A garbage incinerator ignition robot

Abstract

The application discloses a garbage incinerator ignition robot, and relates to the technical field of garbage incinerator auxiliary equipment.The robot comprises a rotating assembly, an executing assembly, a central integrated assembly and a counter supporting assembly, and adopts modular collaborative design; the rotating assembly can drive the executing assembly to rotate around the axis of the central integrated assembly; the executing assembly comprises a three-axis linkage mechanical arm and a servo hydraulic telescopic rod, and can be flexibly adapted to the complex space of a hearth; an annular I-shaped groove is arranged on the outer side of the central integrated assembly; the counter supporting assembly is limitedly matched with the annular I-shaped groove through a sliding card, synchronous rotation with the executing assembly is realized, and stable support of the equipment is ensured.The application solves the problems of the existing decoking equipment, such as inflexible operation, poor stability and insufficient safety, improves the decoking efficiency and safety through limiting the rotating stroke, adjusting the supporting structure and modular design, adapts to the complex operation environment of the garbage incinerator, and completely avoids the safety risks brought by the harsh environment without the need of personnel entering the furnace for operation.

Description

Technical Field

[0001] This invention relates to the field of auxiliary equipment technology for waste incinerators, and in particular to a coking robot for waste incinerators. Background Technology

[0002] Waste-to-energy incineration has become one of the mainstream methods of waste treatment. During the incineration process, the high-temperature environment inside the furnace causes some organic and inorganic materials to undergo pyrolysis and melting reactions, forming hard coke that adheres to the inner wall of the furnace, water-cooled wall tubes, and furnace roof. Long-term accumulation of coke reduces the furnace's heat transfer efficiency, increases energy consumption, reduces the effective furnace volume, and affects the stability of incineration operations. In severe cases, it can lead to coke detachment, causing furnace blockage, equipment damage, and other safety accidents.

[0003] Currently, coke removal in waste incinerators mainly employs two methods: manual and simple mechanical methods. Manual coke removal requires workers to enter the furnace or operate tools through the furnace door, resulting in high labor intensity, harsh working conditions, and significant safety risks. Simple mechanical coke removal equipment is mostly of a fixed structure, with a limited cleaning range, unable to flexibly adapt to the complex furnace space, exhibiting poor equipment stability during the cleaning process, easily causing secondary damage to the furnace inner wall, and lacking effective visual monitoring methods, making it difficult to accurately determine the location of coke and the effectiveness of the cleaning. The existing coke removal equipment's actuators are mostly of a fixed structure, making it impossible to change the operating head according to the hardness and shape of the coke, resulting in low cleaning efficiency. Furthermore, the lack of reasonable limits on the equipment's rotation range makes it prone to collisions with the furnace inner wall, further limiting the safety and reliability of the coke removal operation.

[0004] Therefore, there is an urgent need for a waste incinerator descaling robot that is compact, flexible in operation, safe and reliable, and capable of precise descaling, visual monitoring, and adaptability to multiple working conditions, in order to solve the above-mentioned problems in the existing technology. Summary of the Invention

[0005] One objective of this invention is to provide a coking robot for waste incinerators. Through modular design, this invention enables flexible adjustment, stable support, and precise monitoring of the coking removal operation, thereby improving the efficiency and safety of the coking removal process and adapting to the complex operating environment of waste incinerators.

[0006] The beneficial effects of this invention are: This invention solves the problems of inflexible operation, poor stability, low adaptability, and insufficient safety in existing coke removal equipment through a modular and collaborative design of rotating components, actuating components, central integration components, and anti-support components. Specific beneficial effects are as follows: Flexible and precise operation: The three-axis linkage robotic arm, in conjunction with four first servo hydraulic telescopic rods, enables flexible multi-degree-of-freedom movements, which can be precisely adapted to the complex space of the furnace; the rotating component limits the rotation stroke to 180 degrees, taking into account both the coking range and safety, and avoiding collision damage.

[0007] Strong adaptability to multiple working conditions: The actuator head adopts a pin-type detachable structure, which can be quickly replaced according to the hardness and shape of the coke block, adapting to different operation requirements such as coking, slag removal, and crushing, thereby improving coking efficiency.

