Furnace interior decoking robot

Abstract

The utility model belongs to the technical field of waste incineration cleaning, and discloses an in-furnace decoking robot which comprises a main machine body. The multiple supporting assemblies are arranged on the two sides of the main machine body and comprise first-stage supporting arms and second-stage supporting arms, and the two ends of the first-stage supporting arms are hinged to the main machine body and the second-stage supporting arms correspondingly; the supporting assembly has a folding state and an extending state, when the supporting assembly is in the folding state, the first-stage supporting arm is folded and attached to the main machine body, and the first-stage supporting arm and the second-stage supporting arm are arranged in parallel; when the supporting assembly is in the stretching state, the first-stage supporting arm and the second-stage supporting arm are unfolded through a hinge point, and the end, not connected with the first-stage supporting arm, of the second-stage supporting arm is used for making contact with the inner wall of the furnace and abutting against the inner wall of the furnace. And the decoking assembly comprises a decoking mechanical arm and an execution tool, the execution tool is arranged at the end, away from the main machine body, of the decoking mechanical arm, and the decoking mechanical arm drives the execution tool to clean the interior of the furnace. The decoking robot has the effects that the adaptability and flexibility of the decoking robot are enhanced, and the decoking efficiency of the decoking robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of garbage incineration cleaning, and more specifically, to an in-furnace coke cleaning robot. Background Art

[0002] Under the background of the accelerating urbanization process, the treatment of domestic waste has become an important issue in urban management. As an efficient treatment method, garbage incineration can not only greatly reduce the volume of garbage, but also convert thermal energy into clean energy such as electric energy through heat recovery, realizing the effective recycling of resources. As the core equipment in this process, during the long-term operation of the garbage incinerator, a large amount of slag and coke blocks are likely to accumulate inside it. These accumulations not only affect the combustion efficiency, but may also cause damage to the equipment and shorten its service life. Therefore, it is crucial to regularly carry out coke cleaning and maintenance on the incinerator.

[0003] The existing coke cleaning technologies mainly include two methods: manual coke cleaning and mechanical coke cleaning. Manual coke cleaning usually requires first setting up a scaffolding, and then the staff needs to enter the inside of the incineration furnace and use tools such as electric picks and pneumatic picks for high-altitude cleaning operations. This method has a high labor intensity, low efficiency, and high safety risks. In terms of mechanical coke cleaning, some remotely operated coke cleaning robots have emerged on the market, which can replace manual labor to a certain extent and reduce the time for personnel to be directly exposed to dangerous environments. However, in actual applications, the existing coke cleaning robots are often designed for specific furnace types, and their adaptability and operation range are limited for the complex-shaped and narrow-space internal structure of the incineration furnace, and still require a lot of manual intervention in actual operation, affecting the coke cleaning efficiency.

[0004] Regarding the above technical means, the existing coke cleaning robots have the defect of insufficient adaptability and flexibility. Summary of the Utility Model

[0005] The embodiments of the present application provide an in-furnace coke cleaning robot, which can enhance the adaptability and flexibility of the coke cleaning robot and improve the coke cleaning efficiency of the coke cleaning robot.

[0006] The in-furnace coke cleaning robot provided by the present application adopts the following technical solutions:

[0007] An in-furnace coke cleaning robot, comprising:

[0008] A main body;

[0009] A plurality of support components, arranged on both sides of the main body; each support component includes a first-level support arm and a second-level support arm, one end of the first-level support arm is hinged to the main body, and the other end of the first-level support arm is hinged to the second-level support arm;

[0010] The support assembly has a folded state and an extended state. When the support assembly is in the folded state, the first-level support arm is folded and attached to the main body, and the first-level support arm and the second-level support arm are arranged in parallel; when the support assembly is in the extended state, the first-level support arm and the second-level support arm are unfolded through a hinge point, and one end of the second-level support arm that is not connected to the first-level support arm is used to contact and press against the inner wall of the furnace.

[0011] The coke cleaning assembly is arranged on the main body. The coke cleaning assembly includes a coke cleaning robotic arm and an execution tool. The execution tool is arranged at one end of the coke cleaning robotic arm away from the main body, and the coke cleaning robotic arm drives the execution tool to clean the inside of the furnace.

