Electric dust remover maintenance robot capable of running across rows and planes and control method of electric dust remover maintenance robot

Abstract

The embodiment of the invention provides an electric dust remover maintenance robot capable of running across rows and planes and a control method thereof, and belongs to the technical field of electric dust removal. The maintenance robot comprises a guide rail and a robot body, the guide rail is used for providing a moving path of the robot body, and the robot body comprises a driving device and a carrying platform; the driving device is used for driving the robot main body to move to the side edge of a target anode plate row along the guide rail; the carrying platform is used for carrying the detachable sub-machine and carrying out position adjustment to be in butt joint with a channel, and the carrying platform comprises a rotating mechanism and a bridging mechanism; the rotating mechanism is used for driving the carrying platform to rotate around the axis; and the bridging mechanism is used for constructing a temporary passage through which the detachable sub-machine can pass between the carrying platform and the anode plate so as to realize the crossing operation of the detachable sub-machine from the carrying platform to the anode plate. According to the scheme, the key problem that an existing robot cannot autonomously cross the row and continuously work on the front face and the back face is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric dust removal, in particular to a cross-row and cross-face running electric dust removal device maintenance robot, a control method of the cross-row and cross-face running electric dust removal device maintenance robot and a storage medium. BACKGROUND

[0002] As an important device for controlling industrial flue gas particulate matter emissions, the running state of the electric dust removal device directly affects the environmental protection standard. In the long-term operation process, the internal plate system of the electric dust removal device is prone to structural aging, dust accumulation, electrical failure and other problems, and needs to be regularly maintained and repaired. However, the internal space of the electric dust removal device is narrow and complex in structure, the upper and lower ends of the plate are closed, and the environment is closed and hot, and the dust concentration is high, which greatly limits the efficiency and safety of manual entry and operation. Therefore, some industrial sites have tried to introduce automatic operation robots for the maintenance and detection of anode plates.

[0003] Most of the existing operation robots for the internal space of the electric dust removal device are based on a track type or four-wheel drive structure, equipped with dust removal, detection or maintenance function modules, and can run between the same row of anode plates. However, such robots have two key problems: on the one hand, the structural design usually only supports moving on the same row of anode plates, and cannot autonomously cross to the next row of anode plates, so it still needs to rely on manual taking and placing and redeployment, which still requires personnel to frequently enter the internal operation environment of the electric dust removal device, which goes against the original intention of automation replacement; on the other hand, the existing robot operation surface is fixed and cannot actively switch the operation direction, making it difficult to complete continuous maintenance of the front and back structures of the anode plate, and often needs to be repeated or redeployed, increasing the system complexity and operation time.

[0004] Therefore, how to realize the autonomous cross-row movement and continuous switching of front and back operations of the robot in the electric dust removal device has become one of the key technical problems to be solved in the current automatic electric dust removal device maintenance field. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a cross-row and cross-face running electric dust removal device maintenance robot and a control method thereof, to at least solve the problems that the existing electric dust removal device operation robot cannot autonomously move across rows and cannot realize continuous operation of the front and back of the anode plate.

[0006] In order to achieve the above object, the first aspect of the present application provides a maintenance robot for a cross-row and cross-plane operating electric dust collector, which comprises a guide rail and a robot body, the guide rail is installed on the side of the internal electrode plate system of the electric dust collector to provide a moving path for the robot body, the robot body is arranged below the guide rail and slides along the guide rail, the robot body comprises a driving device and a carrying platform; the driving device is connected to the guide rail to drive the robot body to move to the side of the target anode plate row along the guide rail; the carrying platform is arranged on the driving device to carry the detachable sub-machine and adjust the position and dock the channel, the carrying platform comprises a rotating mechanism and a bridging mechanism; the rotating mechanism is connected between the driving device and the platform bottom plate to drive the carrying platform to rotate around the shaft to adjust the detachable sub-machine to face the front or back of the anode plate; the bridging mechanism is arranged on the carrying platform to build a temporary channel through which the detachable sub-machine can pass between the carrying platform and the anode plate to realize the cross operation of the detachable sub-machine between the carrying platform and the anode plate.

[0007] Optionally, the guide rail is arranged in the arrangement direction of the electrode plate system of the electric dust collector; a plurality of equidistantly arranged pins are arranged on one side of the guide rail, the driving device comprises a cycloidal gear assembly engaged with the pins; wherein the cycloidal gear assembly is locked on the motor shaft of the driving motor through a locking pin and realizes meshing transmission through a cycloidal curve structure.

[0008] Optionally, the driving device further comprises a motor mounting plate for fixing the driving motor and a protective shell for protecting the motor; the driving motor is a magnetic coding motor mounted on the motor mounting plate to record the rotation angle information and calculate the moving distance of the robot body on the guide rail based on the angle information to control the robot body to stop at the side position of the target anode plate row; the protective shell covers the driving motor and the gear assembly to isolate the external dust environment from interfering with the motor and its transmission structure.

[0009] Optionally, the carrying platform comprises a platform fixing plate arranged on the platform bottom plate to provide a magnetic attraction parking position for the detachable sub-machine; a position sensor is installed at the center of the platform fixing plate, the position sensor is used to detect whether the detachable sub-machine is accurately parked in the specified area of the platform fixing plate; if it is detected that the detachable sub-machine is accurately parked in the specified area of the platform fixing plate, the subsequent operation process is prevented from starting; the position sensor signal is also used to provide zero reference information of the detachable sub-machine.

[0010] Optionally, the rotating mechanism comprises a servo rotating rudder installed on the driving device and a rudder mounting plate; the base of the servo rotating rudder is installed on the rudder mounting plate through a fixing bolt, and the output end is connected to the platform bottom plate through a bolt, for driving the carrying platform to rotate 360 degrees around its axis to switch the running direction of the detachable sub-machine between the front and back anode plates; the rudder mounting plate is provided with a roller structure, and the V-shaped groove of the roller is clamped at the V-shaped protrusion of the guide rail to realize the guiding support and smooth running of the rotating mechanism.

