Garbage incinerator decoking device

Abstract

The invention discloses a decoking device of a garbage incinerator, which comprises a lifting frame assembly used for positioning and self-locking the decoking device; the self-adaptive positioning device is used for driving the lifting frame assembly to do retraction movement; the visual module is used for acquiring three-dimensional information of a decoking working position and generating a most suitable tail end posture for decoking; the speed reduction rotating assembly is used for driving the rotating positioning frame to rotate and position; the large-torque driving joint assembly is used for driving the moving telescopic arm assembly to swing up and down and be positioned; the motion telescopic arm assembly is used for adjusting and positioning the spatial pose of the dual-motor vibration tail end assembly; and the dual-motor vibration tail end assembly realizes rapid decoking through high-frequency vibration. The device can be quickly positioned on any section of a hearth, online decoking without shutdown of the incinerator or quick decoking in short-time shutdown of the incinerator is realized, so that the shutdown time is remarkably shortened, the power generation loss is reduced, personal injury is avoided, and long-period, high-load and low-emission stable operation of the incinerator is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of coke removal of waste incinerator, and particularly relates to a coke removal device for waste incinerator. BACKGROUND

[0002] During the continuous operation of the waste incinerator, due to the large temperature gradient of flue gas, high content of alkali metals and heavy metals in fly ash, a low-melting-point eutectic coke layer is easily formed on the surface of the furnace outlet, the first flue elbow angle, the superheater screen and the water-cooled wall. The typical coke body has a "layered-fingered" composite structure: the inner layer is a loose fly ash deposition layer, and the outer layer is a dense glass phase after secondary melting and re-solidification. When the total thickness of the coke layer gradually increases, the effective cross-sectional area of the furnace will decrease, the induced fan current will follow the rise, and the main steam temperature fluctuation range will also significantly increase, directly leading to the reduction of the power generation per ton of waste; if the thickness continues to increase to a certain extent, it may cause large-area coking, block the slag outlet, and cause unplanned shutdown.

[0003] In the coke removal operation in the waste incinerator, there are two main working methods. One is to reserve a "coke hole" on the furnace wall, and manually hold a steel drill or a pneumatic pick to punch and break the coke blocks that have not completely sintered in the high-temperature, high-dust and high-corrosion environment. The temperature in the operation area is often higher than 50 DEG C. The disadvantages are poor working conditions, mechanical damage to the furnace lining, low coke removal efficiency and difficulty in removing the tricky angle coke blocks. The other method is to manually enter the furnace for manual coke removal after shutdown and cooling. The disadvantages are that shutdown and cooling usually take more than five days, and since the waste incinerator is generally more than 10 meters high, a scaffold needs to be built or a steel wire rope needs to be used to suspend the worker to the working surface from the top. From shutdown and cooling to coke removal completion, it takes at least 10 days, or even half a month. The traditional manual coke removal method has the following outstanding problems: first, the operation efficiency is extremely low, and the economic loss caused by shutdown is huge; second, the labor intensity is extremely large, and the workers face a large amount of dust, toxic gases and pungent odors in a closed space, which seriously endangers the occupational health; third, the working environment is extremely poor, with multiple dangerous factors such as high temperature, high altitude falling, toxic and harmful substances, and safety accidents occur frequently; fourth, the cleaning range is limited, and manual operation cannot achieve complete cleaning of the internal furnace in all directions without dead angles, which is easy to leave coking hidden dangers. No matter which way, the working efficiency is relatively low, and a large amount of manual intervention is needed, which increases the risk of production operation.

[0004] Therefore, it is urgent to develop a coke removal device that can work continuously in a high-corrosion and high-dust environment at 200-450 DEG C, to realize efficient, safe and low-damage online coke removal, improve power generation efficiency, prolong the service life of the furnace lining, reduce the risk of manual operation and reduce the unplanned shutdown time. SUMMARY

[0005] In order to solve the technical problems of low efficiency, long cycle, high danger and incomplete coverage of the artificial decoking, the application provides a waste incinerator decoking device, which is quickly positioned at any section of the furnace by the "top hoisting + three-point torque self-locking" mode without the need of setting up a scaffold; the multi-shaft telescopic arm, double-motor high-frequency vibration end and high-temperature-resistant sealing protection structure are used to realize online decoking without stopping the furnace or short-time stopping and fast decoking in the 200-450 DEG C flue gas environment, so that the furnace stopping time is significantly shortened, the power generation loss is reduced, the personal injury is eliminated, and the stable operation of the incinerator is realized.

[0006] To solve the above technical problems, one technical solution adopted by the application is: A waste incinerator decoking device comprises A hoisting frame assembly is used for positioning the decoking device at the decoking working position and self-locking by cooperating with a hoisting device; An adaptive positioning device is arranged at the top of the hoisting frame assembly, and the power output end thereof is in transmission connection with the positioning execution end of the hoisting frame assembly, and is used for driving the positioning execution end of the hoisting frame assembly to move in and out; A speed reduction rotating assembly is arranged at the bottom of the hoisting frame assembly, and is used for driving the circumferential rotating positioning of the rotating positioning frame connected to the power output end at the bottom thereof; A large-torque driving joint assembly is arranged at the bottom of the rotating positioning frame, and is used for driving the up-down swinging and positioning of the motion telescopic arm assembly; A motion telescopic arm assembly is connected with the power output end of the large-torque driving joint assembly, and is used for the spatial pose adjustment and positioning of the double-motor vibration end assembly; A double-motor vibration end assembly is arranged at the power output end of the motion telescopic arm assembly, and realizes fast decoking through high-frequency vibration; A vision module is arranged at the top of the double-motor vibration end assembly, and is used for acquiring three-dimensional information of the decoking working position, identifying the position of the to-be-removed coke block, transmitting the three-dimensional coordinates of the coke block, and generating the most suitable end posture for decoking.

[0007] Further, the hoisting frame assembly comprises a hoisting frame, a plurality of support frames hingedly arranged at the bottom of the hoisting frame and uniformly distributed, and a support spring connected between the middle part of the support frame and the middle part of the hoisting frame, and the upper part of the support frame is connected with the power output end of the adaptive positioning device through a low-elastic traction cable.

