Incinerator cleaning robot

Abstract

The utility model discloses an incinerator cleaning robot which comprises a support body, an execution mechanical arm and at least two sets of supporting crawling mechanisms, and the execution mechanical arm is arranged at the bottom of the support body and used for cleaning accumulated objects on the inner wall of an incinerator. The at least two groups of supporting crawling mechanisms are arranged on opposite sides of the bracket body; wherein each supporting crawling mechanism comprises a folding arm, a telescopic arm and a crawling assembly, the folding arms are rotationally arranged on the side portion of the support body so as to be folded to be attached to the side portion of the support body, the telescopic arms are slidably arranged on the folding arms in the length direction of the folding arms, and the crawling assemblies are connected with the ends of the telescopic arms; the creeping device climbs up and down along the inner wall of the incinerator. Specifically, when the cleaning robot is applied, the cleaning robot can move up and down along the inner wall of the incinerator without the help of a hoisting mechanism, that is, the cleaning robot can move up and down along the inner wall of the incinerator, and the cleaning robot is obviously convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of incineration cleaning, in particular to an incinerator cleaning robot. Background Art

[0002] Coking is a common problem in the operation of waste incinerators. When coking is serious, it will affect the stability of heat transfer, reduce negative pressure, increase the flue gas temperature, cause abnormal temperature transmission and force the normal operation of the incinerator to stop, resulting in shutdown for maintenance, incomplete incineration and the production of more toxic substances.

[0003] In the related art, in order to remove the accumulation of the inner wall of the incinerator, a cleaning robot is usually used to clean the accumulation of the inner wall of the incinerator. The top of the cleaning robot is usually provided with a lifting mechanism, and the surrounding of the cleaning robot is usually provided with a supporting mechanism, so that the lifting mechanism adjusts the height of the cleaning robot, and the supporting mechanism is against the inner wall of the incinerator, thereby ensuring the stability of the cleaning robot.

[0004] As can be seen from the above, the lifting and lowering of the cleaning robot requires a lifting mechanism, so the cleaning robot is more troublesome to use. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes an incinerator cleaning robot, which is more convenient to use.

[0006] The embodiment of the present application provides an incinerator cleaning robot, comprising:

[0007] The bracket body;

[0008] An execution manipulator, arranged at the bottom of the support body, for cleaning the aggregates on the inner wall of the incinerator;

[0009] At least two groups of supporting crawling mechanisms are arranged on opposite sides of the bracket body; wherein each group of the supporting crawling mechanisms includes a folding arm, a telescopic arm and a crawling assembly, the folding arm is rotatably arranged on the side of the bracket body so as to be folded to fit the side of the bracket body, the telescopic arm is slidably arranged on the folding arm along the length direction of the folding arm, and the crawling assembly is connected to the end of the telescopic arm for crawling up and down along the inner wall of the incinerator.

[0010] According to some embodiments of the utility model, each of the supporting crawling mechanisms also includes a first driving member and a second driving member, wherein the first driving member is arranged on the bracket body to drive the folding arm to be able to unfold or fold, and the second driving member is arranged on the folding arm to drive the telescopic arm to be able to extend or retract.

[0011] According to some embodiments of the utility model, the first driving member has a telescopic push rod, the main body of the first driving member is rotatably connected to the side of the bracket body, and the end of the telescopic push rod is rotatably connected to the side of the folding arm.

[0012] According to some embodiments of the utility model, the side of the bracket body has a storage groove, and the main body of the first driving member is rotatably disposed in the storage groove, wherein when the folding arm is folded to the side of the bracket body, the first driving member is hidden inside the storage groove.

[0013] According to some embodiments of the utility model, the cleaning robot includes four groups of the supporting crawling mechanisms, two groups of the supporting crawling mechanisms are rotatably arranged on one side of the bracket body and are both used to fold to the side of the bracket body, and the other two groups of the supporting crawling mechanisms are rotatably arranged on the other side of the bracket body and are both used to fold to the side of the bracket body.