[0008] Stable and reliable support: The counter-support component is limited and slidably engaged with the annular I-shaped groove of the equipment shell through a sliding card, so as to achieve synchronous rotation with the execution component; the outer frame, inner frame and four sets of second servo hydraulic rods constitute an adjustable support structure, which, together with the rolling fit support of the support wheel set, ensures that the equipment operates stably in furnaces of different specifications and counteracts the coking reaction force.

[0009] Visualized and precise monitoring: The first camera captures the details of the execution head operation in real time, while four ring-shaped second cameras provide panoramic monitoring of the furnace with no blind spots, making it easy for operators to accurately judge the position of coke blocks and the coking effect, thus improving the accuracy of operations.

[0010] Safe and convenient maintenance: The equipment features a modular design, with an inspection cover for easy maintenance of internal components and a rope loop for easy hoisting and transportation. No personnel are required to enter the furnace for operation, completely avoiding the safety risks caused by harsh environments such as high temperature and high dust.

[0011] According to an embodiment of the present invention, a waste incinerator decoupling robot includes a rotating component, an execution component, a central integration component, and a counter-support component; The rotating component is connected to the bottom of the central integrated component, and the rotating component can drive the actuating component to rotate around the axis of the central integrated component. The execution component is located on one side of the rotating component, and the execution component includes a three-axis linkage robotic arm and a first servo hydraulic telescopic rod; The central integrated component includes a housing, and an annular I-shaped groove is provided on the outer side of the housing. The anti-support component includes a sliding latch, which is slidably fitted into the annular I-beam groove. The anti-support component rotates synchronously with the actuating component via the sliding latch. Furthermore, the rotational stroke of the rotating component driving the actuation component is limited to 180 degrees.

[0012] The beneficial effect of adopting the above-mentioned further solution is that it limits the rotation stroke, avoids collision between the actuator and the inner wall of the furnace or other components due to excessive rotation angle during the coking operation, and ensures that the coking range covers one side and the middle area of ​​the furnace, thus taking into account both the operation range and safety.

[0013] Furthermore, the rotating assembly includes a base, an I-shaped connecting plate, a fixing plate, gears, and a servo motor; The inner side of the connecting plate is provided with an annular toothed groove, the gear meshes with the annular toothed groove, the gear is connected to the servo motor for transmission, and the top of the gear is rotatably connected to a fixing plate that is fixedly connected to the inside of the central integrated component. The servo motor is fixedly connected to the top of the fixing plate.

[0014] The beneficial effects of adopting the above-mentioned further solution are that the I-shaped connecting plate has both structural strength and lightweight advantages. Combined with the meshing transmission of gears and annular toothed grooves, it can realize the smooth and precise rotation of the actuator. The servo motor can provide stable power output and ensure that the rotation angle is controllable.

[0015] Furthermore, the three-axis linkage robotic arm includes an upper arm, a lower arm, and a detachable actuator head, which is detachably connected to the lower arm via a pin-connection structure.

[0016] The advantages of adopting the above-mentioned further solutions are that the pin-shaft plug-in structure is easy to disassemble and assemble, and the actuator head can be quickly replaced according to the hardness of the coke, adapting to different coke cleaning conditions and improving work efficiency; the three-axis linkage design makes the robotic arm more free to move, which can flexibly adapt to the complex space of the furnace and accurately reach the coke attachment position.

[0017] Furthermore, the number of the first servo hydraulic telescopic rods is four; The two ends of the first servo hydraulic telescopic rods are respectively rotatably connected to the front and rear sides of the main arm and the side of the base, and the two ends of the other two first servo hydraulic telescopic rods are respectively rotatably connected to the top of the main arm and the end of the forearm, and the top of the forearm and one side of the actuator head.

[0018] The beneficial effects of adopting the above-mentioned further solution are that the four first servo hydraulic telescopic rods respectively drive the boom swing, the forearm bending and extending, and the actuator head flipping. The hydraulic drive method has strong power and load-bearing capacity, which can meet the coking needs of coke blocks of different hardness. The servo control ensures that the action is precise and controllable, avoiding accidental damage to the inner wall of the furnace.

