Movable ash bucket ash cleaning robot

Abstract

The invention relates to the technical field of dust hopper cleaning and discloses a movable dust hopper dust cleaning robot which comprises a machine body, a shovel plate is arranged on the front side of the machine body, an adsorption wheel and a driving wheel are arranged on the two opposite sides of the machine body, the adsorption wheel is rotationally connected to the machine body, a driving motor is arranged in the machine body, and the driving wheel is arranged at the output end of the driving motor; a front detection assembly is arranged on the front side of the machine body, and a rear detection assembly is arranged on the rear side of the machine body. Through the arrangement, the dust removal equipment which can adapt to the complex environment in the dust hopper, is high in automation degree and good in dust removal effect and can guarantee operation safety is provided, the dust removal equipment becomes the key for solving the dust removal problem of an existing dust hopper, and the dust removal equipment has important significance for improving the industrial production efficiency, reducing the labor cost and guaranteeing the health of operators.

Description

Technical Field

[0001] This invention relates to the field of ash hopper cleaning technology, and more particularly to a mobile ash hopper cleaning robot. Background Technology

[0002] In industrial production processes, such as power generation, metallurgy, and chemical industries, boilers, dust collectors, and other equipment are widely used. These devices generate a large amount of fly ash during operation, which is usually collected and temporarily stored in ash hoppers. As a critical ash storage device, if the ash accumulated inside the ash hopper is not cleaned in time, it will lead to clogging and poor ash discharge, thereby affecting the stable operation of the entire production system and even causing equipment failure and safety hazards.

[0003] Currently, ash hopper cleaning operations mainly rely on manual labor. During manual cleaning, operators must enter the ash hopper or clean it from the outside using tools. This is not only labor-intensive and involves a harsh working environment, but also inefficient, making it difficult to thoroughly remove accumulated ash from the ash hopper's inner walls and residual ash in hard-to-reach areas. Furthermore, during manual cleaning, operators are directly exposed to a dusty environment, which can easily lead to respiratory illnesses and poses serious occupational health risks.

[0004] Some companies have attempted to use mechanical cleaning devices, such as vibration cleaning and high-pressure airflow cleaning. However, these devices are mostly fixed structures, which cannot flexibly adapt to the cleaning needs of different ash hopper sizes. Furthermore, their cleaning effect on ash accumulation in complex internal structures of the ash hopper is limited, easily leading to incomplete cleaning. In addition, traditional mechanical cleaning devices lack intelligent detection and control capabilities, making it difficult to adjust cleaning parameters in real time based on the ash accumulation in the ash hopper, resulting in energy waste or poor cleaning performance.

[0005] Therefore, developing a dust removal device that can adapt to the complex environment inside the ash hopper, has a high degree of automation, good dust removal effect, and can ensure operational safety has become the key to solving the existing dust hopper dust removal problem. It is of great significance for improving industrial production efficiency, reducing labor costs, and protecting the health of operators. Summary of the Invention

[0006] The purpose of this invention is to address the deficiencies in the existing technology by proposing a mobile ash hopper cleaning robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A mobile ash hopper cleaning robot includes a body, a shovel plate is provided on the front side of the body, an adsorption wheel and a drive wheel are provided on opposite sides of the body, the adsorption wheel is rotatably connected to the body, a drive motor is provided inside the body, and the drive wheel is located at the output end of the drive motor. A front detection component is provided on the front side of the machine body, and a rear detection component is provided on the rear side of the machine body.

[0008] Furthermore, hinge seats are fixedly connected to both sides of the machine body, the shovel is rotatably connected to the hinge seats through the hinge shaft, two sets of extension plates are provided on the top of the shovel, a traction seat is fixedly connected to the machine body, a traction rope is provided on the traction seat, the traction rope is fixedly connected to the extension plates, and a return spring is provided between the traction seat and the extension plates.

[0009] Furthermore, a vibration motor is fixedly connected to the front side of the machine body, and the output end of the vibration motor abuts against the shovel plate.