[0014] According to some embodiments of the utility model, each group of the supporting crawling mechanism also includes a third driving member, the third driving member has a telescopic push rod, the main body of the third driving member is rotatably connected to the side of the bracket body, and the end of the telescopic push rod is rotatably connected to the end of the telescopic arm away from the folding arm.

[0015] According to some embodiments of the utility model, the crawling mechanism includes a power member, a rotating seat and a crawling structure, wherein the power member is arranged on the telescopic arm, the rotating seat is connected to the power member, the crawling structure is connected to the rotating seat, the power member drives the crawling structure to rotate through the rotating seat, and the crawling structure is a crawler walking structure or a roller walking structure.

[0016] According to some embodiments of the present utility model, the cleaning robot further includes a rotation drive mechanism, wherein the rotation drive mechanism is disposed at the bottom of the bracket body, and the execution manipulator is connected to a driving portion of the rotation drive mechanism.

[0017] According to some embodiments of the present utility model, the cleaning robot also includes a visual sensor and a laser radar for monitoring aggregates in the incinerator.

[0018] According to some embodiments of the utility model, the execution robot includes a robot arm and an execution end, wherein the robot arm is connected to the support body, and the execution end is configured to be detachably arranged on the movable end of the robot arm so as to be able to replace the execution end, wherein the execution end is a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical decoking agent spraying device.

[0019] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: 1. The staff rotates the folding arm in the folded state to the unfolded state, and the telescopic arm slides to the extended state relative to the folding arm. Specifically, when applied to an incinerator, at least one group of crawling components supporting the crawling mechanism is against one side wall of the incinerator, and another group of crawling components supporting the crawling mechanism is against the other side wall of the incinerator. In this way, the cleaning robot can be maintained at a height position of the incinerator, so that the aggregates on the inner wall of the incinerator can be cleaned. At the same time, the crawling component is usually provided with a driving module, such as a motor module, and the crawling component can crawl up and down along the inner wall of the incinerator. Therefore, the cleaning robot can move up and down along the inner wall of the incinerator, and accordingly, the robot actuator can clean the aggregates at different height positions on the inner wall of the incinerator.

[0020] 2. When the cleaning robot is not in use, the folding arm is folded to the side of the bracket body, and the telescopic arm is in a retracted state relative to the folding arm. Therefore, the supporting crawling mechanism can be compactly folded to the side of the bracket body. The cleaning robot occupies little space when not in use, and is more convenient to carry or store.

[0021] 3. When in use, the cleaning robot does not need to rely on a lifting mechanism to complete the up and down movement of the cleaning robot along the inner wall of the incinerator, that is, the cleaning robot can move up and down along the inner wall of the incinerator by itself. Therefore, the cleaning robot protected in this application is obviously more convenient when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the cleaning robot according to an embodiment of the utility model;

[0023] Figure 2 This is a structural schematic diagram of the supporting crawling mechanism of an embodiment of the utility model in a folded state;

[0024] Figure 3 It is a schematic diagram of the exploded structure of the supporting crawling mechanism of the embodiment of the utility model.

[0025] The meanings of the reference numerals are as follows:

[0026] 100, bracket body; 110, storage slot; 200, execution robot; 210, robot arm; 220, execution end; 300, support crawling mechanism; 310, folding arm; 320, telescopic arm; 330, crawling assembly; 331, rotating seat; 332, crawling structure; 333, power part; 340, first driving part; 400, rotation driving mechanism. DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] In the description of the present invention, it should be understood that the descriptions involving orientations, such as up, down, front, back, upper, lower, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0031] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0032] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0033] See also Figure 1 to Figure 2, an incinerator cleaning robot provided by an embodiment of the utility model, includes a support body 100, an execution manipulator 200 and at least two groups of supporting crawling mechanisms 300, wherein the execution manipulator 200 is arranged at the bottom of the support body 100, and is used to clean the aggregates on the inner wall of the incinerator; at least two groups of supporting crawling mechanisms 300 are arranged on the opposite side of the support body 100; wherein each group of supporting crawling mechanisms 300 includes a folding arm 310, a telescopic arm 320 and a crawling assembly 330, the folding arm 310 is rotatably arranged on the side of the support body 100 so as to be folded to fit with the side of the support body 100, the telescopic arm 320 is slidably arranged on the folding arm 310 along the length direction of the folding arm 310, and the crawling assembly 330 is connected to the end of the telescopic arm 320, and is used to crawl up and down along the inner wall of the incinerator.