[0008] Further, the adaptive positioning device comprises a motor fixedly arranged on the hoisting frame, a driving gear fixedly arranged on the output shaft of the motor, a driven gear in transmission engagement with the driving gear, a differential mechanism coaxially arranged on one side of the driven gear, a cable wheel coaxially arranged on each power output end of the differential mechanism, and one end of the low-elastic traction cable is wound on the cable wheel.

[0009] Further, the differential mechanism comprises a driving differential gear coaxially arranged with the upper power output end, a set of gear frames fixedly arranged on the upper power output end and located on both sides of the driving differential gear, two intermediate gears rotatably arranged on the gear frames and simultaneously meshed with the driving differential gear, and a driven differential gear coaxially arranged opposite to the driving differential gear and simultaneously meshed with the two intermediate gears, and the cable reel is coaxially fixedly arranged on the shaft end of the driving differential gear and the shaft end of the final driven differential gear.

[0010] Further, the self-adaptive positioning device further comprises a guide pulley block fixedly arranged on the hoisting frame, and the low-elastic traction cable is guided and pulled through the corresponding guide pulley block.

[0011] Further, the speed reduction rotating assembly comprises a belt transmission mechanism fixedly arranged in the hoisting frame, a large transmission shaft connected to the power output end of the belt transmission mechanism and movably penetrating to below the bottom end of the hoisting frame, and a planetary gear reduction mechanism fixedly arranged at the bottom end of the hoisting frame, the bottom end of the large transmission shaft is in transmission connection with the power input end of the planetary gear reduction mechanism, and the rotating positioning frame is fixedly connected to the bottom of the power input end of the planetary gear reduction mechanism.

[0012] Further, the large-torque driving joint assembly comprises a base, a control module fixedly arranged on the base, a disc motor and a fixed rotating shaft fixedly arranged on the top side wall of the base, respectively, the output shaft end of the disc motor is fixedly connected with a small traction shaft winding mechanism, the fixed rotating shaft is rotatably sleeved with a large traction shaft, and the two power output ends of the small traction shaft winding mechanism are fixedly connected with the two side traction points of the large traction shaft.

[0013] Further, the small traction shaft winding mechanism comprises a small traction shaft, a first anti-fatigue cable wound on the small traction shaft, and two winding columns fixedly arranged in the small traction shaft, respectively, and the middle part of the first anti-fatigue cable is fixedly wound on the two winding columns.

[0014] Further, the motion telescopic arm assembly comprises a large arm fixedly arranged on the large traction shaft, a middle arm hingedly connected to the end of the large arm, and a small arm slidingly arranged in the middle arm, and the double-motor vibration end assembly is hingedly connected to the end of the small arm, the top surface of the large arm is rotatably connected with the top surface of the middle arm through a first hydraulic telescopic cylinder, the top surface of the middle arm is connected with the top surface of the small arm through a second hydraulic telescopic cylinder, and the top surface of the small arm is rotatably connected with the top of the double-motor vibration end assembly through a third hydraulic telescopic cylinder.

[0015] Further, the double-motor vibration end assembly comprises a motor fixing back plate, a first disc motor and a second disc motor fixedly arranged on the motor fixing back plate, a rotating shaft fixing plate fixedly arranged outside the motor fixing back plate, and a first small rotating shaft winding mechanism fixedly connected with an output shaft end of the first disc motor, a second small rotating shaft winding mechanism fixedly connected with an output shaft end of the second disc motor, and a first fixed rotating shaft arranged in the rotating shaft fixing plate, wherein the first fixed rotating shaft is sequentially rotatably sleeved with a first large rotating shaft, a ring cylinder and a second large rotating shaft, two power output ends of the first small rotating shaft winding mechanism are fixedly connected with two side traction points of the first large rotating shaft, and two power output ends of the second small rotating shaft winding mechanism are fixedly connected with two side traction points of the second large rotating shaft. A vibration drill bit is slidably inserted at the bottom of the ring cylinder, and the top of the vibration drill bit is hingedly connected with the bottom of the first large rotating shaft through a first connecting rod and hingedly connected with the bottom of the second large rotating shaft through a second connecting rod.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows: 1. The present application proposes a self-adaptive positioning device, which adopts a two-F differential lock mechanism to cooperate with a low-elastic traction cable transmission to realize three-point differential output, so that the support points of the three support frames are extended to be sequentially locked with the touch wall, realizing rapid self-stabilization in the furnace cross section. The low-elastic traction cable synchronously absorbs vibration impact with the support spring, and the peak acceleration is greatly attenuated, which can prolong the service life of the mechanism and reduce the instantaneous load on the furnace lining. Compared with the conventional "multi-motor synchronous tensioning" scheme of the prior art, only one servo motor is needed to complete the three-stage sequential driving, and the control logic is simplified from three-axis synchronization to single-axis time sharing, which greatly reduces the wiring complexity and is more suitable for in-furnace decoking applications in high-temperature, high-dust and narrow space.

[0017] 2. The present application provides a double-motor multi-angle vibration drill bit end: two independent turntable differentials realize ±15° lateral swing angle, and a hydraulic cylinder drives 0-60° pitch angle; a brushless motor directly drives between the turntable and the drill bit, which can output 8000 times / min high-frequency impact within 0-12000 / min range, and the impact work is steplessly adjustable 0-8J. Compared with the single-axis electric grabber which only has linear reciprocating freedom, the drill bit end can implement directional peeling on the narrow dead angle such as the furnace flue angle and the pipe row root, and the single-point removal rate is increased from 65% to ≥90%, and the single operation time is shortened by more than 30%.