[0010] Furthermore, a through hole is provided on the shovel plate, and a negative pressure pipe is provided on the front side of the machine body, the negative pressure pipe being connected to the through hole.

[0011] Furthermore, a dust suction port is provided on the lower side of the machine body, and a brush is provided on the edge of the dust suction port.

[0012] Furthermore, the front detection component includes a high-definition camera and a distance sensor. The high-definition camera is tilted downwards to capture the area in front of the shovel plate, and the distance sensor is used to detect the distance between the machine body and the inner wall of the ash hopper and obstacles. LED lights are installed on both sides of the camera.

[0013] Furthermore, the rear detection component includes a high-definition camera and LED lights. The high-definition camera is tilted downwards to capture the area behind the shovel plate, and LED lights are provided on both sides of the camera.

[0014] Furthermore, the machine body is equipped with a wireless communication module and a control chip. The wireless communication module is used to transmit data with a remote control terminal, and the control chip is electrically connected to the drive motor, the front detection component, the rear detection component, and the wireless communication module respectively, so as to control the operation of the drive motor according to the detection information.

[0015] Furthermore, the machine body is equipped with environmental sensors to detect the dust concentration and temperature around the machine body.

[0016] Furthermore, the machine body has two sets of adsorption wheels on one side and one set of drive wheels. An electromagnet is installed inside the adsorption wheel, and the drive wheel is located between the two sets of adsorption wheels. The surface of the drive wheel is provided with protrusions made of elastic rubber material.

[0017] Beneficial effects

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: by using the adsorption wheels and drive wheels set on both sides of the body, the drive wheels can provide forward power, and the adsorption wheels can enhance the fit between the body and the inner wall of the ash hopper. This allows the robot to move stably in complex environments such as inclined walls and vertical walls of the ash hopper, adapting to ash hopper structures with different angles and curvatures, and solving the limitations of traditional fixed ash cleaning devices.

[0019] The front detection component can detect the road conditions, dust accumulation, and obstacles ahead in real time, while the rear detection component can monitor the environmental conditions behind. Together, they provide the robot with comprehensive environmental information, ensuring that it can autonomously avoid obstacles and plan its path inside the complex dust hopper, reducing the risk of collision. At the same time, the operation mode can be dynamically adjusted based on the detection data to improve the safety and accuracy of the operation. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0021] Figure 1 This is a schematic diagram of the front structure of a mobile ash hopper cleaning robot.

[0022] Figure 2 This is a schematic diagram of the lower structure of a mobile ash hopper cleaning robot.

[0023] Figure 3 This is a schematic diagram of the rear structure of a mobile ash hopper cleaning robot.

[0024] In the diagram: 1. Shovel plate; 2. Hinge shaft; 3. Front detection component; 4. Traction seat; 5. Body; 6. Drive wheel; 7. Adsorption wheel; 8. Dust suction port; 9. Rear detection component. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] Reference Figure 1 - Figure 3A mobile ash hopper cleaning robot includes a body 5, a shovel plate 1 is provided on the front side of the body 5, an adsorption wheel 7 and a drive wheel 6 are provided on opposite sides of the body 5, the adsorption wheel 7 is rotatably connected to the body 5, a drive motor is provided inside the body 5, and the drive wheel 6 is provided at the output end of the drive motor. A front detection component 3 is provided on the front side of the body 5, and a rear detection component 9 is provided on the rear side of the body 5.

[0028] The robot utilizes the adsorption wheels 7 and drive wheels 6 on both sides of its body 5 to provide forward propulsion. The drive wheels 6 provide forward power, while the adsorption wheels 7 enhance the fit between the body 5 and the inner wall of the ash hopper. This allows the robot to move stably in complex environments such as inclined and vertical walls of the ash hopper, adapting to ash hopper structures of different angles and curvatures, thus overcoming the limitations of traditional fixed ash cleaning devices. The shovel plate 1 on the front of the body 5 can directly contact and scoop up the accumulated ash inside the ash hopper. Combined with the robot's mobility, it can perform continuous and comprehensive ash cleaning operations inside the ash hopper, which is more thorough than manual cleaning, effectively avoiding ash residue and dead corners, and improving cleaning efficiency. The front detection component 3 can detect the road conditions, ash accumulation, and obstacles ahead in real time, while the rear detection component 9 can monitor the environmental conditions behind. Together, they provide the robot with comprehensive environmental information, ensuring it autonomously avoids obstacles and plans its path within the complex ash hopper, reducing collision risks. Simultaneously, the operating mode can be dynamically adjusted based on the detection data, improving operational safety and accuracy.