[0034] Specifically, the staff rotates the folding arm 310 in the folded state to the unfolded state, and the telescopic arm 320 slides to the extended state relative to the folding arm 310. Specifically, when applied to an incinerator, at least one set of crawling components 330 supporting the crawling mechanism 300 abuts against one side wall of the incinerator, and another set of crawling components 330 supporting the crawling mechanism 300 abuts against the other side wall of the incinerator, so that the cleaning robot can be kept at a height position of the incinerator, so that the aggregates on the inner wall of the incinerator can be cleaned. At the same time, the crawling component 330 is usually provided with a driving module, such as a motor module, and the crawling component 330 can crawl up and down along the inner wall of the incinerator, so that the cleaning robot can move up and down along the inner wall of the incinerator, and accordingly, the machine execution manipulator 200 can clean the aggregates at different height positions of the inner wall of the incinerator.

[0035] It can be understood that when the cleaning robot is not in use, when the folding arm 310 is folded to the side of the bracket body 100, the telescopic arm 320 is in a retracted state relative to the folding arm 310. Therefore, the supporting crawling mechanism 300 can be compactly folded to the side of the bracket body 100. The cleaning robot occupies little space when not in use, and is more convenient to carry or store.

[0036] In addition, the cleaning robot does not need to rely on a lifting mechanism to complete the up and down movement of the cleaning robot along the inner wall of the incinerator when in use. That is, the cleaning robot can move up and down along the inner wall of the incinerator by itself. Therefore, the cleaning robot protected in this application is obviously more convenient when in use.

[0037] In order to facilitate the folding of the supporting crawling mechanism 300, in some embodiments, each supporting crawling mechanism 300 further includes a first driving member 340 and a second driving member (not shown in the figure), wherein the first driving member 340 is disposed on the support body 100 and connected to the folding arm 310, thereby the first driving member 340 can drive the folding arm 310 to be unfolded or folded; the second driving member is disposed on the folding arm 310 and connected to the telescopic arm 320, thereby the second driving member can drive the telescopic arm 320 to be extended or retracted. The first driving member 340 and the second driving member can be a cylinder, an oil cylinder, an electric push rod or a servo motor, etc.

[0038] The telescopic arm 320 can be slidably disposed in the axial hole of the folding arm 310, and the second driving member is disposed in the axial hole of the folding arm 310 and connected to the end of the telescopic arm 320, whereby the second driving member drives the telescopic arm 320 to slide toward the inner side of the folding arm 310, thereby completing the contraction of the telescopic arm 320 toward the folding arm 310. At the same time, the telescopic arm 320 and the second driving member can be hidden inside the folding arm 310, thereby ensuring the aesthetics of the supporting crawling mechanism 300, and further ensuring the aesthetics of the cleaning robot.

[0039] In specific application, the second driving member first drives the telescopic arm 320 to retract toward the folding arm 310, and the crawling assembly 330 moves toward the folding arm 310 along with the telescopic arm 320. Then, the first driving member 340 pulls the folding arm 310 toward the side of the support body 100, so as to fold the folding arm 310 to fit the side of the support body 100. As can be seen from the above, the supporting crawling mechanism 300 is provided with the first driving member 340 and the second driving member, and the first driving member 340 automatically drives the folding arm 310 to fold toward the side of the support body 100, and the second driving member automatically drives the telescopic arm 320 to retract toward the folding arm 310, so as to replace the manual operation of the supporting crawling mechanism 300 to fold, thereby making the cleaning robot more convenient to use.