[0012] By adopting the above technical solutions, before the operation, multiple support assemblies are in the folded state, which is convenient for the whole machine to enter the furnace; during the operation, multiple support assemblies are switched from the folded state to the extended state, the first-level support arm and the second-level support arm are unfolded and cooperate, and one end of the second-level support arm that is not connected to the first-level support arm abuts against the inner wall of the furnace. Multiple second-level support arms cooperate to reduce the overall shaking of the robot caused by the reaction force generated during the coke cleaning operation of the coke cleaning robotic arm, which facilitates the work of the coke cleaning assembly and improves the stability and efficiency of the operation; after the operation is completed, the support assembly is switched from the extended state to the folded state, which is convenient for the whole machine to enter and exit the furnace for transportation. The foldable and adjustable first-level support arm and the second-level support arm cooperate with the coke cleaning robotic arm, which can adapt to furnaces of different shapes and sizes, enhance the adaptability and flexibility of the coke cleaning robot, and improve the coke cleaning efficiency of the coke cleaning robot.

[0013] Optionally, the coke cleaning assembly further includes a rotation module. The rotation module includes a mounting seat and a rotation driving member. The rotation driving member is arranged on the main body to drive the mounting seat to rotate in cooperation with the main body; one end of the coke cleaning robotic arm that is not connected to the execution tool is fixedly installed on the mounting seat.

[0014] By adopting the above technical solutions, the rotation driving member drives the mounting seat to rotate, thereby driving the coke cleaning robotic arm to rotate in a 360° direction, so that the coke cleaning robotic arm drives the execution tool to perform a full-range and non-dead-angle coke cleaning operation, improving the coverage of the coke cleaning operation and ensuring that every coking area can be effectively cleaned.

[0015] Optionally, each group of the support assemblies further includes a driving module. The driving module includes a first driving member and a second driving member. The first driving member is arranged on the main body and is used to drive the first-level support arm to unfold or fold; the second driving member is arranged on the first-level support arm and is used to drive the second-level support arm to unfold or fold.

[0016] By adopting the above-mentioned technical solution, each group of support arms can adjust the angle between the first-level support arm and the main body and / or between the second-level support arm and the first-level support arm accordingly by controlling the first driving member and the second driving member, and unfold the first-level support arm and the second-level support arm according to usage requirements, so that the ends of the multiple groups of second-level support arms away from the first-level support arms always maintain a tight pressure against the inner side walls of the furnace of different shapes and sizes, thereby improving the degree of automation of the entire machine.

[0017] Optionally, an end portion of the secondary support arm that is not connected to the primary support arm is detachably provided with a walking module, and the walking module rotates with the secondary support arm to adjust the direction.

[0018] By adopting the above technical solution, different forms of walking modules can be selected according to the conditions of the furnace inner wall. When the walking module presses against the furnace inner wall, the walking module can move along the furnace inner wall, thereby improving the operating efficiency of the entire machine.

[0019] Optionally, the walking module is preferably a tracked walking module.

[0020] By adopting the above technical solution, the optional crawler walking module increases the contact area with the inner wall of the furnace and enhances the stability of the supporting components, so that the robot can move horizontally or vertically in the furnace flexibly and efficiently, realizing all-round coke cleaning operations.

[0021] Optionally, the decoking robot arm is preferably a robot arm with a multi-section structure.

[0022] By adopting the above technical solution, the decoking robot arm adopts a multi-section robot arm structure, which can be flexibly extended and retracted and adjusted in posture during work, further improving the coverage of the decoking operation.

[0023] Optionally, the execution tool is detachably connected to the decoking robot arm, and the execution tool is one of a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical decoking agent spraying module.

[0024] By adopting the above technical solution, different forms of execution tools can be selected according to the type or demand of coke blocks to be cleaned, such as hydraulic breaker, milling head, high-pressure water gun, dust removal module or chemical decoking agent spraying module, so as to achieve the most appropriate removal strategy for different types of coke accumulation.

[0025] Optionally, a connecting plate is provided on the end surface of the main body facing away from the rotating module, and the connecting plate is provided with a lifting point, so that a winch can lift the entire machine to the internal working area of ​​the furnace through the lifting point.

[0026] By adopting the above technical solution, during on-site operations, the entire coke cleaning robot is hoisted to the working area inside the furnace by setting a winch at the manhole door above the furnace.

