with the X-direction ends of the top frame 42 of the electrode assembly 4. Preferably, the ends of the telescopic frames 112 are provided with limiting members 14, which enable the detachable engagement of the electrode assembly 4 and the telescopic frames 112. The double-rope winch 12 is mounted on the intermediate fixed frame 111.

[0048] In this embodiment, the telescopic frames 112 on both sides can be flexibly adjusted in length, and the hinged structure allows for adaptive adjustment at a certain angle in the vertical plane. This enables the frame 11 to easily adapt to the top frame 42 of the electrode assembly 4 of different sizes or with certain installation errors, ensuring that both ends can be stably installed. The telescopic and hinged characteristics allow the operator to first roughly position the middle fixed frame 111, and then easily fit the ends of the telescopic frames 112 on both sides with the brackets at the X-direction ends, greatly reducing the difficulty and time of installation and positioning.

[0049] In addition, the telescopic frames 112 on both sides can be folded and retracted. This modular design allows the entire hoisting equipment 1 to be quickly disassembled into compact components, facilitating transfer and transportation between different electrostatic precipitators.

[0050] In one embodiment, the hoisting equipment 1 further includes a positioning detection device 13; The positioning detection device 13 includes a detection device 131 disposed at the end of the frame 11 and a trigger disc 132 disposed at the end of the rope of the double rope winch 12. The detection device 131 includes a fixed frame 1311, a fixed pulley 1312 disposed on the fixed frame 1311, a trigger ring 1313 hinged to the fixed frame 1311, and a trigger rod 1314 disposed on one side of the trigger ring 1313. The trigger rod 1314 is connected to a trigger sensor. The rope of the dual-rope winch 12 passes through the trigger ring 1313. After the trigger disc 132 contacts the trigger ring 1313, the trigger ring 1313 drives the trigger rod 1314 to move, activating the trigger sensor.

[0051] In this embodiment, when the drive head 21 of the cleaning device 2 is raised to a preset limit height, the trigger disc 132 at the end of the rope will contact and push the trigger ring 1313. This mechanical action provides a physical stop signal, which directly cuts off the power of the double rope winch 12 or triggers an emergency stop through the sensor, effectively preventing the drive head 21 from colliding with the top frame 42 or the winch itself from being damaged, thus ensuring the safety of the lifting process.

[0052] In a preferred embodiment, the rope end of the dual-rope winch 12 is provided with a rope hook, which is detachably engaged with the drive head 21. At this time, the trigger ring 1313 is slidably disposed on the rope by gravity, and a compression spring 133 is also provided between the lower end of the trigger ring 1313 and the rope hook, so that the trigger ring 1313 has an elastic buffering effect.

[0053] In this embodiment, the detachable engagement of the rope hook and the drive head 21 allows the drive head 21 (and the cleaning roller 22) to be quickly separated from the hoisting equipment 1. This greatly facilitates the transfer of the entire cleaning equipment 2 (hoisting equipment 1 and cleaning equipment 2) from one electrostatic precipitator unit to another. The addition of the compression spring 133 ensures that when the trigger disc 132 contacts the trigger ring 1313, the impact force is first absorbed and buffered by the compression spring 133. This effectively prevents rigid collisions caused by inertia or improper speed control of the dual-rope winch 12, protects the trigger ring 1313, trigger rod 1314 and trigger sensor from damage, and extends the service life of the positioning detection device 13.

[0054] In one embodiment, hooks 311 are provided at both ends of the slide rail 31, and the hooks 311 can be detachably hung on the bottom frame 43 or the lower frame 441 of the electrode assembly 4. In this embodiment, by directly hanging the slide rail 31 on the bottom frame 43 (bottom crossbeam 432) or the lower frame 441 (cathode lower crossbeam 4412), the slide rail 31 can be quickly installed and disassembled without the need for complicated tools or bolt connections, which greatly simplifies the operation process and saves time.

[0055] The present invention also provides a plate cleaning device 2, which can be used to clean the electrode plates 41 to be cleaned, such as the anode plate 411 or cathode wire 412 of the electrode plate assembly 4, and can also be used to clean other plates. The plate cleaning device 2 includes two drive heads 21 and two cleaning rollers 22.