[0040] Further, the first driving member 340 can be a driving mechanism structure such as an electric push rod, an unfolding cylinder or an unfolding oil cylinder, and the first driving member 340 has a telescopic push rod, the main body of the first driving member 340 is rotatably connected to the side of the bracket body 100 around the vertical axis, and the end of the telescopic push rod is rotatably connected to the side of the folding arm 310. Specifically, when the folding arm 310 is unfolded, the telescopic push rod of the first driving member 340 extends, and the first driving member 340 drives the telescopic arm 320 to switch from the folded state to the unfolded state; conversely, when the folding arm 310 is folded, the telescopic push rod of the first driving member 340 contracts, and the first driving member 340 drives the telescopic arm 320 to rotate to the folded state.

[0041] Furthermore, a storage slot 110 is provided along the length direction of the side of the support body 100, the end of the folding arm 310 is rotatably disposed at the end position of the storage slot 110, and the main body of the first driving member 340 is also rotatably disposed at the end position of the storage slot 110, and the first driving member 340 is used to drive the folding arm 310 to rotate toward the storage slot 110; wherein, when the folding arm 310 is folded to the side of the support body 100, the first driving member 340 is just hidden inside the storage slot 110. It can be understood that, through the setting of the storage slot 110 of the support body 100, the first driving member 340 can be hidden inside the storage slot 110, thereby ensuring the aesthetics of the cleaning robot and ensuring that the folding arm 310 can be compactly folded to the side of the support body 100.

[0042] Instead of the first driving member 340 and the second driving member driving the supporting crawling mechanism 300 to fold automatically, in some embodiments, each group of supporting crawling mechanism 300 further includes a third driving member (not shown in the figure), the third driving assembly can be an electric push rod, a cylinder hydraulic cylinder, etc., the third driving member has a telescopic push rod, the main body of the third driving member is rotatably connected to the side of the support body 100, and the end of the telescopic push rod is rotatably connected to the end of the telescopic arm 320 away from the folding arm 310. Specifically, when the telescopic push rod of the third driving member is extended, the third driving member pushes the folding arm 310 to unfold outward, and at the same time, the telescopic arm 320 is extended relative to the folding arm 310, thereby, the third driving member realizes the unfolding of the supporting crawling mechanism 300; conversely, when the telescopic push rod of the third driving member is retracted, the third driving member pulls the folding arm 310 to fold toward the side of the support body 100, and at the same time, the telescopic arm 320 is retracted toward the folding arm 310, thereby, the third driving member realizes the folding of the supporting crawling mechanism 300.

[0043] In some embodiments, the cleaning robot includes four groups of supporting crawling mechanisms 300, two groups of supporting crawling mechanisms 300 are rotatably set at one side of the support body 100, and the two groups of supporting crawling mechanisms 300 can be folded to the side of the support body 100. For example, the first folding arm 310 of one group of supporting crawling mechanisms 300 is rotatably set at the front position of the left side of the support body 100, and the first folding arm 310 of the other group of supporting crawling mechanisms 300 is rotatably set at the rear position of the left side of the support body 100, thereby, the two groups of supporting crawling mechanisms 300 can be folded to the left side of the support body 100; similarly, the other two groups of supporting crawling mechanisms 300 are rotatably set at the other side of the support body 100, more precisely, the folding arms 310 of the two groups of supporting crawling mechanisms 300 are rotatably set at the right side of the support body 100, thereby folding to the right side of the support body 100.