[0018] 3. The present application designs a speed reduction joint device, which provides instantaneous large torque for the large rotating shaft by adopting the speed reduction effect of the speed reduction joint + the transmission of the anti-fatigue cable, limits the one-way rotation angle of the large rotating shaft to ≤120°, and completes the return stroke by the reverse speed reduction stage, avoiding cable fatigue caused by large-angle winding, thereby greatly improving the load capacity under the premise of ensuring the swing angle required for decoking, effectively inhibiting long cantilever vibration, meeting the operation demand and improving the system stability. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Structure diagram of the coke removing device for the waste incinerator of the present application; Figure 2 Structure diagram of the lifting frame assembly; Figure 3 Structure diagram of the self-adaptive positioning device; Figure 4 Structure diagram of the first differential mechanism; Figure 5 Structure diagram of the second differential mechanism; Figure 6 Structure diagram of the speed reduction rotating assembly; Figure 7 Structure diagram of the belt transmission mechanism; Figure 8 Structure diagram of the planetary gear speed reduction mechanism; Figure 9 Structure diagram of the large torque driving joint assembly; Figure 10 Structure diagram of the small traction shaft cable winding mechanism; Figure 11 Structure diagram of the transmission connection between the small traction shaft cable winding mechanism and the large traction shaft; Figure 12 Structure diagram of the transmission connection between the small traction shaft cable winding mechanism and the large traction shaft; Figure 13 Structure diagram of the motion telescopic arm assembly; Figure 14 Structure diagram of the double motor vibration end assembly; Figure 15 Exploded structure diagram of the double motor vibration end assembly; Figure 16 Structure diagram of the double motor transmission mechanism; Figure 17 Structure diagram of the double motor transmission mechanism; Figure 18 Structure diagram of the first small rotating shaft cable winding mechanism; Figure 19 Structure diagram of the second small rotating shaft cable winding mechanism; Figure 20 Work flow chart of the coke removing device for the waste incinerator of the present application. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0021] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] See appendix Figure 1 A decoking device for a waste incinerator includes a hoisting frame assembly 4, used to position the decoking device in the decoking working position and self-locking it in conjunction with hoisting equipment; an adaptive positioning device 5, disposed on the top of the hoisting frame assembly 4, with its power output end connected to the positioning execution end of the hoisting frame assembly 4 for driving the retraction and extension movement of the positioning execution end of the hoisting frame assembly 4; a deceleration rotation assembly 6, disposed on the bottom of the hoisting frame assembly 4 for driving the circumferential rotation positioning of the rotation positioning frame connected to its bottom power output end; and a high-torque drive joint assembly 1, disposed on the bottom of the rotation positioning frame for driving... The telescopic arm assembly 2 is used for vertical swinging and positioning. The power input end of the telescopic arm assembly 2 is connected to the power output end of the high-torque drive joint assembly 1 for spatial pose adjustment and positioning of the dual-motor vibration end assembly 3. The dual-motor vibration end assembly 3 is located at the power output end of the telescopic arm assembly 2 and achieves rapid descorching through high-frequency vibration. The vision module (not shown in the figure) is located on the top of the dual-motor vibration end assembly 3 and is used to acquire three-dimensional information of the descorching working position, identify the position of the descorched block to be removed and transmit the three-dimensional coordinates of the descorched block, and generate the most suitable end posture for descorching.

[0024] like Figure 2As shown, the hoisting frame assembly 4 includes a hoisting frame 4001 and multiple support frames hinged to the bottom of the hoisting frame 4001 and evenly distributed. In this embodiment, the hoisting frame 4001 is a hexagonal prism frame structure welded together from six profile columns, a top plate at the top of the profile columns, and a bottom plate at the bottom of the profile columns; the number of support frames is set to three, namely the first support frame 4005, the second support frame 4008, and the third support frame 4012. The bottom ends of the three support frames are respectively hinged to the three spaced edges of the regular hexagonal bottom plate, forming three independently flipped and retractable adjustable support structures, which can meet the support requirements of any size within a certain space.

[0025] The top surface of the top plate is suspended from the hook 4003 by three evenly distributed slings 4002, so that external hoisting equipment can position the decoking device within the space where the decoking work is located using the hooks. A first support spring 4006, a second support spring 4007, and a third support spring 4010 are respectively hinged to the lower center of the top surface of the first support frame 4005, the second support frame 4008, and the third support frame 4012. Second fixing plates are fixedly installed between the middle sections of the profile columns of the hoisting frame 4001, and the tops of the three support springs are respectively hinged to the edges of the corresponding second fixing plates. All three support springs are in a compressed state, providing the three support frames with outward rotation force through reaction action. The first support frame 4005, the second support frame 4008, and the third support frame 4012 are respectively connected to the first low-elasticity traction cable 4004, the second low-elasticity traction cable 4009, and the third low-elasticity traction cable 4011 at the upper center of their top surfaces. A first fixed plate is fixedly installed inside the hoisting frame 4001, located between the top plate and the second fixed plate. Guide pulley groups are rotatably installed on the top surface of the first fixed plate on the edges corresponding to the three support frames. The three low-elasticity traction cables pass over the corresponding guide pulley groups and connect to the three power output ends of the adaptive positioning device 5. The three power output ends of the adaptive positioning device 5 respectively extend and retract the three low-elasticity traction cables, cooperating with the three support springs to independently adjust the opening and closing degree of each support frame, thereby ensuring that the top ends of the support frames contact the furnace wall, achieving three-point positioning and clamping.

[0026] like Figure 3As shown, the adaptive positioning device 5 includes a first motor 5001 fixedly mounted on the lifting frame 4001, a first driving gear 5002 fixedly mounted on the output shaft of the first motor 5001, and a first driven gear 5003 meshing with the first driving gear 5002. A cascaded differential mechanism is coaxially mounted on one side of the first driven gear 5003. In this embodiment, the first motor 5001 is fixed to the center of the bottom surface of the first fixed plate, and its output shaft is vertically upward and extends movably through to the top surface of the first fixed plate. Both the first driving gear 5002 and the first driven gear 5003 are bevel gears. The first driving gear 5002 is fixedly mounted on the output shaft of the first motor 5001 by a key connection, and the axis of the first driven gear 5003 is horizontally positioned to achieve direction changing and speed reduction transmission. Since this embodiment requires three low-elasticity traction cables to pull the three support members, the differential mechanism needs to provide three power output ends. Accordingly, a two-stage differential mechanism can be used, which includes a first-stage differential mechanism 5100 and a second-stage differential mechanism 5200.