[0056] The drive head 21 is provided with a rotary drive mechanism 211, which includes an output drive wheel 2111. The drive head 21 is also provided with two mounting clamps 212 that rotate around the axis of the output drive wheel 2111. The cleaning roller 22 includes a mounting clamp 221, a cleaning roller body 222, and a driven wheel 223. The driven wheel 223 and the roller shaft 2221 of the cleaning roller body 222 are rotatably mounted on the mounting clamp 221, and the driven wheel 223 is fixedly connected to the roller shaft 2221 of the cleaning roller body 222. The mounting clamp 221 is detachably mounted on the mounting chuck 212. After the mounting clamp 221 is engaged with the mounting chuck 212, the driven wheel 223 meshes with the output drive wheel 2111. The drive head 21 is also provided with an angle adjustment mechanism 213 for adjusting the relative angle of the two mounting clamps 212.

[0057] Among them, the output drive wheel 2111 and the driven wheel 223 are preferably gears.

[0058] The cleaning device 2 provided by the present invention has the following beneficial effects: First, the output drive wheel 2111 directly meshes with the driven wheel 223 on the cleaning roller 22, forming a rigid, slip-free transmission. This transmission method is highly efficient, ensuring that the cleaning roller 22 receives sufficient and stable torque, providing a powerful scrubbing effect.

[0059] Second, the single rotary drive mechanism 211 drives two mounting clamps 212 simultaneously through an output drive wheel 2111, ensuring that the two cleaning rollers 22 can rotate in opposite directions in strict synchronization. This is crucial for the balanced force on both sides when clamping and washing a single electrode plate, and can effectively prevent the electrode plate from deforming due to uneven force.

[0060] Third, the cleaning roller 22 achieves true modularity by quickly engaging and disengaging with the mounting clamp 212 on the drive head 21 via the mounting clamp 221. This makes the replacement, maintenance, and transfer of the cleaning roller 22 on the bottom switching device 3 extremely convenient.

[0061] In addition, when a cleaning roller 22 needs maintenance or replacement, it can be removed independently without touching the entire drive unit, which greatly reduces maintenance time and cost.

[0062] IV. The angle adjustment mechanism 213 allows the relative angle of the two mounting clamps 212 to be adjusted within a certain range, enabling switching between different cleaning states (e.g., switching between state one and state two mentioned above). Furthermore, in state one, this allows the pair of cleaning rollers 22 to adaptively conform to the surfaces of two non-perfectly parallel electrode plates (due to manufacturing or installation errors or deformation during long-term use). This adaptive capability ensures that the bristles or cleaning surface of the cleaning roller body 222 maintains uniform and sufficient contact pressure with the electrode plates along their entire length, avoiding cleaning dead zones or uneven pressure caused by angle mismatch, thereby significantly improving cleaning quality and effectiveness. Additionally, it also prevents insufficient or no contact with the cleaning surface due to wear of the bristles and brush blades.

[0063] Fifth, this design is not only specifically designed for the anode plate 411 or cathode wire 412 of electrostatic precipitators, but its flexible clamping and driving method also makes it applicable to cleaning other similar plate-shaped structures, thus expanding the application range of the equipment.

[0064] In one embodiment, the mounting chuck 212 includes a housing 2121 and a rotating part 2122 connected to each other. The housing 2121 is provided with a cavity 21212 having an opening 21211 at one end. The housing 2121 is provided with a locking structure 21213. The rotating part 2122 is rotatably connected to the driving head 21. The mounting clamp 221 can be detachably engaged into the cavity 21212 through the opening 21211, and the mounting clamp 221 is provided with an engagement structure 2211 that cooperates with the engagement structure 21213.

[0065] Among them, the locking structure 21213 and the locking mating structure 2211 can be structures such as locking blocks and slots, pins and holes, threads and bolts.

[0066] In this embodiment, the mounting clamp 221 is initially positioned by inserting it into the cavity 21212 through the opening 21211 in a specific direction. Subsequently, the engaging structure 21213 and the engaging engagement structure 2211 quickly lock together. The entire process is tool-free and can be completed within seconds, greatly improving the efficiency of switching and maintaining the cleaning roller 22. The cavity 21212 provides all-around constraint on the inserted mounting clamp 221, ensuring precise alignment of the axial and radial positions between the driven wheel 223 on the cleaning roller 22 and the output drive wheel 2111 on the drive head 21.