[0011] Optionally, the bridging mechanism comprises a guide rail slider, a rack, a gear and a servo motor arranged on the platform bottom plate; the servo motor is fixed on the platform bottom plate through a bolt, for driving the gear to rotate; the gear is connected to the shaft of the servo motor through a cotter pin and is engaged with the rack, for driving the rack to move along with the horizontal moving platform in the horizontal direction to build a temporary sub-machine passage from the carrying platform to the anode plate; the horizontal moving platform is fixed with the rack at the back and is provided with a walking surface of the detachable sub-machine running passage at the front.

[0012] Optionally, the horizontal moving platform is provided with a photoelectric sensor opening in the middle of each side, and a photoelectric sensor and a covered glass shield are installed at each opening; the photoelectric sensor is used to emit a point laser and to detect the distance between the horizontal moving platform and the side edge of the anode plate in real time, and the servo motor is stopped when the detection result reaches the preset docking distance, to ensure that the built temporary passage meets the passing condition of the detachable sub-machine; the glass shield is made of light-transmitting material and is used to prevent the sensor from working abnormally in the high-dust environment of the electric dust collector.

[0013] Optionally, the rotating mechanism and the bridging mechanism of the carrying platform cooperate to constitute a work path switching mechanism of the detachable sub-machine; the work path switching mechanism comprises: when the detachable sub-machine completes the front anode plate work and returns to the platform fixed plate, the rotating mechanism drives the platform to rotate 180 degrees to adjust the orientation, and based on the bridging mechanism, a temporary passage leading to the back of the anode plate is rebuilt, allowing the detachable sub-machine to move reversely from the original path to the back of the anode plate for work.

[0014] The second aspect of the present application provides a control method of a maintenance robot of an electric dust collector running across rows and surfaces, which is applied to the maintenance robot of the electric dust collector running across rows and surfaces, and comprises the following steps: step S10), detecting whether the detachable sub-machine is parked at a specified position of the carrying platform, and if so, controlling the driving device to move the robot body along the guide rail to the side of the target anode plate row; step S20), controlling the bridging mechanism to drive the transverse moving platform to extend, and detecting the distance of the channel docking based on the photoelectric sensor to build a passable channel between the carrying platform and the anode plate; step S30), controlling the detachable sub-machine to enter the front area of the anode plate along the channel, return to the carrying platform after completing the work task, and confirm its repositioning by the position sensor; step S40), controlling the robot body to move to the side of the next anode plate row in turn, and repeating steps S20) to S30) until the front work of all the anode plates is completed; and step S30), controlling the rotating mechanism to rotate the carrying platform to face the back of the anode plate, repeating steps S20) to S40), and returning the robot body to the starting position of the guide rail after completing the back work of the anode plate.

[0015] In another aspect, the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, cause the computer to perform the control method of the maintenance robot of the electric dust collector running across rows and surfaces.

[0016] Through the above technical solution, the present application achieves the automatic movement of the maintenance robot between the anode plate rows by arranging the guide rail inside the electric dust collector and setting the robot body with the driving device and the carrying platform; further, the detachable sub-machine can complete the switching of the front and back directions and the channel crossing without manual intervention through the cooperation of the rotating mechanism and the bridging mechanism on the carrying platform, thereby realizing the integrated work control of the electric dust collector across rows and surfaces, and significantly improving the automation degree and the coverage integrity of the maintenance work, and solving the key problem that the existing robot cannot work continuously across rows and surfaces.

[0017] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the following detailed description, but do not limit the present application. In the drawings: Figure 1 is a structural schematic diagram of the maintenance robot of the electric dust collector running across rows and surfaces provided by an embodiment of the present application; Figure 2is a structural schematic view of a driving device and a rotating mechanism of a carrying platform provided by an embodiment of the present application; Figure 3 is a structural schematic view of a carrying platform provided by an embodiment of the present application; Figure 4 is a structural schematic view of a bridging mechanism provided by an embodiment of the present application; Figure 5 is a step flow chart of a control method of the electric dust collector maintenance robot running across rows and surfaces provided by an embodiment of the present application.

[0019] Explanation of reference signs 1 - guide rail; 2 - robot body; 3 - pin; 4 - driving device; 5 - carrying platform; 6 - driving motor; 7 - cycloid gear; 8 - protective shell; 9 - roller; 10 - motor mounting plate; 11 - rotating mechanism; 12 - platform bottom plate; 13 - platform fixing plate; 14 - position sensor; 15 - bridging mechanism; 16 - steering gear mounting plate; 17 - servo rotating steering gear; 18 - guide rail slider; 19 - gear; 20 - servo motor; 21 - rack; 22 - transverse moving platform; 23 - photoelectric sensor; 24 - glass baffle. DETAILED DESCRIPTION

[0020] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0021] Figure 1 is a structural schematic view of an electric dust collector maintenance robot running across rows and surfaces provided by an embodiment of the present application. As shown in Figure 1As shown, the embodiment of the present application provides a maintenance robot for electric dust collector running across the row and the surface, which comprises a guide rail 1 and a robot body 2, the guide rail 1 is installed on the side of the internal electrode plate system of the electric dust collector to provide the moving path of the robot body 2, the robot body 2 is arranged below the guide rail 1 and slides along the guide rail 1, the robot body 2 comprises a driving device 4 and a carrying platform 5; the driving device 4 is connected to the guide rail 1 to drive the robot body 2 to move to the side of the target anode plate row along the guide rail 1; the carrying platform 5 is arranged on the driving device 4 to carry the detachable sub-machine and adjust the position and dock the channel, the carrying platform 5 comprises a rotating mechanism 11 and a bridging mechanism 15; the rotating mechanism 11 is connected between the driving device 4 and the platform bottom plate 12 to drive the carrying platform 5 to rotate around the shaft to adjust the detachable sub-machine to face the front or back of the anode plate; the bridging mechanism 15 is arranged on the carrying platform 5 to build a temporary channel through which the detachable sub-machine can pass between the carrying platform 5 and the anode plate to realize the cross operation of the detachable sub-machine between the carrying platform 5 and the anode plate.