[0027] like Figure 4 As shown, the primary differential mechanism 5100 includes a primary driving differential gear 5101, a first primary intermediate gear 5102 and a second primary intermediate gear 5103 that mesh with and drive the primary driving differential gear 5101 and are located on both sides of the primary driving differential gear 5101, and a primary driven differential gear 5104 that is coaxially arranged opposite to and driven by the primary driving differential gear 5101. The primary driven differential gear 5104 meshes with both the first primary intermediate gear 5102 and the second primary intermediate gear 5103. The first driven gear 5003 is rotatably mounted on the shaft of the primary driving differential gear 5101, ensuring that the first driven gear 5003 and the primary driving differential gear 5101 are coaxially arranged and do not interfere with each other. A third sheave 5105 is fixedly connected to the end of the shaft of the primary driving differential gear 5101, and the power input end of the third low-elasticity traction cable 4011 is fixedly wound around the third sheave 5105. A set of primary gear carriers (such as...) is fixedly installed on the end face of the first driven gear 5003. Figure 3 As shown), the shaft ends of the first stage intermediate gear 5102 and the second stage intermediate gear 5103 are rotatably mounted on two stage gear carriers, thereby fixing the first stage differential mechanism 5100 on the first driven gear 5003.

[0028] like Figure 5As shown, similar to the first-stage differential mechanism 5100 described above, the second-stage differential mechanism 5200 includes a second-stage driving differential gear 5201, a first-stage intermediate gear 5202 and a second-stage intermediate gear 5203 that mesh with and drive the second-stage driving differential gear 5201 and are located on both sides of the second-stage driving differential gear 5201, and a second-stage driven differential gear 5204 that is coaxially arranged opposite to and coaxial with the second-stage driving differential gear 5201. The second-stage driven differential gear 5204 meshes with both the first-stage intermediate gear 5202 and the second-stage intermediate gear 5203. The shaft of the first-stage driving differential gear 5101 is a hollow shaft and is movably mounted on the shaft of the second-stage driving differential gear 5201. The first-stage driven differential gear 5104 is also movably mounted on the shaft of the second-stage driving differential gear 5201, further ensuring that the second-stage driving differential gear 5201 is coaxially arranged with the first-stage driving differential gear 5101 and the first-stage driven differential gear 5104 without rotational interference. The journal of the secondary driving differential gear 5201 is fixedly connected to a first sheave 5206. The power input end of the first low-elasticity traction cable 4004 is fixedly wound around the first sheave 5206. The end of the shaft of the secondary driving differential gear 5201 is rotatably mounted on a shaft support plate fixedly installed on one side of the lifting frame 4001. The shaft of the secondary driven differential gear 5204 is coaxially arranged with the secondary driving differential gear 5201, and its journal is fixedly connected to a second sheave 5205. The power input end of the second low-elasticity traction cable 4009 is fixedly wound around the second sheave 5205. The end of the shaft of the secondary driven differential gear 5204 is rotatably mounted on a shaft support plate fixedly installed on the other side of the lifting frame 4001. A set of secondary gear frames (such as...) is fixedly installed on the end face of the primary driven differential gear 5104. Figure 4 As shown, the shaft ends of the first and second intermediate gears 5202 and 5203 are rotatably mounted on two second-stage gear carriers, thereby fixing the second-stage differential mechanism 5200 on the first-stage driven differential gear 5104, thus realizing the cascading of the second-stage differential mechanism 5200 on the first-stage differential mechanism 5100.

[0029] If the number of support frames and corresponding low-elasticity traction cables on the hoisting frame assembly 4 increases, then the cascaded levels of the differential mechanism can be further increased to achieve matching of the number of corresponding output power ends.

[0030] The adaptive positioning device 5 also includes a guide pulley assembly fixedly mounted on the hoisting frame 4001, through which the low-elasticity traction cable is guided and tractioned. Specifically, the guide pulley assembly includes a first guide pulley 5004, a second guide pulley 5005, a third guide pulley 5006, a fourth guide pulley 5007, a fifth guide pulley 5008, a sixth guide pulley 5009, and a seventh guide pulley 5010, which are respectively fixedly mounted on the top surface of the first fixed plate. The first low-elasticity traction cable 4004, with one end away from the first sheave 5206, passes over the first guide wheel 5004, and after being guided, passes through the ring of the second guide wheel 5005, and is then pulled onto the first support frame 4005; the second low-elasticity traction cable 4009, with one end away from the second sheave 5205, passes over the sixth guide wheel 5009, and after being guided, passes through the ring of the seventh guide wheel 5010, and is then pulled onto the second support frame 4008; the third low-elasticity traction cable 4011, with one end away from the third sheave 5105, passes over the third guide wheel 5006, and after being guided, passes over the fourth guide wheel 5007, and after being guided, passes through the ring of the fifth guide wheel 5008, and is then pulled onto the third support frame 4012.

[0031] The adaptive positioning device 5, in conjunction with the hoisting frame assembly 4, allows the device to adapt to furnaces of different sizes. The first support frame 4005, the second support frame 4008, and the third support frame 4012 of the hoisting frame assembly 4 utilize the stability of a triangle to lock the overall position of the device. When the device is hoisted to the designated position, the adaptive positioning device 5 starts to work. The first motor 5001 transmits torque to make the first drive gear 5002 rotate, which in turn drives the rear bevel gear to rotate. When any end of the first support frame 4005, the second support frame 4008, or the third support frame 4012 contacts the furnace wall, the furnace wall will exert a resistance force on the corresponding support frame, causing the support frame to stop moving. This process continues until all three support frames are in contact with the furnace wall and fixed in position.