[0067] In one embodiment, a positioning shaft 214 is provided inside the drive head 21; One of the rotating parts 2122 is a hollow cylindrical structure 21221 with closed ends. The two ends of the cylindrical structure 21221 are rotatably engaged with the positioning shaft 214. The output drive wheel 2111 is disposed inside the cylindrical structure 21221. One side of the cylindrical wall of the cylindrical structure 21221 is connected to the cavity 21212, and the other side is provided with an arc-shaped groove 212211 that exposes the output drive wheel 2111. Another rotating part 2122 consists of two rotating mounting plates 21222, which are disposed at both ends of the cylindrical structure 21221 and are rotatably engaged with the positioning shaft 214. The arc-shaped groove 212211 connects to the cavity 21212 of the rotating part 2122.

[0068] In this embodiment, the positioning shaft 214 provides a common, fixed, rigid rotation axis for the two rotating parts 2122. This allows the two mounting chucks 212 and their cleaning rollers 22 to rotate around the same axis, ensuring the rotational synchronization accuracy of the two cleaning rollers 22, eliminating minor asynchrony that may occur due to separate support, and ensuring balanced cleaning force. The output drive wheel 2111 is built into the cylindrical structure 21221. This integrated layout is compact, reduces the number of external parts, and improves structural rigidity. The cylindrical structure 21221 partially isolates the core transmission component (output drive wheel 2111) from the external environment, with transmission only achieved through the exposed teeth via necessary arc-shaped grooves 212211. This effectively prevents a large amount of dust and foreign matter inside the electrostatic precipitator from directly intruding into the gear meshing area, greatly reducing the risk of jamming and wear rate, and improving the reliability and service life of the transmission system.

[0069] In one embodiment, a guide structure 212121 is provided inside the cavity 21212, and a guide mating structure 2212 is provided on the side wall of the mounting block 221. The mounting block 221 is fitted into the cavity 21212 through a sliding fit between the guide mating structure 2212 and the guide structure 212121. The guide structure 212121 and the guide mating structure 2212 can be a groove and a slider, respectively.

[0070] Preferably, the mounting clamp 221 also has a receiving cavity 2213. In this case, the driven wheel 223 is set on the receiving cavity 2213, and the side wall of the receiving cavity 2213 is provided with a through groove 2214 for the driven wheel 223 to be exposed, thereby realizing the relatively sealed installation of the driven wheel 223 and improving its environmental adaptability.

[0071] In this embodiment, the insertion of the guide structure 212121 and the guide mating structure 2212 provides clear path guidance. Operators do not need to precisely visually align them; they only need to align the guide structure 212121 with the guide mating structure 2212 for natural positioning, greatly simplifying the operation.

[0072] In one embodiment, the rotary drive mechanism 211 of at least one drive head 21 includes a rotary drive element 2113 and a bevel gear set 2112, wherein the rotary drive element 2113 is disposed on the drive head 21 perpendicular to the cleaning roller 22. The bevel gear set 2112 connects the output drive wheel 2111 and the rotary drive component 2113.

[0073] In this embodiment, only one drive head 21 may be equipped with a rotary drive element 2113 and a bevel gear set 2112. In this case, the other drive head 21 may only have an output drive wheel 2111, which is used as a driven wheel. Alternatively, both drive heads 21 may be equipped with rotary drive elements 2113 and bevel gear sets 2112. In this case, there are two sets of rotary drive elements 2113, which can ensure rotational power.

[0074] In this embodiment, the rotary drive component 2113 (such as a motor) is arranged perpendicular to the cleaning roller 22, and the power transmission direction is changed by using a bevel gear set 2112, which greatly reduces the overall length of the drive head 21 in the axial direction of the cleaning roller 22 (i.e., the direction of the electrode gap). This layout allows the drive head 21 to be made slimmer, making it easier to move and position between space-constrained electrodes, effectively avoiding interference with adjacent electrodes or support structures, and improving the system's passability and adaptability.