[0019] Furthermore, a first camera that can be rotated and adjusted is fixedly connected to the front and rear sides of the forearm, and four second cameras that are distributed in a ring at equal distances are fixedly connected to the top of the central integrated component.

[0020] The beneficial effects of adopting the above-mentioned further solution are that the first camera can move synchronously with the forearm to capture the contact between the execution head and the coke in real time, which makes it easier for the operator to accurately control the coke removal action; the four ring-shaped second cameras can realize panoramic monitoring of the furnace without blind spots, ensuring that the operator has a full grasp of the distribution of coke in the furnace and the operating status of the equipment, thereby improving the accuracy and safety of the coke removal operation.

[0021] Furthermore, the device housing includes an integrated area for a hydraulic oil tank and electronic equipment. This integrated area includes a Bluetooth integration module, a main control board, a wireless image transmission module, a hydraulic drive control module, a power management module, and an attitude signal acquisition module.

[0022] The beneficial effects of adopting the above-mentioned further solution are as follows: the hydraulic oil tank is used to store hydraulic oil, providing a stable hydraulic power medium for the first servo hydraulic telescopic rod and the second servo hydraulic rod, maintaining stable hydraulic system pressure, compensating for hydraulic oil loss in the oil circuit, and ensuring smooth and reliable operation of each hydraulic actuator. The electronic equipment integration area integrates core control components, the main control board is responsible for coordinating the overall operation of the equipment, the Bluetooth integration module enables wireless communication, the wireless image transmission module transmits real-time images captured by the camera to the external control terminal, the hydraulic drive control module precisely adjusts the extension speed and force of each hydraulic telescopic rod, the power management module ensures stable power supply to the equipment, and the attitude signal acquisition module monitors the operating attitude of the equipment in real time, realizing closed-loop control and improving the operating accuracy and stability of the equipment.

[0023] Furthermore, the anti-support assembly also includes an outer frame, an inner frame, a support wheel assembly, and a second servo hydraulic rod; The second servo hydraulic rod is hinged between the outer frame and the inner frame, and between the inner frame and the sliding clip.

[0024] The beneficial effects of adopting the above-mentioned further solution are that the outer frame and the inner frame form a double-layer support structure. With the extension and retraction adjustment of the second servo hydraulic rod, the support radius of the support wheel group can be flexibly adjusted according to the inner diameter of the furnace, ensuring that the equipment can be stably supported in furnaces of different specifications. The cooperation between the sliding card and the annular I-beam groove not only realizes the synchronous rotation of the anti-support component and the execution component, but also ensures the stability of the support structure and avoids the equipment from shifting due to vibration during the coke removal operation.

[0025] Furthermore, the support wheel assembly is located inside the outer frame and is used to roll and fit against the inner wall of the incinerator furnace for support.

[0026] The beneficial effects of adopting the above-mentioned further solution are that the support wheel group rolls in contact with the inner wall of the furnace, resulting in low friction and not affecting the rotation of the equipment. At the same time, it can provide circumferential support for the equipment, counteract the reaction force generated during the coking operation, prevent the equipment from tipping over or shifting, and improve operational safety.

[0027] Furthermore, the outer side of the equipment housing is provided with a lockable maintenance cover, and the top of the equipment housing is fixedly connected to a sealing cover by bolts. The top of the sealing cover is fixedly connected to four hanging rope loops that are distributed in a ring at equal intervals.

[0028] The beneficial effects of adopting the above-mentioned further solution are that the inspection cover facilitates the inspection and maintenance of the hydraulic oil tank and electronic equipment inside the equipment shell, and the sealed cover provides protection against dust and high temperatures; the four ring-shaped hanging rope rings facilitate the hoisting and transportation of the equipment, and the hanging ropes can also help fix the equipment, further improving the stability of the equipment in the furnace. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a coking robot for a waste incinerator proposed in this invention; Figure 2 This is a side view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0030] Figure 3 This is a top view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0031] Figure 4 This is an exploded view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0032] Figure 5 This is a top-view cross-sectional view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0033] Figure 6 This is a top view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0034] Figure 7 This is a horizontal sectional view of the rotating component of a coking robot for a waste incinerator proposed in this invention.

[0035] Figure 8 This is an enlarged view of section A of the coking robot for a waste incinerator proposed in this invention.