[0032] For example, the secondary active differential gear 5201 drives the first cable pulley 5206 to rotate via key transmission, causing the portion of the first low-elasticity traction cable 4004 wound around the first cable pulley 5206 to unwind and release. The first low-elasticity traction cable 4004 passes through the first guide pulley 5004 and the second guide pulley 5005 in sequence, changes direction, and then pulls the first support frame 4005. Since the first support spring 4006 provides an outward support force to the first support frame 4005, the end of the first support frame 4005 comes into contact with the furnace wall and generates friction. At this time, the secondary active differential gear 5201 stops rotating. Similarly, the secondary driven differential gear 5204 drives the second sheave 5205 to rotate via key transmission, causing the portion of the second low-elasticity traction cable 4009 wound around the second sheave 5205 to unwind and release. The second low-elasticity traction cable 4009 passes through the sixth guide pulley 5009 and the seventh guide pulley 5010 in sequence, changing direction and then pulling the second support frame 4008. Since the second support spring 4007 provides an outward support force to the second support frame 4008, the end of the second support frame 4008 comes into contact with the furnace wall and generates friction. At this time, the secondary driven differential gear 5204 stops rotating. Similarly, the first-stage active differential gear 5101 drives the third cable pulley 5105 to rotate via key transmission, causing the portion of the third low-elasticity traction cable 4011 wound around the third cable pulley 5105 to unwind and release. The third low-elasticity traction cable 4011 passes through the third guide pulley 5006, the fourth guide pulley 5007, and the fifth guide pulley 5008 in sequence, changing direction and pulling the third support frame 4012. Since the third support spring 4010 provides an outward support force to the third support frame 4012, the end of the third support frame 4012 comes into contact with the furnace wall and generates friction. At this time, the first-stage active differential gear 5101 stops rotating.

[0033] Once the first support frame 4005, the second support frame 4008, and the third support frame 4012 have all contacted the furnace wall, the first motor 5001, via key transmission, drives the first driving gear 5002 to continue rotating synchronously with the second-stage driving differential gear 5201, the second-stage driven differential gear 5204, and the first-stage driving differential gear 5101. This increases the friction between the support frames and the furnace wall, providing a pre-tightening effect and simultaneously locking the entire device in place. Each support spring provides the driving force to press the corresponding support frame against the furnace wall. This friction-based positioning of the overall mechanism ensures both self-adaptive positioning and construction safety. Because of the adjustable support range of the support frame, this device can adapt to coking removal work in various scenarios: by adjusting the support frame, it can seamlessly switch between six typical coking areas: furnace corners, throat arch bottom, vertical shaft walls, superheater tube seams, economizer fins, and inspection holes, without replacing parts or erecting scaffolding. It enables single-person, single-set, continuous coking removal of the entire flue, with outstanding structural simplicity and versatility, significantly improving work efficiency and reducing maintenance costs, and has significant practical value.

[0034] likeFigure 6 As shown, the reduction and rotation assembly 6 includes a belt drive mechanism 6100 fixedly installed within the lifting frame 4001, a large drive shaft 6001 connected to the power output end of the belt drive mechanism 6100 and movably extending below the bottom end of the lifting frame 4001, and a planetary gear reduction mechanism 6200 fixedly installed at the bottom end of the lifting frame 4001. Specifically, as... Figure 7 As shown, the belt drive mechanism 6100 includes a second motor 6101 fixedly mounted on the top surface of the second fixed plate, a large pulley 6102 and a small pulley 6104 rotatably mounted on the top surface of the second fixed plate, and a belt 6103 sleeved on the large pulley 6102 and the small pulley 6104. The output shaft of the second motor 6101 is horizontally arranged and fixedly connected to a second driving gear 6105. A second driven gear 6106, which meshes with the second driving gear 6105, is coaxially fixedly mounted on the top end of the small pulley 6104. In this embodiment, the second driving gear 6105 and the second driven gear 6106 are also bevel gear pairs. A small transmission shaft 6107 is coaxially fixedly connected inside the large pulley 6102, and the small transmission shaft 6107 is rotatably mounted at the center of the second fixed plate; the top end of the large transmission shaft 6101 is rotatably connected to the bottom end of the small transmission shaft 6107. Figure 8 As shown, the planetary gear reduction mechanism 6200 includes a sun gear 6201, planet gears 6202-1, 6202-2, 6202-3, and an outer rotating shaft 6203. The bottom end of the large transmission shaft 6001 is connected to the shaft end of the sun gear 6201, and the rotating shafts of the three planet gears are fixedly connected to the bottom surface of the base plate of the hoisting frame 4001. The rotating positioning frame is fixedly connected to the bottom surface of the outer rotating shaft 6203. Thus, when the second motor 6101 is working, through the sequential transmission of the bevel gear pair, the belt pulley transmission mechanism, and the planetary gear reduction mechanism 6200, the rotating positioning frame can achieve axial rotation and positioning around the vertical axis, thereby realizing the circumferential position adjustment of the decoking operation execution part.

[0035] like Figure 9 As shown, the high-torque drive joint assembly 1 includes a base 1001, a control module 1002 fixedly mounted on the base 1001, a disc motor 1003 fixedly mounted on the top side wall of the base 1001, and a fixed rotating shaft. A small traction shaft winding mechanism 1200 is fixedly connected to the output shaft end of the disc motor 1003. A large traction shaft 1100 is rotatably mounted on the fixed rotating shaft. The two power output ends of the small traction shaft winding mechanism 1200 are fixedly connected to the two traction points on either side of the large traction shaft 1100. The base 1001 is fixedly installed at the bottom of the rotating positioning frame and can rotate synchronously with the rotating positioning frame, thus providing rotational freedom for the device.

[0036] Specifically, such as Figure 10As shown, the small traction shaft cable winding mechanism 1200 includes a small traction shaft 1201, a first anti-fatigue cable 1202 wound around the small traction shaft 1201, and a first winding post 1203 and a second winding post 1204 respectively fixedly disposed within the small traction shaft 1201. One end of the small traction shaft 1201 is a hollow structure, and a perforation is provided on the side wall of the hollow portion. The first winding post 1203 and the second winding post 1204 are fixedly disposed in the hollow portion and located inside the perforation. The middle part of the first anti-fatigue cable 1202 enters the interior of the small traction shaft 1201 through the perforation and is fixed to the first winding post 1203 and the second winding post 1204 by a figure-eight winding method. Figure 11 As shown and Figure 12 As shown, one end of the first anti-fatigue cable 1202 is wound around one side of the small traction shaft 1201 and distributed along the bottom arc-shaped surface of the large traction shaft 1100. It is then fixedly connected to the bottom end of the large traction shaft 1100 by the first cable fixing screw 1103 and the second cable fixing screw 1104. The other end is wound in the opposite direction on the other side of the small traction shaft 1201 and distributed along the top arc-shaped surface of the large traction shaft 1100. It is then fixedly connected to the top end of the large traction shaft 1100 by the third cable fixing screw 1105 and the fourth cable fixing screw 1106. The small traction shaft 1201 is fixedly connected to the output shaft of the disc motor 1003. The small traction shaft 1201 and the large traction shaft 1101 are driven by the first anti-fatigue cable 1202, thereby transmitting torque to the large traction shaft 1101. After deceleration and torque amplification, the mechanism outputs a larger torque. A limiting plate 1004 located outside the large traction shaft 1101 is fixedly installed on the fixed rotating shaft, and the shaft end of the small traction shaft 1201 away from the disc motor 1003 is rotatably installed inside the limiting plate 1004.