[0075] In one embodiment, the angle adjustment mechanism 213 includes a tension spring 2131; Two sets of tension springs 2131 are used to drive the two sets of mounting clamps 212 to move closer together at a small angle or further apart at a large angle. The two sets of mounting clamps 212 moving closer together at a small angle is the clamping state, suitable for state one of the cleaning methods. Driving the two sets of mounting clamps 212 further apart at a large angle is the side-to-side cleaning state, suitable for state two of the cleaning methods.

[0076] In the clamped state, the tension spring 2131 continuously applies an elastic force that brings the two mounting clamps 212 closer together. This force drives the two cleaning rollers 22 to automatically adhere to both sides of the electrode plate 41 to be cleaned. When the electrode plate is uneven or there are installation errors, the tension spring 2131 allows the mounting clamps 212 to produce a slight angle compensation, ensuring that the cleaning rollers 22 make full-area contact with the plate surface and that the pressure is uniform and stable, avoiding excessive local pressure or cleaning dead zones. If there are abnormal protrusions on the electrode plate or the cleaning rollers 22 are stuck, the tension spring 2131 can be stretched to provide cushioning, preventing equipment damage caused by rigid drive (such as motor overload, gear breakage, etc.), thus improving the reliability of the system.

[0077] Both cleaning states (large angles) can achieve a stable force balance point. This means that without external intervention, the cleaning device 2 can stably maintain these two preset working states without unexpected switching due to vibration or other reasons, ensuring the certainty of the cleaning process.

[0078] In one embodiment, the angle adjustment mechanism 213 includes an upper positioning pin 2132 and a lower positioning pin 2133 disposed on the housing of the drive head 21, and an arc-shaped slide groove 2134 disposed on the housing of the drive head 21. The mounting clamp 212 is provided with a tension spring connecting pin 2123 that slides along the arc-shaped slide groove 2134; Two tension springs 2131 are provided. One end of one tension spring 2131 is connected to a tension spring connecting pin 2123 of a mounting clamp 212, and the other end is connected to an upper positioning pin 2132 or a lower positioning pin 2133. One end of the other tension spring 2131 is connected to a tension spring connecting pin 2123 of another mounting clamp 212, and the other end is connected to an upper positioning pin 2132 or a lower positioning pin 2133.

[0079] When the upper positioning pin 2132 is connected, the system is in a cleaning state on both sides. When the lower positioning pin 2133 is connected, the system is in a clamping state.

[0080] In this embodiment, the upper positioning pin 2132 and the lower positioning pin 2133 precisely correspond to the two preset working positions: the cleaning state and the clamping state. The operator can actively and explicitly set and switch the working mode of the cleaning device 2 by selecting to connect the tension spring 2131 to different positioning pins. In each state, the tension of the tension spring 2131 and the mounting clamp 212 reach a stable force balance point within the arc-shaped slide groove 2134 via the tension spring connecting pin 2123. This allows the state to be firmly locked, effectively resisting vibrations and resistance generated during the cleaning process, preventing unexpected changes in the working angle, and ensuring the stability and reliability of the cleaning process.

[0081] In one embodiment, the drive head 21 is further provided with a guide wheel assembly 215 on the side facing the cleaning roller 22, which is used to engage the plate to be cleaned (the electrode plate 41 to be cleaned). When applied to cleaning the electrode plate assembly 4, the guide wheel assembly 215 is used to clamp the anode plate 411. This ensures that the gap between the two cleaning rollers 22 and the two sides of the electrode plate is constant, thereby ensuring uniform brushing pressure and avoiding uneven pressure or cleaning dead zones caused by equipment shaking. It also ensures the stability of movement in both the cleaning and clamping states.

[0082] In one embodiment, the cleaning roller body 222 includes a roller shaft 2221 and a plurality of brush bodies 2222 disposed on the roller shaft 2221; The brush body 2222 includes circumferentially distributed plates 22221 and bristles 22222, with the plates 22221 and bristles 22222 of adjacent sets of brush bodies 2222 arranged alternately. In this embodiment, when the alternately arranged plates 22221 and bristles 22222 rotate, they create a staggered, combined beating and sweeping effect on the electrode surface. This dynamic effect not only helps to loosen firmly adhered dust but also effectively removes the brushed-off dust from the electrode surface and the gap between the brush body 2222, preventing dust accumulation inside the brush body 2222 and reducing the risk of secondary pollution.