[0029] In other preferred embodiments, hinge seats are fixedly connected to both sides of the machine body 5, the shovel plate 1 is rotatably connected to the hinge seats through the hinge shaft 2, two sets of extension plates are provided on the top of the shovel plate 1, a traction seat 4 is fixedly connected to the machine body 5, a traction rope is provided on the traction seat 4, the traction rope is fixedly connected to the extension plate, and a return spring is provided between the traction seat 4 and the extension plate.

[0030] The shovel plate 1 is rotatably connected to the hinge seat via the hinge shaft 2. Combined with the traction rope and return spring, the angle of the shovel plate 1 can be flexibly adjusted. When encountering thicker layers of ash or hard ash blocks, the scraping force can be enhanced by increasing the angle between the shovel plate 1 and the ash hopper wall. When dealing with thin layers of ash, the angle can be reduced to improve cleaning efficiency, adapting to cleaning scenarios with ash of varying thickness and hardness. The return spring constantly applies a pre-tension force to the shovel plate 1 against the ash hopper wall, ensuring that the shovel plate 1 closely adheres to the wall during cleaning. Even when the ash hopper wall has slight unevenness, effective contact is maintained through the spring's expansion and contraction, reducing ash residue and improving the thoroughness of cleaning.

[0031] Specifically, a vibratory motor is fixedly connected to the front of the machine body 5, and the output end of the vibratory motor abuts against the shovel plate 1. The high-frequency vibration generated by the vibratory motor is transmitted to the shovel plate 1 through the output end, causing the shovel plate 1 to vibrate continuously while scraping the accumulated ash. This effectively loosens and peels off the hard ash and clumps of ash adhering to the ash hopper wall, and is particularly effective at cleaning stubborn ash that has accumulated over a long period of time. Compared with simple mechanical scraping, it is more thorough and significantly improves the ash cleaning efficiency. For ash with different moisture and density in the ash hopper, the vibratory motor can adjust the vibration frequency and amplitude to match the characteristics of different ash, ensuring good ash cleaning effect under various complex working conditions and improving the equipment's adaptability to diverse operating environments.

[0032] In other preferred embodiments, the shovel plate 1 has a through hole, and a negative pressure pipe is provided on the front side of the machine body 5, connected to the through hole. The ash scooped up by the shovel plate 1 can directly enter the negative pressure pipe through the through hole and be quickly drawn away under the negative pressure suction, preventing the ash from scattering or being stirred up during the scraping process, effectively preventing secondary pollution in the ash hopper, and maintaining a clean working environment. The ash is collected directly through the negative pressure pipe, eliminating the need for temporary storage on the shovel plate 1, preventing excessive ash from slipping off the shovel plate 1, ensuring continuous ash removal operations, reducing secondary treatment of ash at the bottom of the ash hopper, and improving overall ash removal efficiency.

[0033] In other preferred embodiments, a suction port 8 is provided on the lower side of the body 5, and a brush is provided on the edge of the suction port 8. The suction port 8 on the lower side of the body 5 can specifically clean the accumulated dust at the bottom of the ash hopper. Combined with the close contact of the brush with the ground, it can effectively remove residual dust and scattered dust on the robot's travel path, making up for the functional limitation of the shovel plate 1 mainly cleaning the wall surface, and realizing all-round dust cleaning without dead corners inside the ash hopper. The brush can initially loosen the hardened thin layer of dust, making it easier for the negative pressure system to more efficiently suck the dust into the collection device.