[0036] Figure 9 This is a half-sectional view of the structure of a coking robot for a waste incinerator proposed in this invention.

[0037] Figure 10 This is a side sectional view of a coking robot for a waste incinerator proposed in this invention. In the diagram: 1. Rotating component; 101. Base; 102. Connecting plate; 103. Annular toothed groove; 104. Gear; 105. Servo motor; 106. Fixing plate; 2. Execution component; 201. Three-axis linkage robotic arm; 2011. Main arm; 2012. Forearm; 2013. Execution head; 202. First servo hydraulic telescopic rod; 3. Central integration component; 301. Equipment housing; 302. Hydraulic oil tank; 303. Inspection cover; 304. Sealing cover; 305. Hanging rope ring; 4. Counter-support component; 401. Outer frame; 402. Support wheel set; 403. Inner frame; 404. Second servo hydraulic rod; 405. Sliding clip; 5. First camera; 6. Second camera; 7. Electronic equipment integration area. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0039] refer to Figure 1-10 A waste incinerator decoking robot includes a rotating component 1, an execution component 2, a central integration component 3, and an anti-support component 4; Rotating component 1 is connected to the bottom of central integrated component 3, and rotating component 1 can drive actuating component 2 to rotate around the axis of central integrated component 3; The execution component 2 is located on one side of the rotating component 1. The execution component 2 includes a three-axis linkage robotic arm 201 and a first servo hydraulic telescopic rod 202. The central integrated component 3 includes a housing 301, and an annular I-shaped groove is provided on the outer side of the housing 301; The anti-support component 4 includes a sliding card 405, which is slidably mounted in an annular I-beam groove. The anti-support component 4 rotates synchronously with the actuating component 2 through the sliding card 405.

[0040] The rotational stroke of the rotating component 1 driving the actuating component 2 is limited to 180 degrees.

[0041] The rotation stroke is limited to prevent the actuator 2 from colliding with the furnace wall or other components due to excessive rotation angle during the coking operation, ensuring that the coking range covers one side and the middle area of ​​the furnace, thus balancing the operation range and safety.

[0042] The rotating assembly 1 includes a base 101, an I-shaped connecting plate 102, a fixing plate 106, a gear 104, and a servo motor 105; The inner side of the connecting plate 102 is provided with an annular toothed groove 103. The gear 104 meshes with the annular toothed groove 103. The gear 104 is connected to the servo motor 105 for transmission. The top of the gear 104 is rotatably connected to a fixing plate 106 that is fixedly connected to the inside of the central integrated component 3. The servo motor 105 is fixedly connected to the top of the fixing plate 106.

[0043] The I-shaped connecting plate 102 combines structural strength and lightweight advantages. With the meshing transmission of gear 104 and annular toothed groove 103, it realizes the smooth and precise rotation of the actuator 2. The servo motor 105 can provide stable power output to ensure that the rotation angle is controllable.

[0044] The three-axis linkage robotic arm 201 includes a large arm 2011, a small arm 2012, and a detachable actuator head 2013. The actuator head 2013 and the small arm 2012 are detachably connected via a pin-pin connection structure.

[0045] The pin-connection structure allows for easy assembly and disassembly, and the actuator head 2013 can be quickly replaced according to the hardness of the coke, adapting to different coke cleaning conditions and improving work efficiency; the three-axis linkage design gives the robotic arm greater freedom of movement, allowing it to flexibly adapt to the complex space of the furnace and accurately reach the coke attachment position.

[0046] The number of the first servo hydraulic telescopic rod 202 is four; The two ends of the first servo hydraulic telescopic rods 202 are respectively rotatably connected to the front and rear sides of the upper arm 2011 and the side of the base 101. The two ends of the other two first servo hydraulic telescopic rods 202 are respectively rotatably connected to the top of the upper arm 2011 and the end of the forearm 2012, and the top of the forearm 2012 and one side of the actuator head 2013.

[0047] The four first servo hydraulic telescopic rods 202 respectively drive the boom 2011 to swing, the forearm 2012 to bend and extend, and the actuator head 2013 to flip. The hydraulic drive is powerful and has a strong load-bearing capacity, which can meet the coking needs of coke blocks of different hardness. The servo control ensures that the action is precise and controllable, avoiding accidental damage to the inner wall of the furnace.