[0044] It is understandable that the front and rear sides of the support body 100 are both provided with execution crawling mechanisms, so that the four sets of support crawling mechanisms 300 can stably support the cleaning robot to move up and down along the inner wall of the incinerator, thereby ensuring that the execution manipulator 200 can stably work in the incinerator. Of course, only one support crawling mechanism 300 is provided on the left and right sides of the support body, and the cleaning robot can also work normally.

[0045] It should be noted that the telescopic arm 320 is slidably arranged on the folding arm 310. With such an arrangement, when the supporting crawling mechanism 300 is folded to the side of the bracket body 100, the supporting crawling mechanism 300 occupies a smaller space in the front and rear directions, thereby meeting the requirement of folding two supporting crawling mechanisms 300 at the same side of the bracket body 100 at the same time.

[0046] In some embodiments, reference Figures 2 to 3 The crawling assembly 330 includes a power piece 333, a rotating seat 331 and a crawling structure 332, wherein the power piece 333 may be a servo motor, the main body of the power piece 333 is fixed to the inner side of the telescopic arm 320, the rotating seat 331 is connected to the driving shaft of the power piece 333, and the crawling structure 332 is connected to the rotating seat 331, thereby, the power piece 333 drives the rotating seat 331 to rotate, thereby driving the crawling structure 332 to rotate. The crawling structure 332 is usually provided with a driving module, such as a motor module, and the crawling structure 332 can crawl up and down along the inner wall of the incinerator, thereby, the cleaning robot moves along the up and down direction of the incinerator.

[0047] During application, the power part 333 drives the crawling structure 332 to rotate 90 degrees through the rotating seat 331, and the crawling structure 332 switches from the upward crawling posture to the horizontal crawling posture. At this time, the crawling structure 332 can move horizontally in the incinerator under the drive of the motor module, and the cleaning robot can move horizontally in the front and back or left and right directions in the incinerator, thereby improving the working efficiency of the cleaning robot.

[0048] Furthermore, the crawling structure 332 is a crawler-type walking structure. Of course, the crawling structure 332 can also be a roller-type walking structure. It can be understood that the crawling structure 332 is a crawler-type walking structure, and the crawling structure 332 can stably abut against the inner wall of the incinerator, thereby ensuring that the cleaning robot can stably walk in the incinerator, and then ensuring that the execution robot can stably work in the incinerator. Even if one of the supporting crawling mechanisms 300 is abnormal, the other supporting crawling mechanisms 300 can also stably support the cleaning robot to ensure that the equipment can work normally.

[0049] In some embodiments, reference Figure 1 to Figure 2The cleaning robot also includes a rotary drive mechanism 400, the base of which is fixedly arranged at the center of the bottom of the support body 100, and the base of the execution manipulator 200 is assembled and connected to the driving part of the rotary drive mechanism 400, so that the rotary drive mechanism 400 can drive the execution manipulator 200 to rotate circumferentially. It can be understood that when the execution manipulator 200 works at a height position, the rotary drive mechanism 400 drives the execution manipulator 200 to move circumferentially, and the execution manipulator 200 can clean up the aggregates around the height position; at the same time, when the cleaning robot moves up and down, the rotary drive mechanism 400 drives the execution manipulator 200 to move circumferentially, and the cleaning robot can conveniently clean up the aggregates on the inner wall of the incinerator in all directions.

[0050] In some embodiments, the execution manipulator 200 includes a manipulator arm 210 and an execution terminal 220, wherein the manipulator arm 210 is connected to the driving part of the rotary drive mechanism 400 to be assembled on the support body 100, and the execution terminal 220 is configured to be detachably arranged at the movable end of the manipulator arm 210 so that the execution terminal 220 can be replaced. Among them, the execution terminal 220 is a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical decoking agent spraying device. It is understandable that the staff can flexibly replace the appropriate execution terminal 220 according to the situation of the aggregate, so that the aggregate can be better processed.