[0034] In other preferred embodiments, the front detection component 3 includes a high-definition camera and a distance sensor. The high-definition camera is tilted downwards to capture the area in front of the shovel plate 1, and the distance sensor is used to detect the distance between the robot body 5 and the inner wall of the ash hopper and obstacles. LED lights are installed on both sides of the camera. The high-definition camera tilts downwards to capture the area in front of the shovel plate 1, which can capture detailed information such as the distribution of ash accumulation, the state of the inner wall of the ash hopper, and small obstacles in real time. Combined with the distance sensor to detect the distance to the inner wall of the ash hopper and obstacles, a dual perception system of "vision + distance" is formed, allowing the robot to more accurately judge the working environment and providing a reliable basis for path planning and ash removal strategy adjustment. The LED lights on both sides of the camera can provide sufficient illumination in the dim environment inside the ash hopper, avoiding blurry images and loss of details due to insufficient light. This ensures that even in a closed or poorly lit ash hopper, the robot can clearly obtain information about the environment in front, ensuring the stable operation of the detection component. The images captured by the high-definition camera can be wirelessly transmitted to a remote terminal in real time. Operators can intuitively observe the ash removal operation. When abnormalities occur in the robot's automatic operation, remote intervention and debugging can be performed based on the image information, improving the controllability of the equipment and the safety of the operation.

[0035] In other preferred embodiments, the rear detection component 9 includes a high-definition camera and LED lights. The high-definition camera is tilted downwards to capture images of the area behind the shovel plate 1, and LED lights are located on both sides of the camera. The rear high-definition camera tilts downwards to capture images of the area behind the shovel plate 1, forming a monitoring system that echoes the front detection component 3. This system can capture the status of the cleaned areas on the robot's trajectory in real time, confirm whether the dust removal effect meets the standards, and promptly identify areas that have been missed or not thoroughly cleaned, thus achieving full monitoring of the dust removal quality inside the ash hopper.

[0036] In other preferred embodiments, the body 5 is provided with a wireless communication module and a control chip. The wireless communication module is used to transmit data with a remote control terminal, and the control chip is electrically connected to the drive motor, the front detection component 3, the rear detection component 9 and the wireless communication module respectively, so as to control the operation of the drive motor according to the detection information.

[0037] The wireless communication module can transmit images, distance and other data collected by the front / rear detection components 9 to the remote control terminal in real time. Operators can intuitively grasp the operation status without entering the harsh environment of the ash hopper. At the same time, it can send instructions to the control chip through the terminal to remotely adjust the robot's direction of travel and ash cleaning parameters, completely avoiding the safety risks of manual on-site operation.

[0038] As the core hub, the control chip can automatically analyze environmental data fed back by the detection components (such as the thickness of the dust accumulation in front, the dust residue behind, and the distance to obstacles), and autonomously control the drive motor to adjust the running speed and path, realizing an automated closed loop of "perception-decision-execution", avoiding the delay and error of manual operation, and greatly improving the dust removal efficiency.

[0039] When the ash density in the ash hopper, the wall angle, and other working conditions change, the detection component will transmit real-time data to the control chip. The chip can dynamically optimize the drive motor speed and the robot's trajectory by combining preset algorithms. In case of emergencies (such as detecting a large obstacle), it can also send an alarm to the terminal through the wireless communication module and autonomously trigger obstacle avoidance actions to ensure operational stability.

[0040] Operators can start the robot, set parameters, and monitor operations remotely without needing to debug complex mechanical structures on-site. The wireless communication module can also upload operation data (such as dust cleaning time, coverage area, and fault records), which facilitates later statistical analysis and equipment maintenance management, reducing the technical threshold for equipment use and maintenance.

[0041] In other preferred embodiments, the body 5 is provided with an environmental sensor for detecting the dust concentration and temperature around the body 5.

[0042] In other preferred embodiments, the body 5 has two sets of adsorption wheels 7 on one side, and one set of drive wheels 6. An electromagnet is installed inside the adsorption wheels 7, and the drive wheel 6 is located between the two sets of adsorption wheels 7. The surface of the drive wheel 6 is provided with protrusions made of elastic rubber material.