[0022] In the embodiment of the present application, the guide rail 1 is arranged on the side of the internal electrode plate system of the electric dust collector as the motion reference of the robot body 2, and one side thereof is designed with a positioning element matched with a transmission structure, such as equidistantly distributed pins 3, to ensure the linear constraint and positioning accuracy during the movement of the robot body 2. The robot body 2 is installed below the guide rail 1 and can realize stable movement in the longitudinal direction, and the inside thereof is provided with the driving device 4 responsible for providing propulsion power and cooperating with the encoder feedback to calculate the displacement to ensure accurate parking at the starting position of each row of anode plates.

[0023] The carrying platform 5 is arranged above the driving device 4 as the bearing and operation center and has a series of functions such as containing, releasing, orientation adjusting and channel docking of the detachable sub-machine, and the structure thereof integrates the rotating mechanism 11 and the bridging mechanism 15 two core sub-modules. The rotating mechanism 11 is arranged between the driving device 4 and the platform bottom plate 12 to realize the self-axis rotation adjustment of the carrying platform 5, which is used to flexibly switch the outlet direction of the detachable sub-machine to the front or back of the anode plate according to the operation requirement, thereby avoiding the complicated path design of the detachable sub-machine needing to turn back in the traditional scheme. The bridging mechanism 15 is arranged on the carrying platform 5 to build a temporary connection channel for the detachable sub-machine to pass between the platform and the anode plate, which realizes the path crossing while ensuring the movement continuity and avoids the jamming or derailment caused by the spatial misalignment.

[0024] Through the aforementioned structural combination, this maintenance robot possesses a high degree of automation, enabling autonomous movement and operation among multiple anode plate rows within an electrostatic precipitator. It can complete continuous operations from the front to the back of a row, eliminating the repetitive manual handling and redeployment required in traditional solutions. Especially in the confined, dusty, and heat-loaded environment of an electrostatic precipitator, this solution significantly improves operational efficiency and safety, while also exhibiting good system compatibility and engineering adaptability, making it applicable to various industrial flue gas purification scenarios. The entire structure is designed with a focus on motion coordination and path optimization, facilitating subsequent motion orchestration and control based on task logic. It is suitable for deployment on embedded operating platforms, demonstrating excellent engineering reproducibility and practical application value.

[0025] Preferred, such as Figure 2 The guide rail 1 extends along the arrangement direction of the electrostatic precipitator plate system; a plurality of equally spaced pins 3 are provided on one side of the guide rail 1; the drive device 4 includes a cycloidal gear 7 assembly that meshes with the pins 3; wherein the cycloidal gear 7 assembly is locked to the motor shaft of the drive motor 6 by a locking pin, and the meshing transmission is achieved by adopting a cycloidal curve structure.

[0026] In this embodiment of the invention, the guide rail 1 extends along the arrangement direction of the internal electrode plate system of the electrostatic precipitator, and is used to construct a robot running track that runs through the sides of each row of anode plates, ensuring that the robot body 2 can move continuously between rows. To adapt to the high dust and strong vibration interference inside the electrostatic precipitator, the guide rail 1 adopts a rigid structure integrally formed, and multiple equidistant pins 3 are evenly arranged on one side of the guide rail 1 as mechanical meshing reference points during the driving process. The placement of each pin 3 on the guide rail 1 is strictly controlled to form a standardized tooth pitch, ensuring the meshing accuracy and sliding stability of the robot under high-frequency operation.

[0027] The drive device 4 is configured to cooperate with the guide rail 1, and uses a cycloidal gear 7 assembly based on pin 3 meshing as the drive transmission structure. The cycloidal gear 7 assembly specifically includes a cycloidal gear 7 body that meshes with the pin 3. This cycloidal gear 7 is locked to the output shaft of the drive motor 6 by a locking pin, ensuring a reliable connection without slippage or loosening during rotation. The cycloidal gear 7 preferably adopts a cycloidal curve tooth profile with a double curvature profile to enhance the tooth surface contact area during meshing, improving wear resistance and load-bearing capacity. Compared to conventional spur or helical gear 19 structures, the cycloidal gear 7 does not generate cumulative errors during continuous transmission, resulting in higher repeatability and positioning accuracy, making it suitable for multi-point positioning and docking operations of the robot between anode plate rows.

[0028] To improve the stability of the entire meshing drive structure under extreme conditions inside the electric dust collector, the selection of the cycloid gear 7 also considers the tooth thickness redundancy design, and the pin 3 of the guide rail 1 adopts the hard contact rolling fit mode, avoiding the slip error and premature wear caused by dust invasion. The driving motor 6 is preferably configured with a coding feedback structure, which is used to record the rotation angle of each driving stroke, so as to realize the displacement calculation and target row positioning of the robot body 2 on the guide rail 1, and ensure that the robot can accurately reach the side edge position of any row of anode plates, without relying on additional position sensors 14 for attitude correction.

[0029] Preferably, the driving device 4 further comprises a motor mounting plate 10 for fixing the driving motor 6 and a protective shell 8 for protecting the motor; the driving motor 6 is a magnetic coding motor, installed on the motor mounting plate 10, used to record the rotation angle information, and calculate the moving distance of the robot body 2 on the guide rail 1 based on the angle information, for controlling the robot body 2 to stop at the side edge position of the target anode plate row; the protective shell 8 covers the driving motor 6 and the gear 19 assembly, used to isolate the external dust environment from interfering with the motor and its transmission structure.

[0030] In the embodiment of the application, the driving device 4 further comprises a motor mounting plate 10 and a protective shell 8 for supporting the driving motor 6 and isolating external pollution. The motor mounting plate 10 is made of rigid metal material and is fixed to the structure frame of the robot body 2 by bolt connection, to stably install the driving motor 6 and ensure that the motor remains mechanically stable under high-frequency start-stop and continuous load conditions during the movement of the robot along the guide rail 1, avoiding transmission errors caused by vibration loosening or position deviation.