[0083] Preferably, several sets of brush bodies 2222 are detachably connected, thereby facilitating the assembly and disassembly of the cleaning roller body 222.

[0084] In one embodiment, the cleaning device 2 is applicable to an electrostatic precipitator cleaning robot, as detailed above, and will not be repeated here.

[0085] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A cleaning robot for electrostatic precipitators, characterized in that, Includes hoisting equipment (1), cleaning equipment (2) and two sets of bottom switching equipment (3); The cleaning device (2) includes two drive heads (21) and two cleaning rollers (22). One end of each of the two cleaning rollers (22) is fixed to one of the drive heads (21), and the other end of each of the two cleaning rollers (22) is fixed to the other drive head (21). At least one of the drive heads (21) is used to drive the two cleaning rollers (22) to rotate. The two cleaning rollers (22) are sandwiched between the two sides of a plate (41) to be cleaned, and / or the two cleaning rollers (22) are arranged between two plates (41) to be cleaned, and each cleaning roller (22) is in contact with one plate (41) to be cleaned. The electrode assembly (4) includes an anode plate assembly and a cathode wire assembly. The anode plate assembly includes a top frame (42), a bottom frame (43), and several anode plates (411). The cathode wire assembly includes a cathode mounting frame (44) and several cathode wires (412). The cathode mounting frame (44) includes a lower frame (441), an upper frame (443), and a column (442) connecting the lower frame (441) and the upper frame (443). Between the two anode plates (411), several cathode wires (412) are evenly distributed along the X direction. The several cathode wires (412) form a cathode plate structure. The electrode plate (41) to be cleaned consists of an anode plate (411) and a cathode plate structure located on both sides of the anode plate (411). The hoisting equipment (1) is installed on the top frame (42) of the electrode plate assembly (4) of the electrostatic precipitator system, and is used to hoist the two drive heads (21) to move up and down along the Z direction; Two sets of bottom switching devices (3) are set at both ends of the bottom of the electrode assembly (4) in the X direction. The bottom switching device (3) includes a slide (31) set along the Y direction of the electrode assembly (4) and two receiving cylinders (32) slidably set on the slide (31). The slide (31) is set below the bottom frame (43) of the electrode assembly (4). The cleaning roller (22) is detachably mounted on the drive head (21), and the end of the cleaning roller (22) can be embedded in the receiving cylinder (32). The hoisting equipment (1) is detachably mounted on the top frame (42) of the electrode assembly (4); The bottom switching device (3) is detachably mounted on the bottom frame (43) of the electrode assembly (4); The slide (31) is provided with hooks (311) at both ends, and the hooks (311) can be detachably hung on the bottom frame (43) or the lower frame (441) of the electrode assembly (4). The drive head (21) is provided with an output drive wheel (2111), and the drive head (21) is also provided with two mounting clamps (212) that rotate around the axis of the output drive wheel (2111). The cleaning roller (22) includes a mounting clamp (221), a cleaning roller body (222), and a driven wheel (223). The driven wheel (223) and the roller shaft (2221) of the cleaning roller body (222) are rotatably mounted on the mounting clamp (221), and the driven wheel (223) is fixedly connected to the roller shaft (2221) of the cleaning roller body (222). The mounting clamp (221) is detachably mounted on the mounting chuck (212). After the mounting clamp (221) is engaged with the mounting chuck (212), the driven wheel (223) meshes with the output drive wheel (2111). The drive head (21) is also provided with an angle adjustment mechanism (213) for adjusting the relative angle of the two mounting clamps (212); The mounting clamp (221) and the receiving cylinder (32) can be detachably engaged.