[0048] The forearm 2012 is fixedly connected to the front and rear sides with a first camera 5 that can be rotated and adjusted, and the top of the central integrated component 3 is fixedly connected to four second cameras 6 that are distributed in a ring at equal distances.

[0049] The first camera 5 can move synchronously with the forearm 2012 to capture real-time images of the contact between the execution head 2013 and the coke, facilitating precise control of the coke removal action by the operator; the four ring-shaped second cameras 6 can achieve panoramic monitoring of the furnace without blind spots, ensuring that the operator has a full grasp of the distribution of coke in the furnace and the operating status of the equipment, thereby improving the accuracy and safety of the coke removal operation.

[0050] The equipment housing 301 contains a hydraulic oil tank 302 and an electronic equipment integration area 7. The electronic equipment integration area 7 contains a Bluetooth integration module, a main control board, a wireless image transmission module, a hydraulic drive control module, a power management module, and an attitude signal acquisition module.

[0051] Hydraulic oil tank 302 stores hydraulic oil, providing a stable hydraulic power medium for the first servo hydraulic telescopic rod 202 and the second servo hydraulic rod 404, maintaining stable hydraulic system pressure, compensating for hydraulic oil loss in the oil circuit, and ensuring smooth and reliable operation of each hydraulic actuator. Electronic equipment integration area 7 integrates core control components. The main control board is responsible for coordinating the overall operation of the equipment. Bluetooth integration module enables wireless communication, and wireless image transmission module transmits real-time images captured by the camera to an external control terminal. Hydraulic drive control module precisely adjusts the extension speed and force of each hydraulic telescopic rod, power management module ensures stable power supply to the equipment, and attitude signal acquisition module monitors the equipment's operating attitude in real time to achieve closed-loop control, improving the equipment's operating accuracy and stability.

[0052] The anti-support assembly 4 also includes an outer frame 401, an inner frame 403, a support wheel assembly 402, and a second servo hydraulic rod 404; The second servo hydraulic rod 404 is hinged between the outer frame 401 and the inner frame 403, and between the inner frame 403 and the sliding plate 405.

[0053] The outer frame 401 and the inner frame 403 form a double-layer support structure. With the extension and retraction adjustment of the second servo hydraulic rod 404, the support radius of the support wheel group 402 can be flexibly adjusted according to the inner diameter of the furnace, ensuring that the equipment can be stably supported in furnaces of different specifications. The cooperation between the sliding card 405 and the annular I-beam groove not only realizes the synchronous rotation of the anti-support component 4 and the execution component 2, but also ensures the stability of the support structure, preventing the equipment from shifting due to vibration during the coking operation.

[0054] The support wheel assembly 402 is located inside the outer frame 401 and is used to roll and fit against the inner wall of the incinerator furnace for support.

[0055] The support wheel assembly 402 makes rolling contact with the inner wall of the furnace, resulting in low friction and not affecting the rotation of the equipment. At the same time, it provides circumferential support to the equipment, counteracting the reaction force generated during the coke removal operation, preventing the equipment from tipping over or shifting, and improving operational safety.

[0056] The outer side of the equipment housing 301 is provided with a lockable maintenance cover 303. The top of the equipment housing 301 is fixedly connected to a sealing cover 304 by bolts. The top of the sealing cover 304 is fixedly connected to four hanging rope rings 305 that are distributed in a ring at equal intervals.

[0057] The inspection cover 303 facilitates the inspection and maintenance of the hydraulic oil tank 302 and electronic equipment inside the equipment shell 301, while the sealing cover 304 provides protection against dust and high temperatures. The four ring-shaped hanging rope rings 305 facilitate the hoisting and transportation of the equipment, and can also help to fix the equipment by hanging ropes, further improving the stability of the equipment in the furnace.