[0031] The driving motor 6 preferably adopts a magnetic coding motor, which has high-precision displacement feedback capability compared with ordinary non-coding motors. The magnetic encoder is built into the tail of the motor, used to record the rotation angle data of the motor shaft in real time, and used as the basic input quantity, combined with the known wheel diameter or gear 19 pitch parameter, to calculate the cumulative movement distance of the robot body 2 along the guide rail 1. This displacement information can be used as the core reference for robot positioning control, supporting the accurate parking operation of each row of anode plate side edges without additional displacement sensors. Through this angle calculation mechanism, the need for redundant sensors in a narrow dust channel environment can be greatly reduced, improving the integration and anti-interference ability of the entire machine structure.

[0032] To ensure stable operation of the motor in high-temperature and high-dust environments, the drive unit 4 is equipped with a closed protective cover 8, which covers the drive motor 6 body and the cycloidal gear 7 assembly connected to it. The protective cover 8 is made of high-temperature resistant and impact-resistant material, and features a clamping structure or sealing strip at the seams to effectively prevent dust particles from entering the motor or jamming the transmission gears, thus avoiding shaft overload, thermal degradation, or gear wear caused by dust accumulation. This structure also provides some splash protection and can extend service life in some wet or residual cooling steam conditions.

[0033] Preferred, such as Figure 3 The transport platform 5 includes a platform fixing plate 13 disposed on the platform base plate 12, which is used to provide a magnetic docking position for the detachable submachine; a position sensor 14 is installed at the center of the platform fixing plate 13, which is used to detect whether the detachable submachine is accurately parked in the designated area of ​​the platform fixing plate 13; if the detachable submachine is detected to be accurately parked in the designated area of ​​the platform fixing plate 13, the start of subsequent operation is prevented; the signal of the position sensor 14 is also used to provide zero-return reference information for the detachable submachine.

[0034] In this embodiment of the invention, the transport platform 5 is provided with a platform base plate 12 and a platform fixing plate 13 mounted thereon, used to construct a precise parking position for the detachable submachine during transport. The platform fixing plate 13 is made of high-strength, low-hysteresis material and has several magnetic modules arranged on it, so that the detachable submachine can be automatically attracted and positioned in a preset area by magnetic force during the return process to the platform, forming a stable stationary state, which is beneficial to ensure the retrieval of the bridging channel and the initial preparation for the next operation. The magnetic structure can be selected from embedded permanent magnet blocks or electromagnetic adsorption components. The specific structure can be designed to match the weight level of the detachable submachine and the area of ​​the bottom adsorption part to ensure that the magnetic force is sufficient but does not prevent the detachable submachine from restarting and leaving the wheels.

[0035] To further ensure alignment accuracy during the return of the detachable submachine to the platform, a set of position sensors 14 is integrated in the middle of the platform fixing plate 13. These position sensors 14 preferably employ contact Hall effect elements or photoelectric reflective elements, determining whether the detachable submachine is completely within the designated docking area of ​​the platform fixing plate 13 by reading the reflected signals from the bottom marking plate or structure of the detachable submachine. This detection area can be set to a preset threshold range based on the detachable submachine's trajectory, such as a tolerance range of ±5mm longitudinally and ±3mm laterally; exceeding this tolerance indicates that the submachine is not docked correctly.

[0036] Once the position sensor 14 determines that the detachable sub-machine is not accurately parked to the center area of the platform fixed plate 13, an interruption signal is output to forcibly stop the execution of subsequent control logic including the retraction of the bridging mechanism 15, the operation of the rotating mechanism 11, the next row transfer and the like, ensuring that a new round of operation process cannot be entered without completing the alignment, and eliminating abnormal risks such as bridging deviation, rotation interference or path conflict caused by misalignment of the detachable sub-machine from the source.

[0037] At the same time, the numerical feedback of the position sensor 14 also serves as the zero reset reference data in the operation control of the detachable sub-machine, which is used to calibrate the initial reference coordinates of the detachable sub-machine on the platform, and is particularly suitable for scenarios where precise navigation based on relative zero point is required in path planning. After each operation of the detachable sub-machine, the platform is returned, and automatic zero reset can be completed through the sensor without human intervention.

[0038] Preferably, the rotating mechanism 11 includes a steering gear mounting plate 16 mounted on the driving device 4 and a servo rotating steering gear 17; the base of the servo rotating steering gear 17 is mounted on the steering gear mounting plate 16 by fixed bolts, and the output end is connected to the platform bottom plate 12 by bolts, for driving the carrier platform 5 to rotate 360 degrees around its axis to switch the running direction of the detachable sub-machine between the front and back anode plates; the steering gear mounting plate 16 is provided with a roller 9 structure, and the V-shaped groove of the roller 9 is clamped at the V-shaped protrusion of the guide rail 1 to realize the guiding support and smooth operation of the rotating mechanism 11.

[0039] In the embodiment of the present application, the rotating mechanism 11 is used to realize the self-axis rotation adjustment of the carrier platform 5, so that the outlet direction of the detachable sub-machine can be flexibly connected to the front and back structures of the anode plate inside the electric precipitator, thereby supporting the complete cross-row cross-face operation process. The rotating mechanism 11 mainly includes two parts of a steering gear mounting plate 16 and a servo rotating steering gear 17, wherein the steering gear mounting plate 16 is fixed to the upper part of the driving device 4 and is connected by high-strength bolts to form a rigid support platform. The servo rotating steering gear 17 preferably uses a hollow shaft structure with high torque output and high repeat positioning accuracy, has a full-range continuous rotation capability of 0-360°, and has a closed-loop control feedback interface to ensure the rotation stability and target angle execution accuracy under the full load state of the platform.

[0040] In the mounting structure, the base of the servo rotating steering gear 17 is mounted on the middle support position of the steering gear mounting plate 16 by bolt fastening, and the mounting position adopts a counterbore machining and positioning pin double positioning structure to avoid eccentricity or looseness problems caused by vibration during long-term operation. The output end of the steering gear is connected to the platform bottom plate 12 through a flange, and the flange structure can directly use the original interface of the rotating steering gear, or can be customized and thickened according to the material and weight of the platform bottom plate 12, thereby improving the overall rotation load bearing capacity and structure life.