2. The cleaning robot for electrostatic precipitators as described in claim 1, characterized in that, The hoisting equipment (1) includes a frame (11) and a double rope winch (12) set in the middle of the frame (11). The frame (11) is set on the top frame (42) of the pole plate assembly (4). One of the ropes of the double rope winch (12) passes around the frame (11) and is connected to one of the drive heads (21), and the other rope passes around the frame (11) and is connected to the other drive head (21).

3. The cleaning robot for electrostatic precipitators as described in claim 2, characterized in that, The frame (11) includes a middle fixed frame (111) and telescopic frames (112) hinged on both sides of the middle fixed frame (111). The ends of the telescopic frames (112) are detachably engaged with the X-direction ends of the top frame (42) of the electrode assembly (4). The double-rope winch (12) is mounted on the intermediate fixed frame (111).

4. The cleaning robot for electrostatic precipitators as described in claim 2, characterized in that, The hoisting equipment (1) also includes a positioning detection device (13); The positioning detection device (13) includes a detection device (131) disposed at the end of the frame (11) and a trigger disc (132) disposed at the end of the rope of the double rope winch (12). The detection device (131) includes a fixed frame (1311), a fixed pulley (1312) disposed on the fixed frame (1311), a trigger ring (1313) hinged to the fixed frame (1311), and a trigger rod (1314) disposed on one side of the trigger ring (1313), wherein the trigger rod (1314) is connected to a trigger sensor; The rope of the double rope winch (12) is arranged to pass through the trigger ring (1313); After the trigger plate (132) contacts the trigger ring (1313), the trigger ring (1313) drives the trigger rod (1314) to move, activating the trigger sensor.

5. A method for cleaning electrode plates in an electrostatic precipitator system, characterized in that, The cleaning robot using the electrostatic precipitator equipment as described in any one of claims 1-4 includes an installation phase, a cleaning phase, and a switching phase: The installation phase includes: The hoisting equipment (1) is aligned with the electrode plate (41) to be cleaned and installed on the top frame (42) of the electrode plate assembly (4), and the two drive heads (21) are lowered to the bottom frame (43) of the electrode plate assembly (4). Install the two cleaning rollers (22) from below the bottom frame (43) of the electrode assembly (4) onto the two drive heads (21) to complete the installation of the cleaning equipment (2); The cleaning phase includes: The hoisting equipment (1) pulls two drive heads (21) and two cleaning rollers (22) upward. The two cleaning rollers (22) are sandwiched on both sides of a plate (41) to be cleaned, and / or the two cleaning rollers (22) are arranged between two plates (41) to be cleaned, and each cleaning roller (22) is in contact with a plate (41) to be cleaned. The hoisting equipment (1) is reset, and the two drive heads (21) and two cleaning rollers (22) are moved down by gravity; During the upward and / or downward movement of the two cleaning rollers (22), at least one of the drive heads (21) drives the two cleaning rollers (22) to rotate, thus brushing the electrode plate (41) to be cleaned. The switching phase includes: Install the bottom switching device (3) onto the bottom frame (43) of the electrode assembly (4); The hoisting equipment (1) lowers the two drive heads (21) and the two cleaning rollers (22) above the bottom frame (43); The two cleaning rollers (22) are removed from the two drive heads (21) and fall into the receiving cylinder (32); Slide the receiving cylinder (32) along the slide (31) to the position of the next electrode plate (41) to be cleaned; The hoisting equipment (1) pulls the two drive heads (21) up to the top frame (42) of the electrode assembly (4), and then moves the hoisting equipment (1) and the two drive heads (21) to the position of the next electrode (41) to be cleaned; The hoisting equipment (1) lowers the two drive heads (21) to the bottom frame (43) of the electrode assembly (4), and installs the cleaning roller (22) in the receiving cylinder (32) into the drive head (21) to complete the switching of the electrode (41) to be cleaned.

6. The electrode plate cleaning method for an electrostatic precipitator system as described in claim 5, characterized in that, The cleaning stage also includes: The anode plate (411) of the electrode assembly (4) is cleaned, and at this time, two cleaning rollers (22) are sandwiched on both sides of an anode plate (411); The cathode wires (412) of the electrode assembly (4) are cleaned. At this time, two cleaning rollers (22) are set between the two cathode wires (412), and each cleaning roller (22) is in contact with one cathode wire (412).

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