[0037] Since the high-torque drive joint assembly 1 only needs to drive the telescopic arm assembly 2 to swing up and down within a certain range, the large traction shaft 1100 can adopt an arc-shaped section.

[0038] like Figure 13As shown, the telescopic boom assembly 2 includes a large boom 2006 fixedly mounted on a large traction shaft 1101, a middle boom 2004 hinged to the end of the large boom 2006, and a small boom 2005 slidably mounted within the middle boom 2004. The top surface of the large boom 2006 and the top surface of the middle boom 2004 are rotatably connected by a first hydraulic telescopic cylinder 2001, and the top surface of the middle boom 2004 and the top surface of the small boom 2005 are connected by a second hydraulic telescopic cylinder 2002. The dual-motor vibration end assembly 3 is hinged to the end of the small boom 2005, and the top surface of the small boom 2005 and the top of the dual-motor vibration end assembly 3 are rotatably connected by a third hydraulic telescopic cylinder 2003. Specifically, in this embodiment, the main boom 2006 and the large traction shaft 1101 are an integral structure, with a first hinge seat integrally provided in the center of its top surface; a second hinge seat is fixedly provided on the top surface of the middle boom 2004 at one end near the main boom 2006, with the left end of the second hinge seat extending to the left side of the middle boom 2004; a third hinge seat is integrally provided in the center of the top surface of the forearm 2005. The cylinder end of the first hydraulic telescopic cylinder 2001 is hinged to the first hinge seat, and the end of the piston rod is hinged to the left end of the second hinge seat. The middle boom 2004 and the main boom 2006 form a rotating pair, and the extension and retraction of the first hydraulic telescopic cylinder 2001 drives the middle boom 2004 to swing up and down around the top of the main boom 2006. The cylinder body of the second hydraulic telescopic cylinder 2002 is hinged to the right end of the second hinge seat, and the piston rod is hinged to the left end of the third hinge seat. The forearm 2005 and the middle arm 2004 form a sliding pair. The extension and retraction of the second hydraulic telescopic cylinder 2002 directly drives the forearm 2005 to move linearly forward and backward within the middle arm 2004, realizing free adjustment of the arm length. The bottom of the motor fixing backplate 3001 of the dual-motor vibration end assembly is hinged to the end of the forearm 2005. The cylinder body of the third hydraulic telescopic cylinder 2003 is hinged to the right end of the third hinge seat, and the piston rod is hinged to the top of the motor fixing backplate 3001. The motor fixing backplate 3001 and the forearm 2005 form a rotating pair. The extension and retraction of the third hydraulic telescopic cylinder 2003 can drive the motor fixing backplate 3001 to swing up and down around the end of the forearm 2005, thereby realizing the overall pitch and rotation of the dual-motor vibration end assembly.

[0039] like Figure 14 and Figure 15As shown, the dual-motor vibration end assembly 3 includes a motor mounting back plate 3001, a first disc motor 3006 and a second disc motor 3007 fixedly mounted on the motor mounting back plate 3001, a shaft mounting plate 3008 fixedly mounted on the outer side of the motor mounting back plate 3001, and a dual-motor transmission mechanism 3100 mounted on the motor mounting back plate 3001 and the shaft mounting plate 3008. Specifically, the shaft mounting plate 3008 is arranged parallel to the outer side of the motor mounting back plate 3001, and its two side edges are fixedly connected to the two side edges of the outer side of the motor mounting back plate 3001 through two connecting brackets to form a hollow frame structure. The first disc motor 3006 and the second disc motor 3007 are symmetrically distributed on the left and right sides of the outer side of the motor mounting back plate 3001.

[0040] The dual-motor transmission mechanism 3100 includes a first small shaft winding cable mechanism 3200, a second small shaft winding cable mechanism 3300, a first large shaft 3101, and a second large shaft 3102. The first small shaft winding cable mechanism 3200 is fixedly connected to the output shaft end of the first disc motor 3006, and the second small shaft winding cable mechanism 3300 is fixedly connected to the output shaft end of the second disc motor 3007. Figure 18 As shown, similar in structure to the aforementioned small traction shaft winding cable mechanism 1200, the first small rotating shaft winding cable mechanism 3200 includes a first small rotating shaft 3201, a second anti-fatigue cable 3202, a third winding cable post 3203, and a fourth winding cable post 3204. One end of the first small rotating shaft 3201 is fixedly connected to the output shaft end of the first disc motor 3006, and the other end of the first small rotating shaft 3201 is rotatably mounted in the upper left shaft hole of the rotating shaft fixing plate 3008. The third winding cable post 3203 and the fourth winding cable post 3204 are respectively fixedly disposed within the first small rotating shaft 3201. The middle part of the second anti-fatigue cable 3202 is fixed to the third winding cable post 3203 and the fourth winding cable post 3204 using a figure-eight winding method, and both ends are wound in opposite directions around the two ends of the first small rotating shaft 3201. Figure 19 As shown, the second small shaft winding mechanism 3300 includes a second small shaft 3301, a third anti-fatigue cable 3302, a fifth winding post 3303, and a sixth winding post 3304. One end of the second small shaft 3301 is fixedly connected to the output shaft of the second disc motor 3007, and the other end is rotatably mounted in the upper right shaft hole of the shaft fixing plate 3008. The fifth winding post 3303 and the sixth winding post 3304 are respectively fixedly disposed within the second small shaft 3301. The middle part of the third anti-fatigue cable 3302 is fixed to the fifth winding post 3303 and the sixth winding post 3304 using a figure-eight winding method, and both ends are wound in opposite directions around the two ends of the second small shaft 3301.