[0041] To improve the stability of support and the smoothness of sliding during rotation, a plurality of groups of rollers 9 are arranged on the steering gear mounting plate 16. Each group of rollers 9 is installed on the outer edge of the steering gear mounting plate 16 through a threaded shaft, and the V-shaped groove of the roller 9 body cooperates with the V-shaped protrusion arranged on the side of the guide rail 1 to form a rolling guide pair, so that during rotation, the carrying platform 5 can not only rotate around the steering gear rotation shaft, but also can reduce the friction coefficient and transverse displacement error during rotation by the rolling cooperation of the rollers 9 and the guide rail 1, and avoid the problems of connecting rod impact or structural interference caused by rotation eccentricity. This structure is particularly suitable for deployment and use inside the industrial electric dust collector with high dust, high temperature and limited installation space.

[0042] Through the cooperation of the steering gear and the roller 9 mechanism, the rotating mechanism 11 can stably drive the carrying platform 5 to realize ±180° direction conversion operation, so that after the front work of a row of anode plates is completed, the platform rotation can quickly switch to the back work angle, without needing to turn around or disassemble the reversing, which significantly improves the running continuity and scheduling efficiency of the robot in the anode plate system. In addition, combined with the position sensor 14 and the encoder feedback of the steering gear, the rotating mechanism 11 can also realize precise positioning and locking at a specific angle with the cooperation of the control logic, to ensure that each bridge work of the detachable sub-machine is started under the condition of accurate orientation.

[0043] Preferably, as Figure 4 , the bridge mechanism 15 includes a guide rail 1 slider arranged on the platform bottom plate 12, a rack 21, a gear 19 and a servo motor 20; wherein the servo motor 20 is fixed on the platform bottom plate 12 by bolts, for driving the gear 19 to rotate; the gear 19 is connected to the shaft of the servo motor 20 through a cotter pin, and is engaged with the rack 21, to drive the rack 21 to move along the horizontal direction together with the horizontal moving platform 22, so as to build a temporary sub-machine passage between the carrying platform 5 and the anode plate; the horizontal moving platform 22 is fixed with the rack 21 on the back, and is provided with a walking surface of the detachable sub-machine running passage on the front.

[0044] Further, the middle part of the two sides of the horizontal moving platform 22 is provided with a photoelectric sensor 23 opening, and a photoelectric sensor 23 and a covering glass baffle 24 are installed at each opening; the photoelectric sensor 23 is used to emit a point laser and detect the distance between the horizontal moving platform 22 and the side of the anode plate in real time, and stop the servo motor 20 from working when the detection result reaches the preset butt joint distance, to ensure that the temporary passage built meets the passing condition of the detachable sub-machine; the glass baffle 24 is made of light-transmitting material, and is used to prevent the sensor from working abnormally in the high dust environment of the electric dust collector.

[0045] In the embodiment of the present application, the bridging mechanism 15 is arranged at the lower part of the bottom plate of the carrying platform 5, and is used to build a temporary passable channel structure between the carrying platform 5 and the target anode plate, so that the detachable sub-machine can be transferred from the carrying platform 5 to the surface of the anode plate for operation without relying on manual assistance. The core execution structure of the bridging mechanism 15 includes a guide rail 1 slider, a rack 21, a gear 19 and a servo motor 20, and a transverse moving platform 22 assembly connected thereto, and the overall structure follows a mechanical rigid transmission closed loop design, which can maintain long-term stable operation in high dust concentration, limited space and high temperature environment.

[0046] Specifically, the guide rail 1 slider is fixedly installed on the platform bottom plate 12 in a horizontal arrangement, and is connected to the platform in a multi-point constraint manner to ensure that the platform as a whole does not tilt or swing during transverse movement. The guide rail 1 slider is generally made of wear-resistant alloy material or self-lubricating plastic, which provides stable support force and good guiding characteristics when cooperating with the bottom guide groove of the transverse moving platform 22. The slider can be equipped with a linear ball guide rail 1 or a V-shaped sliding groove structure to be differentially designed according to the actual operation intensity and platform load rating.

[0047] The transverse moving platform 22 is an integral movable assembly, and the bottom thereof is rigidly fixed with the rack 21 through bolt connection or direct welding to realize integrated construction. A rack 21 is arranged on the back of the transverse moving platform 22 in a longitudinal direction, and the rack 21 adopts a module-matched precise tooth profile structure, which is consistent with the meshing interface of the gear 19. The tooth surface machining precision should reach the 8th and above precision standards to ensure good meshing efficiency and low meshing impact performance in high-frequency start and repeated operation. Limiting blocks or buffer structures should be arranged at both ends of the rack 21 to prevent mechanical impact when the transverse moving platform 22 moves to the limit position.

[0048] The gear 19 is directly connected with the servo motor 20, and the gear 19 is fastened with the motor output shaft through a tight pin to avoid relative slipping during operation. The gear 19 is made of hard tooth surface steel or polymeric wear-resistant material, and the tooth profile, module and number of teeth are designed according to the transverse thrust requirement to ensure that sufficient transverse thrust is provided under the standard rated speed of the motor. The servo motor 20 is fixedly installed on the platform bottom plate 12 through bolts, and the type thereof can be determined according to the platform weight, the transmission ratio of the rack 21 and the required transverse propulsion distance. Generally, a medium torque level servo motor 20 supporting closed-loop coding feedback is selected to realize controllability and dynamic adjustment of response speed of the platform movement process.

[0049] The front side of the horizontal moving platform 22, i.e. the side facing the anode plate, is designed as a walking surface of a detachable sub-machine access passage. The passage surface should be made of flat and wear-resistant material, and provided with anti-skid texture or surface plating treatment to ensure that the detachable sub-machine will not slip or deviate during the process of bridging or unbridging, especially in the working condition of dust deposition, oil stains or condensate water inside the dust collector, and still provide good adhesion and safety of passage.