[0058] In this implementation plan, Example 1: Coke removal operation for hard coke blocks Equipment preparation: Hoist the robot to the designated position in the furnace of the waste incinerator using the rope ring 305 on the top of the cover 304. Open the maintenance cover 303 on the outside of the equipment shell 301, check the oil level in the hydraulic oil tank 302 and the working status of each module in the electronic equipment integration area 7. After confirming that everything is correct, close the maintenance cover 303. Actuator head installation: Based on the characteristics of the hard coke blocks in the furnace, the coke hammer head is selected as the actuator head 2013, and it is fixedly connected to the arm 2012 through a pin-shaft insertion structure.

[0059] Support adjustment: By sending commands through an external control terminal, the main control board controls the extension and retraction of four sets of second servo hydraulic rods 404, driving the outer frame 401 and inner frame 403 to move relative to each other, adjusting the support radius of the support wheel set 402, so that the support wheel set 402 rolls and fits against the inner wall of the furnace for support, thus completing the equipment fixation. Coke removal operation: Start the servo motor 105, and the gear 104 meshes with the annular tooth groove 103 on the inner side of the connecting plate 102 to drive the execution component 2 to rotate around the axis of the central integrated component 3. Through the panoramic monitoring of the second camera 6, the execution component 2 is adjusted to the corresponding position of the focal block. The main control board controls the four first servo hydraulic telescopic rods 202 to move in coordination, driving the boom 2011 to swing, the forearm 2012 to bend and extend, and the coking hammer to rotate. The first camera 5 observes the contact between the coking hammer and the coke in real time, and precisely controls the coking force and frequency to gradually break up the hard coke. During the coke removal process, the counter-support component 4 rotates synchronously along the annular I-beam groove on the outside of the equipment housing 301 via the sliding card 405, counteracting the reaction force generated by coke removal and ensuring equipment stability. Operation completed: After the coke is crushed, the slag is cleaned to the bottom slag discharge port of the furnace by the execution component 2, the servo motor 105 and each hydraulic telescopic rod are turned off, the four sets of second servo hydraulic rods 404 are controlled to retract, so that the support wheel group 402 is separated from the inner wall of the furnace, and the robot is lifted away from the furnace by the hanging rope ring 305. Example 2: Cleaning of loose coke blocks Equipment preparation: Same as in Example 1, complete robot hoisting, equipment inspection and fixation. Head replacement: Remove the coking hammer head on the forearm 2012 and replace it with a slag-cleaning rake head, which is fixed by a pin-shaft connection structure. Slag removal operation: Start the rotating component 1 to drive the execution component 2 to rotate. Loose coke blocks are located by the second camera 6. The main control board controls the first servo hydraulic telescopic rod 202 to drive the three-axis linkage robotic arm 201 to move. The slag removal rake head is used to rake the loose coke blocks to the bottom slag discharge port of the furnace. During the slag removal process, the first camera 5 is used to prevent the rake head from scratching the inner wall of the furnace. Task completed: Same as in Example 1, equipment recovery completed. Example 3: Large-area coke crushing operation The crushing shovel head is selected as the execution head 2013. The rest of the operation process is the same as in Examples 1 and 2. By utilizing the large-area contact characteristics of the crushing shovel head, the coke blocks distributed over a large area in the furnace are efficiently crushed. Combined with the flexible movement of the three-axis linkage robotic arm 201, full-coverage coke removal is achieved. Working principle This invention achieves collaborative operation through modular design, and its core working principle is as follows: Power transmission principle: Servo motor 105 provides rotational power, which drives the actuator 2 to rotate through the meshing of gear 104 and annular tooth groove 103; hydraulic oil tank 302 provides hydraulic power to the first servo hydraulic telescopic rod 202 and four sets of second servo hydraulic rods 404 to realize the movement of the robotic arm and the adjustment of the support structure. Control Principle: The main control board, as the core control unit, receives commands from the external control terminal and achieves wireless communication through the Bluetooth integration module, coordinating the work of each module. Each electronic module is electrically connected to the main control board through wires to achieve signal transmission and command-based coordinated control. The attitude signal acquisition module monitors the equipment's operating attitude in real time and feeds it back to the main control board to form a closed-loop control, ensuring precise actions. The wireless image transmission module transmits the images captured by the first camera 5 and the second camera 6 to the external terminal, enabling visual control. Stable support principle: The counter-support component 4 is limited and slidably engaged with the annular I-shaped groove of the equipment shell 301 through the sliding card 405, and rotates synchronously with the execution component 2; the four sets of second servo hydraulic rods 404 adjust the relative position of the outer frame 401 and the inner frame 403, so that the support wheel group 402 is tightly attached to the inner wall of the furnace, forming a stable support, offsetting the reaction force generated by the coking operation, and preventing the equipment from shifting or tipping over.