[0041] A first fixed rotating shaft is provided on the lower middle part of the rotating shaft fixing plate 3008. A first large rotating shaft 3101, an annular cylinder 3004, and a second large rotating shaft 3102 are sequentially rotatably sleeved on the first fixed rotating shaft. The first large rotating shaft 3101 is located inside the rotating shaft fixing plate 3008, and the annular cylinder 3004 and the second large rotating shaft 3102 are located outside the rotating shaft fixing plate 3008. A rotating shaft connecting plate 3009 is connected between the outer end of the first fixed rotating shaft and the outer end of the second small rotating shaft 3301, which acts as a limiting plate and improves the stability of the shaft installation.

[0042] The two power output ends of the first small rotating shaft cable winding mechanism 3200 are fixedly connected to the two traction points on both sides of the first large rotating shaft 3101, and the two power output ends of the second small rotating shaft cable winding mechanism 3300 are fixedly connected to the two traction points on both sides of the second large rotating shaft 3102. Specifically, as... Figure 16 and Figure 17 As shown, one end of the second anti-fatigue cable 3202 is fixedly connected to the left end of the arc top surface of the first large rotating shaft 3101 by the fifth cable fixing screw 3103 and the sixth cable fixing screw 3104, and the other end is fixed to the right end of the arc top surface of the first large rotating shaft 3101 by the seventh cable fixing screw 3107 and the eighth cable fixing screw 3108, so that the first small rotating shaft 3201 and the first large rotating shaft 3101 are driven by the second anti-fatigue cable 3202; one end of the third anti-fatigue cable 3302 is fixedly connected to the left end of the arc top surface of the second large rotating shaft 3102 by the ninth cable fixing screw 3105 and the tenth cable fixing screw 3106, and the other end is fixed to the right end of the arc top surface of the second large rotating shaft 3102 by the eleventh cable fixing screw 3109 and the twelfth cable fixing screw 3110, so that the second small rotating shaft 3301 and the second large rotating shaft 3102 are driven by the third anti-fatigue cable 3302.

[0043] A vibratory drill bit 3005 is slidably inserted into the bottom of the ring cylinder 3004. One side of the top of the vibratory drill bit 3005 is hinged to the bottom of the first large rotating shaft 3101 via a first connecting rod 3002, and the other side is hinged to the bottom of the second large rotating shaft 3102 via a second connecting rod 3003. Specifically, a sleeve is integrally provided at the bottom of the ring cylinder 3004, and a shaft is integrally provided at the top of the vibratory drill bit 3005. The diameter of the shaft matches the inner diameter of the sleeve, allowing the shaft to be movably inserted into the sleeve to form a sliding pair. The bottom ends of the first large rotating shaft 3101 and the second large rotating shaft 3102 are located on both sides of the vibratory drill bit 3005. Therefore, the first connecting rod 3002 and the second connecting rod 3003 are also located on both sides of the vibratory drill bit 3005. Thus, the first large rotating shaft 3101, the first connecting rod 3002, the second connecting rod 3003, and the second large rotating shaft 3102 form a quadrilateral structure, with the vibratory drill bit 3005 located on the diagonal of the quadrilateral. By controlling the first large rotating shaft 3101 and / or the second large rotating shaft 3102, the size of the interior angles of the quadrilateral can be changed accordingly, thereby changing the length and / or angle of its diagonal, thus realizing the reciprocating motion and / or left-right oscillation of the vibratory drill bit 3005, which acts on the decoking position to complete the decoking operation.

[0044] like Figure 20 As shown, the specific implementation steps of the large-scale decoking device of this application are as follows: 1. The entire structure is hoisted into the incinerator using hoisting ropes. The power switch is turned on and the controller starts working, and the system begins initialization.

[0045] 2. The adaptive positioning device starts working, and the angle between the three support frames and the hoisting frame widens. When a support frame contacts the furnace wall, torque feedback begins. When the torque of the support frame reaches a certain value, the angle between the support frame and the hoisting frame stops widening, and the support frame stops moving. After all three support frames contact the furnace wall, secondary pressure is applied and self-locking is performed to prevent loose coke ash from being mistaken for the furnace wall.

[0046] 3. The vision module acquires 3D information inside the furnace, identifies the location of the coke block to be removed, transmits the 3D coordinates of the coke block, and generates the most suitable end posture for coke removal. Miniature piezoelectric ceramic plates are placed around the 3D camera, vibrating at high frequency every thirty seconds to shake off dust. The combination of low exposure and structured light maintains a positioning accuracy of ±3mm even when the light transmittance drops to 30%.

[0047] 4. The deceleration and rotation assembly starts working, and the motor drives the high-torque drive joint assembly, the motion telescopic arm assembly, and the dual-motor vibration end assembly to rotate to the target position to start the decoking process.

[0048] Alternatively, the telescopic arm assembly starts working, and the desiccant removal process begins through telescopic extension and tilting in conjunction with the dual-motor vibrating end assembly.

[0049] Alternatively, the dual-motor vibrating end effector assembly operates, relying on a connected hydraulic telescopic cylinder to drive the end effector's pitch movement. The differential speed of the two motors enables the end effector to move left and right, improving its flexibility and allowing for the removal of coke at tricky angles. The high-speed forward and reverse rotation of the disc motor enables high-frequency vibration of the end effector for rapid coke removal. The dual motors operate in a "differential speed-current" dual closed loop. When the current difference between the two motors exceeds 40% of the rated value and persists for 0.5 seconds, the feed rate immediately reverses at a low speed by 5mm, marking this coordinate as a "high hardness zone." The next time the feed rate passes through this zone, it automatically reduces by 30%.

[0050] 5. After the local descorching work is completed, the three support frames are slightly retracted, loosened, and then moved to different positions. The above steps are repeated to continue the descorching work.