[0051] In some embodiments, the cleaning robot further includes a visual sensor and a laser radar, wherein the visual sensor and the laser radar are arranged on the execution manipulator 200 or the support body 100, and the visual sensor and the laser radar are used to detect the aggregates on the inner wall of the incinerator. It is understandable that the visual sensor and the laser radar monitor the internal condition of the combustion furnace in real time, the control system automatically adjusts the coke clearing strategy based on the above detection conditions, and the execution manipulator 200 responds to external instructions to realize the intelligent management of the operation process. In addition, the cleaning robot can also optimize future operation paths and methods based on historical operation data, and continuously improve operation efficiency.

[0052] The technical means disclosed in the solution of the utility model are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications are also regarded as the protection scope of the utility model.

Claims

1. An incinerator cleaning robot, characterized in that: include: The bracket body; An execution manipulator, arranged at the bottom of the support body, for cleaning the aggregates on the inner wall of the incinerator; At least two groups of supporting crawling mechanisms are arranged on opposite sides of the bracket body; wherein each group of the supporting crawling mechanisms includes a folding arm, a telescopic arm and a crawling assembly, the folding arm is rotatably arranged on the side of the bracket body so as to be folded to fit the side of the bracket body, the telescopic arm is slidably arranged on the folding arm along the length direction of the folding arm, and the crawling assembly is connected to the end of the telescopic arm for crawling up and down along the inner wall of the incinerator.

2. The incinerator cleaning robot according to claim 1, characterized in that: Each of the supporting crawling mechanisms also includes a first driving member and a second driving member, wherein the first driving member is arranged on the bracket body to drive the folding arm to be able to unfold or fold, and the second driving member is arranged on the folding arm to drive the telescopic arm to be able to extend or retract.

3. The incinerator cleaning robot according to claim 2, characterized in that: The first driving member has a telescopic push rod, the main body of the first driving member is rotatably connected to the side of the bracket body, and the end of the telescopic push rod is rotatably connected to the side of the folding arm.

4. The incinerator cleaning robot according to claim 3, characterized in that: The side of the bracket body has a receiving groove, and the main body of the first driving member is rotatably disposed in the receiving groove, wherein when the folding arm is folded to the side of the bracket body, the first driving member is hidden inside the receiving groove.

5. The incinerator cleaning robot according to claim 1, characterized in that: The cleaning robot includes four groups of supporting crawling mechanisms, two groups of the supporting crawling mechanisms are rotatably set on one side of the bracket body and are used to fold to the side of the bracket body, and the other two groups of the supporting crawling mechanisms are rotatably set on the other side of the bracket body and are used to fold to the side of the bracket body.

6. The incinerator cleaning robot according to claim 1, characterized in that: Each group of the supporting crawling mechanism also includes a third driving member, which has a telescopic push rod. The main body of the third driving member is rotatably connected to the side of the bracket body, and the end of the telescopic push rod is rotatably connected to the end of the telescopic arm away from the folding arm.

7. The incinerator cleaning robot according to claim 1, characterized in that: The crawling mechanism includes a power member, a rotating seat and a crawling structure, wherein the power member is arranged on the telescopic arm, the rotating seat is connected to the power member, the crawling structure is connected to the rotating seat, the power member drives the crawling structure to rotate through the rotating seat, and the crawling structure is a crawler walking structure or a roller walking structure.

8. The incinerator cleaning robot according to claim 1, characterized in that: The cleaning robot further comprises a rotation driving mechanism, wherein the rotation driving mechanism is arranged at the bottom of the support body, and the execution manipulator is connected to a driving part of the rotation driving mechanism.

9. The incinerator cleaning robot according to claim 1, characterized in that: The cleaning robot also includes visual sensors and lidar for monitoring aggregates in the incinerator.

10. The incinerator cleaning robot according to claim 1, characterized in that: The execution robot includes a robot arm and an execution end, wherein the robot arm is connected to the support body, and the execution end is configured to be detachably arranged on the movable end of the robot arm so that the execution end can be replaced, wherein the execution end is a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical decoking agent spraying device.

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