[0050] To ensure the accuracy of the passage docking during the bridging process, the middle positions of the left and right sides of the horizontal moving platform 22 are respectively provided with photoelectric sensor 23 openings for installing docking distance detection elements. A set of photoelectric sensors 23 and light-transmitting glass flaps 24 are arranged in each sensor opening, and the photoelectric sensors 23 are used to emit point laser and detect the distance between the front end of the horizontal moving platform 22 and the side edge of the anode plate in real time. When the detection result shows that the docking distance enters the preset range (for example, within ±3 mm), the system determines that the current passage has reached the effective docking state, and the control logic immediately stops the driving action of the servo motor 20, so that the horizontal moving platform 22 remains at the current position.

[0051] The glass flaps 24 are preferably made of tempered glass or high-transparency PMMA material, which has good light transmission and anti-pollution ability, and covers the opening in front of the sensor, playing a protective role in dust prevention, fly ash prevention and static electricity accumulation prevention. Especially in the working condition of a large amount of particle accumulation and smoke obstruction that may occur after a long time of operation inside the electric dust collector, this structure can effectively prevent the sensor surface from being contaminated and causing ranging error or detection failure, thereby improving the docking reliability between the platform and the anode plate.

[0052] Preferably, the rotating mechanism 11 of the carrying platform 5 and the bridging mechanism 15 cooperate to form a work path switching mechanism of the detachable sub-machine; when the detachable sub-machine completes the front surface work of the anode plate and returns to the platform fixed plate 13, the rotating mechanism 11 drives the platform to rotate 180 degrees to adjust the orientation, and based on the bridging mechanism 15, a temporary passage to the back surface of the anode plate is re-established, allowing the detachable sub-machine to move reversely from the original path to the back surface of the anode plate for work.

[0053] In the embodiment of the present application, the rotating mechanism 11 of the carrying platform 5 and the bridging mechanism 15 cooperatively form a work path switching mechanism of the detachable sub-machine, which is used to quickly adjust the platform posture and re-establish a work path adapted to the back surface of the anode plate after the detachable sub-machine completes the front surface work of the anode plate, so as to realize the continuous completion of the work task of the front and back surfaces of the anode plate in the same row without the need for retreat or manual intervention, forming a closed-loop work flow path.

[0054] Specifically, when the detachable sub-machine completes the front surface task of the target anode plate and returns to the platform fixed plate 13, the rotating mechanism 11 inside the carrying platform 5 starts to work. The core of the rotating mechanism 11 is a set of servo rotating rudders 17 arranged symmetrically around the central axis. The rudders are connected to the platform bottom plate 12 through the output shaft to transfer the rotating torque through the fixed flange structure. After receiving the status signal that the detachable sub-machine completes the front surface task and is in place, the rotating mechanism 11 performs 180° self-axis rotation, so that the direction of the platform fixed plate 13 and the entrance and exit of the detachable sub-machine changes from facing the front surface of the anode plate to facing the back surface of the anode plate in the same row. The rotating angle control process is based on the encoder signal of the rudder and the preset rotating limit parameter to perform closed-loop adjustment, so that the direction switching can be realized within the accuracy range of ±1° each time, effectively preventing the docking error amplification or misplacement.

[0055] After the rotating action is completed, the platform posture has been adjusted, but since the back surface position of the anode plate and the front surface have a symmetrical distribution in the space coordinates, a temporary connecting channel needs to be re-established from the current platform to the back surface of the anode plate. At this time, the servo motor 20 of the bridging mechanism 15 starts to work, and through the meshing of the driving gear 19 and the rack 21, the horizontal moving platform 22 is slowly pushed out in front of the rotated platform. In the pushing process, the photoelectric sensors 23 on both sides of the bridging mechanism 15 monitor the distance change between the front edge of the horizontal moving platform 22 and the back surface of the anode plate in real time, and when the docking distance reaches the preset value (such as 3mm±1mm), the pushing is automatically stopped, and the current channel length is locked. This process is consistent with the front bridging step, but it occurs in the opposite direction after rotation, ensuring that the detachable sub-machine can move into the back surface working area in the original track in the opposite direction.

[0056] After the bridging is completed, the detachable sub-machine drives away from the platform fixed plate 13 according to the control instruction, enters the back surface area of the anode plate along the horizontal moving platform 22, and performs the corresponding inspection, cleaning or maintenance task. After the task is completed, the detachable sub-machine returns to the platform along the original route and docks to the platform fixed plate 13 again. The position sensor 14 confirms whether the detachable sub-machine is in the specified position. Once the confirmation is completed, the bridging mechanism 15 starts to retract the horizontal moving platform 22, and the platform is ready to move to the next row of anode plate positions to continue the front and back surface operation cycle.

[0057] Figure 5 is a step flow chart of a control method of the electric precipitator maintenance robot provided by an embodiment of the present application. As shown in Figure 5 , the present application provides a control method of the electric precipitator maintenance robot running across rows and surfaces, which comprises the following steps: Step S10: detecting whether the detachable sub-machine is parked in the specified position of the carrying platform. If the detection is in place, the driving device is controlled to move the robot body to the side of the target anode plate row along the guide rail.

[0058] Specifically, the detection process is based on a displacement or contact position sensor arranged at the center of the platform fixed plate. The sensor is used to identify whether the detachable sub-machine has completed the positioning and docking operation after returning to the carrying platform. The platform fixed plate is preferably a magnetic attraction structure, which is guided and adsorbed to the specified position by magnetic force after the sub-machine enters the platform area. The position sensor corresponds to the center of the fixed plate, and when the bottom structure of the sub-machine covers the sensor trigger area, the output is in position. If it is not completely covered or deviates from the center area of the sensor, the system judges that it is not in position and prevents subsequent driving operation. Only when the "sub-machine in position" confirmation signal is received, the driving device control logic can be started. The motor used by the driving device is a magnetic encoding type, which records the rotation angle of the motor shaft to calculate the displacement; the guide rail side is provided with equidistant pins, which are engaged with the cycloid gear in the driving structure to realize the stable linear sliding of the robot body along the guide rail direction. The driving path can automatically allocate the positioning interval according to the preset number of anode plates, and each time it reaches the front side of a row of anode plates, it enters the next step of preparation for operation.