[0043] Two sets of adsorption wheels 7 are set on one side of the body 5. With the strong adsorption force generated by the electromagnet inside the wheel, the body 5 can be stably supported from both sides, preventing the robot from slipping or falling when moving on the vertical or inclined wall of the ash hopper. The symmetrical layout of the two sets of adsorption wheels 7 can also balance the force on the body 5. Even if there are slight protrusions on the wall, it can still maintain a close fit, which greatly improves the reliability of movement in complex environments.

[0044] The drive wheel 6 is positioned between two sets of adsorption wheels 7, forming a triangular support structure of "double adsorption + single drive". This structure can fix the position of the body 5 through the adsorption wheels 7, and also allow the drive wheel 6 to output power in a concentrated manner. The elastic rubber protrusions on the surface of the drive wheel 6 can increase the friction with the wall and reduce power loss. Even on rough or dusty walls, the drive force can be transmitted stably to ensure the robot moves efficiently.

[0045] The electromagnet's adsorption force can be flexibly adjusted according to the wall material and operational needs, without the need to continuously output maximum adsorption force, effectively reducing energy consumption; the elastic rubber protrusions of the drive wheel 6 have a buffering effect, which can reduce rigid collisions with the wall during movement, while preventing dust accumulation and jamming of the wheel body, reducing wear on the drive wheel 6 and adsorption wheel 7, and extending the service life of the components.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mobile ash hopper cleaning robot, characterized in that, The device includes a body, a shovel plate on the front side of the body, an adsorption wheel and a drive wheel on opposite sides of the body, the adsorption wheel being rotatably connected to the body, a drive motor being installed inside the body, and the drive wheel being located at the output end of the drive motor. A front detection component is provided on the front side of the machine body, and a rear detection component is provided on the rear side of the machine body.

2. The mobile ash hopper cleaning robot according to claim 1, characterized in that, The machine body is fixedly connected to hinge seats on both sides. The shovel is rotatably connected to the hinge seats via a hinge shaft. Two sets of extension plates are provided on the top of the shovel. A traction seat is fixedly connected to the machine body. A traction rope is provided on the traction seat. The traction rope is fixedly connected to the extension plates. A return spring is provided between the traction seat and the extension plates.

3. A mobile ash hopper cleaning robot according to claim 2, characterized in that, A vibration motor is fixedly connected to the front side of the machine body, and the output end of the vibration motor abuts against the shovel plate.

4. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The shovel plate has a through hole, and a negative pressure pipe is provided on the front side of the machine body, which is connected to the through hole.

5. A mobile ash hopper cleaning robot according to claim 1, characterized in that, A dust suction port is provided on the lower side of the machine body, and a brush is provided on the edge of the dust suction port.

6. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The front detection component includes a high-definition camera and a distance sensor. The high-definition camera is tilted downwards to capture the area in front of the shovel plate, and the distance sensor is used to detect the distance between the machine body and the inner wall of the ash hopper and obstacles. LED lights are installed on both sides of the camera.

7. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The rear detection component includes a high-definition camera and LED lights. The high-definition camera is tilted downwards to capture the area behind the shovel plate, and LED lights are set on both sides of the camera.

8. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The machine body is equipped with a wireless communication module and a control chip. The wireless communication module is used to transmit data with a remote control terminal. The control chip is electrically connected to the drive motor, the front detection component, the rear detection component and the wireless communication module respectively, so as to control the operation of the drive motor according to the detection information.

9. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The machine body is equipped with environmental sensors to detect the dust concentration and temperature around the machine body.

10. A mobile ash hopper cleaning robot according to claim 1, characterized in that, The machine body has two sets of adsorption wheels on one side and one set of drive wheels. An electromagnet is installed inside each adsorption wheel. The drive wheel is located between the two sets of adsorption wheels. The surface of the drive wheel is provided with protrusions made of elastic rubber.

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