[0051] 6. When the work is finished, retract the three support frames to their initial state, turn off the power switch, and the work is complete.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A decoking device for a waste incinerator, characterized in that: include The hoisting frame assembly is used in conjunction with hoisting equipment to position the decoking device in the decoking working position and to self-lock it. An adaptive positioning device is installed on the top of the lifting frame assembly. Its power output end is connected to the positioning execution end of the lifting frame assembly for driving the retraction and extension movement of the positioning execution end of the lifting frame assembly. A deceleration rotation component is located at the bottom of the hoisting frame assembly and is used to drive the circumferential rotation positioning frame connected to its bottom power output end for positioning. A high-torque drive joint assembly is located at the bottom of the rotating positioning frame and is used to drive the up-and-down swing and positioning of the telescopic arm assembly. The telescopic arm assembly has its power input end connected to the power output end of the high-torque drive joint assembly, and is used for spatial posture adjustment and positioning of the dual-motor vibration end assembly. The dual-motor vibration end assembly is located at the power output end of the telescopic arm assembly and achieves rapid descorching through high-frequency vibration. The vision module, located on top of the dual-motor vibration end assembly, is used to acquire three-dimensional information of the descorching working position, identify the position of the descorch block to be removed and transmit the three-dimensional coordinates of the descorch block, and generate the most suitable end posture for descorching.

2. The decoking device for a waste incinerator according to claim 1, characterized in that: The hoisting frame assembly includes a hoisting frame and multiple support frames hinged to the bottom of the hoisting frame and evenly distributed. The middle part of the support frame is connected to the middle part of the hoisting frame by a support spring, and the upper part of the support frame is connected to the power output end of the adaptive positioning device by a low-elasticity traction cable.

3. The decoking device for a waste incinerator according to claim 2, characterized in that: The adaptive positioning device includes a motor fixedly mounted on the hoisting frame, a drive gear fixedly mounted on the output shaft of the motor, and a driven gear meshing with the drive gear. A cascaded differential mechanism is coaxially mounted on one side of the driven gear. Each power output end of the differential mechanism is coaxially mounted with a cable pulley. One end of the low-elasticity traction cable is wound around the cable pulley.

4. The decoking device for a waste incinerator according to claim 3, characterized in that: The differential mechanism includes a driving differential gear coaxially arranged with the upper power output end, a set of gear carriers fixedly arranged on the upper power output end and located on both sides of the driving differential gear, two intermediate gears rotatably arranged on the gear carriers and simultaneously meshing with the driving differential gear, and a driven differential gear coaxially arranged opposite to the driving differential gear. The driven differential gear meshes with the two intermediate gears simultaneously. The cable pulley is coaxially fixedly arranged on the shaft end of the driving differential gear and the shaft end of the final stage driven differential gear.

5. The decoking device for a waste incinerator according to claim 3, characterized in that: The adaptive positioning device also includes a guide pulley group fixedly installed on the hoisting frame, and the low-elasticity traction cable is guided and tractioned through the corresponding guide pulley group.

6. The decoking device for a waste incinerator according to claim 2, characterized in that: The deceleration and rotation assembly includes a belt drive mechanism fixedly installed inside the hoisting frame, a large drive shaft connected to the power output end of the belt drive mechanism and movably extending to the bottom of the hoisting frame, and a planetary gear reduction mechanism fixedly installed at the bottom of the hoisting frame. The bottom end of the large drive shaft is connected to the power input end of the planetary gear reduction mechanism, and the rotation positioning frame is fixedly connected to the bottom of the power input end of the planetary gear reduction mechanism.

7. The decoking device for a waste incinerator according to any one of claims 1 to 6, characterized in that: The high-torque drive joint assembly includes a base, a control module fixedly mounted on the base, a disc motor and a fixed rotating shaft respectively fixedly mounted on the top side wall of the base. The output shaft end of the disc motor is fixedly connected to a small traction shaft winding cable mechanism. A large traction shaft is rotatably mounted on the fixed rotating shaft. The two power output ends of the small traction shaft winding cable mechanism are fixedly connected to the two traction points on both sides of the large traction shaft respectively.

8. The decoking device for a waste incinerator according to claim 7, characterized in that: The small traction shaft winding mechanism includes a small traction shaft, a first anti-fatigue cable wound on the small traction shaft, and two winding posts fixedly installed inside the small traction shaft. The middle part of the first anti-fatigue cable is fixedly wound on the two winding posts.

9. The decoking device for a waste incinerator according to claim 7, characterized in that: The telescopic boom assembly includes a main boom fixedly mounted on a large traction shaft, a middle boom hinged to the end of the main boom, and a forearm slidably mounted within the middle boom. The dual-motor vibration end assembly is hinged to the end of the forearm. The top surface of the main boom and the top surface of the middle boom are rotatably connected by a first hydraulic telescopic cylinder. The top surface of the middle boom and the top surface of the forearm are connected by a second hydraulic telescopic cylinder. The top surface of the forearm and the top of the dual-motor vibration end assembly are rotatably connected by a third hydraulic telescopic cylinder.

10. The decoking device for a waste incinerator according to any one of claims 1 to 6, or 8 or 9, characterized in that: The dual-motor vibration end assembly includes a motor fixing back plate, a first disc motor and a second disc motor fixedly mounted on the motor fixing back plate, and a rotating shaft fixing plate fixedly mounted on the outside of the motor fixing back plate. The output shaft end of the first disc motor is fixedly connected to a first small rotating shaft winding mechanism, and the output shaft end of the second disc motor is fixedly connected to a second small rotating shaft winding mechanism. A first fixed rotating shaft is provided inside the rotating shaft fixing plate. A first large rotating shaft, an annular cylinder, and a second large rotating shaft are sequentially rotatably sleeved on the first fixed rotating shaft. The two power output ends of the first small rotating shaft winding mechanism are fixedly connected to the two traction points on both sides of the first large rotating shaft, and the two power output ends of the second small rotating shaft winding mechanism are fixedly connected to the two traction points on both sides of the second large rotating shaft. A vibratory drill bit is slidably inserted into the bottom of the ring cylinder. One side of the top of the vibratory drill bit is hinged to the bottom of the first large rotating shaft via a first connecting rod, and the other side is hinged to the bottom of the second large rotating shaft via a second connecting rod.

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