[0059] Step S20: Control the bridge mechanism to drive the horizontal moving platform to extend, and detect the channel docking distance based on the photoelectric sensor to build a passable channel between the carrying platform and the anode plate.

[0060] Specifically, after the bridge mechanism is started, the servo motor fixed on the platform bottom plate starts to operate first, driving the gear on the output shaft to rotate. The gear is engaged with the rack arranged on the back of the horizontal moving platform, forming a rigid horizontal pushing relationship. The rack is integrally connected with the back of the horizontal moving platform through bolts or welding, realizing the sliding of the entire platform assembly along the guide rail slider 18. The slider adopts a rolling or self-lubricating guide rail structure to ensure smooth guidance in a high-dust environment. The advancing direction of the horizontal moving platform is towards the front of the anode plate inside the electric precipitator. In the mounting holes opened in the middle of the two sides of the platform, photoelectric sensors are arranged respectively to emit point laser and detect the distance change between the front end of the platform and the edge of the anode plate in real time. When the docking distance detected by any side photoelectric sensor reaches the preset safety value (such as 3mm±1mm), the servo motor receives the stop signal and immediately terminates the gear output, locking the current channel length. At this time, the front surface of the horizontal moving platform becomes the passable walking surface of the detachable sub-machine, which is a flat wear-resistant panel with certain anti-slip treatment to ensure that the sub-machine enters the anode plate area smoothly. This process does not require manual intervention and is controlled based on sensor signals in a closed loop.

[0061] Step S30: Control the detachable sub-machine to enter the front area of the anode plate along the channel, return to the carrying platform after completing the work task, and confirm its repositioning by the position sensor.

[0062] Specifically, after the temporary passage is built by the transverse platform, the detachable sub-machine starts the travel program and drives out from the fixed position of the carrying platform, travels along the passage in a straight line and enters the target positive plate front area. Since the passage connection position has been corrected to the optimal position by the photoelectric sensor, the path of the sub-machine in the process of crossing the platform edge to the positive plate surface has high geometric continuity and safety. The bottom of the sub-machine adopts an electrically driven wheel structure, and the friction characteristics and passing slope of the positive plate material need to be considered during operation. The operation process can include photographing, laser scanning, vibration detection or local cleaning, and the specific operation content is determined according to the actual deployment configuration. After the operation is completed, the sub-machine automatically returns to the starting point of the carrying platform passage according to the path retreat algorithm and drives back to the platform fixed plate. After the sub-machine is guided to the initial position by the platform fixed plate magnetic attraction assembly, the center position sensor confirms again whether the accurate positioning is completed. If the sensor outputs the positioning signal, the control logic enters the next process; if it does not meet the standard, an alarm is triggered and the next action is refused to start, ensuring a safe operation closed loop.

[0063] Step S40: control the robot body to move to the side edge of the next row of positive plates in turn, repeat steps S20-S30, until the front surface work of all positive plates is completed.

[0064] Specifically, after completing the front surface work of each row of positive plates and confirming the return of the detachable sub-machine, the driving device is restarted to control the robot body to slide along the guide rail to the front side of the next row of positive plates. This sliding process is based on displacement closed-loop control of the rotation angle of the driving motor and the number of guide rail pins, and the positioning method does not depend on external photoelectric or visual systems, avoiding sensor abnormalities in high-dust environments. Before each movement, the bridge connecting mechanism reset operation is performed, i.e. the servo motor reverses the gear to make the transverse platform retract along the guide rail block 18 to the initial storage position, avoiding damage to the bridge connecting structure or interference with other structures during the movement. During the movement, rollers or support assemblies are provided to roll along the guide rail V-shaped protrusions to ensure smooth sliding. After reaching the side edge of the next row of positive plates, the system restarts step S20 and repeats the operations of bridge connecting, passing, work and returning until the front surface work of the preset number of rows of positive plates is completed. This process realizes the full-automatic cyclic control of the front surface work of the positive plates.

[0065] Step S30: control the rotating mechanism to rotate the carrying platform to face the back surface of the positive plate, repeat steps S20-S40, and return the robot body to the starting position of the guide rail after completing the back surface work of the positive plate.

[0066] Specifically, after the front side operation is completed, the control logic schedules the rotating mechanism to perform direction conversion. The rotating mechanism drives the platform base to rotate 180° around the center axis by servo rotating the rudder, and adjusts the entrance and exit direction of the detachable sub-machine to the opposite side of the original platform. The rotating angle control is based on the closed loop execution of the encoder signal built in the rudder and the platform angle calibration value, to ensure that the positioning error is less than ±1°. During the rotating process, the horizontal moving platform is first retracted and the sub-machine is kept stationary to avoid interference. After the rotating is completed, the platform direction is adjusted to face the back of the same row of anode plates, the bridging mechanism is restarted to construct the back side channel, and the sub-machine is controlled to complete the back side entering, operation and returning processes. The process is repeatedly executed until the back side operation of the last row of anode plates is completed. Finally, the robot main body is controlled to move reversely along the guide rail direction, and returns to the initial end position of the guide rail, and the whole operation process is closed loop completed.

[0067] The embodiment of the present application also provides a computer readable storage medium, which stores instructions, and the instructions make the computer execute the control method of the cross-row and cross-plane running electric dust collector maintenance robot when the computer runs.

[0068] Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by programs instructing related hardware, the programs are stored in a storage medium, and the programs include a plurality of instructions for making a single-chip microcomputer, a chip or a processor execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various storage medium capable of storing program codes.

[0069] The optional embodiments of the present application are described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present application within the technical concept range of the embodiments of the present application, and the simple modifications all belong to the protection range of the embodiments of the present application. In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present application will not further describe various possible combination manners.