[0060] 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 waste incinerator decoking robot, characterized in that, It includes a rotating component (1), an actuating component (2), a central integration component (3), and a counter-support component (4); The rotating component (1) is connected to the bottom of the central integrated component (3) and the rotating component (1) can drive the execution component (2) to rotate around the axis of the central integrated component (3); The execution component (2) is located on one side of the rotating component (1). The execution component (2) includes a three-axis linkage robotic arm (201) and a first servo hydraulic telescopic rod (202). The central integrated component (3) includes a housing (301), and an annular I-shaped groove is provided on the outer side of the housing (301); The anti-support component (4) includes a sliding card (405), which is slidably fitted into the annular I-shaped groove. The anti-support component (4) rotates synchronously with the execution component (2) through the sliding card (405).

2. The waste incinerator coking robot according to claim 1, characterized in that, The rotation stroke of the rotating component (1) driving the actuating component (2) is limited to 180 degrees.

3. The waste incinerator coking robot according to claim 1, characterized in that, The rotating assembly (1) includes a base (101), a connecting plate (102) in the shape of an I-beam, a fixing plate (106), a gear (104), and a servo motor (105). The inner side of the connecting plate (102) is provided with an annular toothed groove (103), the gear (104) meshes with the annular toothed groove (103), the gear (104) is connected to the servo motor (105) for transmission, the top of the gear (104) is rotatably connected to a fixing plate (106) that is fixedly connected to the inside of the central integrated component (3), and the servo motor (105) is fixedly connected to the top of the fixing plate (106).

4. The waste incinerator coking robot according to claim 1, characterized in that, The three-axis linkage robotic arm (201) includes a large arm (2011), a small arm (2012) and a detachable actuator (2013), wherein the actuator (2013) and the small arm (2012) are detachably connected by a pin-shaft insertion structure.

5. The waste incinerator coking robot according to claim 4, characterized in that, The number of the first servo hydraulic telescopic rods (202) is four; The two ends of the first servo hydraulic telescopic rods (202) are respectively rotatably connected to the front and rear sides of the upper arm (2011) and the side of the base (101), and the two ends of the other two first servo hydraulic telescopic rods (202) are respectively rotatably connected to the top of the upper arm (2011) and the end of the forearm (2012), and the top of the forearm (2012) and one side of the actuator head (2013).

6. The waste incinerator coking robot according to claim 5, characterized in that, The forearm (2012) is fixedly connected to the front and rear sides with a first camera (5) that can be rotated and adjusted, and the top of the central integrated component (3) is fixedly connected to four second cameras (6) that are distributed in a ring at equal distances.

7. The waste incinerator coking robot according to claim 1, characterized in that, The device housing (301) contains a hydraulic oil tank (302) and an electronic equipment integration area (7). The electronic equipment integration area (7) contains a Bluetooth integration module, a main control board, a wireless image transmission module, a hydraulic drive control module, a power management module, and an attitude signal acquisition module.

8. The waste incinerator coking robot according to claim 1, characterized in that, The anti-support assembly (4) also includes an outer frame (401), an inner frame (403), a support wheel assembly (402), and a second servo hydraulic rod (404). The second servo hydraulic rod (404) is hinged between the outer frame (401) and the inner frame (403), and between the inner frame (403) and the sliding clip (405).

9. The waste incinerator coking robot according to claim 8, characterized in that, The support wheel assembly (402) is located inside the outer frame (401) and is used to roll and fit against the inner wall of the incinerator furnace for support.

10. The waste incinerator coking robot according to claim 1, characterized in that, The outer side of the equipment housing (301) is provided with a lockable maintenance cover (303), and the top of the equipment housing (301) is fixedly connected with a sealing cover (304) by bolts. The top of the sealing cover (304) is fixedly connected with four hanging rope rings (305) that are distributed in a ring at equal distances.

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