[0070] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the embodiments of the present application, and it should also be considered as the disclosed content of the embodiments of the present application.

Claims

1. An ESP maintenance robot operating across the rows and across the faces, characterized in that, The maintenance robot includes: The guide rail and robot body are provided. The guide rail is installed on the side of the internal electrode plate system of the electrostatic precipitator to provide a movement path for the robot body. The robot body is located below the guide rail and slides along the guide rail. The robot body includes a drive device and a transport platform. The drive device is connected to the guide rail and is used to drive the robot body to move along the guide rail to the side of the target anode plate row; The transport platform is mounted on the drive device and is used to carry the detachable submachine and adjust its position to dock with the channel. The transport platform includes a rotating mechanism and a bridging mechanism. The rotating mechanism is connected between the drive device and the platform base plate, and is used to drive the transport platform to rotate from its axis to adjust the orientation of the detachable submachine towards the front or back of the anode plate. The bridging mechanism is installed on the transport platform and is used to construct a temporary passage for the detachable submachine to pass through between the transport platform and the anode plate, so as to realize the detachable submachine's crossing operation between the transport platform and the anode plate.

2. The maintenance robot according to claim 1, characterized in that, The guide rail extends along the arrangement direction of the electrostatic precipitator electrode plate system. A plurality of equally spaced pins are provided on one side of the guide rail, and the driving device includes a cycloidal gear assembly that meshes with the pins; wherein, The cycloidal gear assembly is locked to the motor shaft of the drive motor by a locking pin, and the meshing transmission is achieved by using a cycloidal curve structure.

3. The maintenance robot according to claim 2, characterized in that, The drive device also includes a motor mounting plate for fixing the drive motor and a protective cover for protecting the motor. The drive motor is a magnetic encoder motor, which is mounted on a motor mounting plate to record rotation angle information and calculate the movement distance of the robot body on the guide rail based on the angle information, so as to control the robot body to stop at the side position of the target anode plate row. The protective cover covers the drive motor and gear assembly to isolate the motor and its transmission structure from external dust.

4. The maintenance robot according to claim 1, characterized in that, The transport platform includes a platform fixing plate disposed on the platform base plate, which provides a magnetic docking position for the detachable submachine; A position sensor is installed at the center of the platform fixing plate. The position sensor is used to detect whether the detachable submachine is accurately parked in the designated area of ​​the platform fixing plate. If the detachable submachine is detected to be precisely parked in the designated area of ​​the platform mounting plate, the initiation of subsequent operation processes will be prevented. The position sensor signal is also used to provide zero-return reference information for the detachable submachine.

5. The maintenance robot according to claim 1, characterized in that, The rotating mechanism includes a servo mounting plate and a servo rotating servo mounted on the drive unit; The base of the servo rotary servo motor is mounted on the servo motor mounting plate by fixing bolts, and the output end is connected to the platform base plate by bolts. It is used to drive the carrier platform to rotate 360 ​​degrees around its axis to switch the running direction of the detachable submachine between the front and back anode plates. The servo mounting plate is equipped with a roller structure, and the V-groove of the roller is engaged with the V-shaped protrusion of the guide rail to achieve guiding support and smooth operation of the rotating mechanism.

6. The maintenance robot according to claim 1, characterized in that, The bridging mechanism includes a guide rail slider, a rack, a gear, and a servo motor mounted on the platform base plate; wherein... The servo motor is fixed to the platform base plate by bolts and is used to drive the gear rotation; The gear is connected to the shaft of the servo motor via a set pin and meshes with the rack, driving the rack and the transverse platform to move horizontally to construct a temporary submachine channel from the transport platform to the anode plate; The rack is fixed to the back of the transverse platform, and the front is set as the walking surface of the detachable submachine travel channel.

7. The maintenance robot according to claim 6, characterized in that, The transverse platform has photoelectric sensor openings on both sides of the middle, and each opening is equipped with a photoelectric sensor and a covering glass baffle. The photoelectric sensor is used to emit point laser and detect the distance between the transverse platform and the side of the anode plate in real time. When the detection result reaches the preset docking distance, the servo motor stops to ensure that the constructed temporary channel meets the passage conditions of the detachable submachine. The glass baffle is made of a light-transmitting material and is used to prevent the sensor from malfunctioning in the high-dust environment of the electrostatic precipitator.

8. The maintenance robot according to claim 1, characterized in that, The rotating mechanism and bridging mechanism of the transport platform cooperate to form a working path switching mechanism for the detachable submachine. The job path switching mechanism includes: After the detachable submachine completes the work on the front of the anode plate and returns to the platform fixing plate, the rotating mechanism drives the platform to rotate 180 degrees to adjust its orientation, and reconstructs a temporary channel to the back of the anode plate based on the bridging mechanism, allowing the detachable submachine to move in the opposite direction from the original path to the back of the anode plate to carry out the work.

9. A control method for a maintenance robot for an electrostatic precipitator that operates across rows and surfaces, characterized in that, The method is applied to the electrostatic precipitator maintenance robot that operates across rows and surfaces as described in any one of claims 1-8, and the method includes: Step S10): Detect whether the detachable submachine is parked in the designated position on the transport platform. If it is detected as in place, control the drive device to move the robot body along the guide rail to the side of the target anode plate row. Step S20): Control the bridging mechanism to drive the transverse platform to extend, and construct a passable channel connecting the transport platform and the anode plate based on the detection channel docking distance by the photoelectric sensor; Step S30): Control the detachable submachine to enter the front area of ​​the anode plate along the channel, return to the transport platform after completing the task, and have it repositioned by the position sensor; Step S40): Control the robot body to move sequentially to the side of the next row of anode plates, repeat steps S20) - S30) until all anode plates are completed. Step S30): Control the rotating mechanism to rotate the transport platform to face the back of the anode plate. Repeat steps S20-S40. After completing the work on the back of the anode plate, return the robot body to the starting position of the guide rail.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the control method for the electrostatic precipitator maintenance robot that operates across rows and surfaces as described in claim 9.

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