[0027] Optionally, it further includes a remote operation interface. The main body is provided with an intelligent control system, and the intelligent control system is communicatively connected to the remote operation interface.

[0028] By adopting the above technical solution, an operator can achieve remote control away from the site of the coke cleaning robot. According to the instructions input through the remote operation interface, the coke cleaning robot can autonomously execute pre-programmed tasks according to the intelligent control system, reducing the necessity of manual intervention, enhancing the safety of operation, and realizing the intelligent management of the operation process.

[0029] Optionally, the intelligent control system includes a vision sensor, a lidar, and an intelligent algorithm module. The vision sensor is used to identify and analyze the furnace internal environment information, the lidar is used to provide the furnace internal space layout information, and the vision sensor and the lidar generate electrical signals according to the corresponding information and feedback them to the intelligent algorithm module.

[0030] By adopting the above technical solution, the vision sensor can perceive and monitor the furnace internal condition in real time, automatically identify the distribution and position of coke lumps; the lidar can create and generate a high-precision three-dimensional point cloud map, provide accurate distance and space layout, and perform navigation and precise positioning in real time to avoid damaging the furnace wall during operation; the intelligent algorithm can optimize the coke cleaning path according to the electrical signals generated by the vision sensor and the lidar, continuously improving the operation efficiency and accuracy.

[0031] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages: Before operation, multiple support components are in a folded state, which is convenient for the whole machine to enter the furnace; during operation, multiple support components switch from the folded state to the extended state, the first-level support arm and the second-level support arm cooperate to unfold, and the end of the second-level support arm that is not connected to the first-level support arm abuts against the inner wall of the furnace. The cooperation of multiple second-level support arms reduces the overall shaking of the robot caused by the reaction force generated during the coke cleaning operation of the coke cleaning manipulator, facilitating the work of the coke cleaning component and improving the stability and efficiency of the operation; after the operation is completed, the support component switches from the extended state to the folded state, which is convenient for the whole machine to enter and exit the furnace for transportation. The foldable and adjustable first-level support arm and the second-level support arm cooperate with the coke cleaning manipulator, can adapt to furnaces of different shapes and sizes, enhance the adaptability and flexibility of the coke cleaning robot, and improve the coke cleaning efficiency of the coke cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 FIG. 20 is a schematic diagram of the overall structure of an in-furnace coke cleaning robot in a folded state disclosed in an embodiment of the present application;

[0033] Figure 2 FIG. 24 is a schematic diagram of the overall structure of an in-furnace coke cleaning robot in an extended state disclosed in an embodiment of the present application;

[0034] Figure 3 This is a schematic structural diagram of the prominent support component of a furnace internal coke cleaning robot disclosed in an embodiment of the present application.

[0035] Explanation of reference numerals:

[0036] 1. Main body; 11. Connecting plate; 111. Hanging point; 12. Installation groove; 2. Support component; 21. First-level support arm; 22. Second-level support arm; 221. Traveling module; 23. Driving module; 231. First driving member; 232. Second driving member; 3. Coke cleaning component; 31. Coke cleaning robotic arm; 32. Execution tool; 33. Rotating module; 331. Mounting seat; 332. Rotating driving member. Detailed implementation manners

[0037] The following further elaborates on the present application in conjunction with the accompanying drawings.

[0038] The embodiment of the present application provides a furnace internal coke cleaning robot, which can enhance the adaptability and flexibility of the coke cleaning robot and improve the coke cleaning efficiency of the coke cleaning robot.

[0039] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0040] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0041] For ease of understanding, the furnace internal coke cleaning robot in the embodiment of the present application is described below. Please refer to Figure 1 and Figure 2, An embodiment of the in-furnace coke cleaning robot in the embodiments of the present application includes: a main body 1, a plurality of support components 2, and a coke cleaning component 3. The plurality of support components 2 are arranged on both sides of the main body 1 for pressing against the inner wall of the furnace to support the main body 1 and the coke cleaning component 3, and the coke cleaning component 3 is arranged on the main body 1 for coke cleaning and maintenance of the furnace.

[0042] A connecting plate 11 is provided on the upper end surface of the main body 1, and a lifting point 111 is provided on the connecting plate 11. In this embodiment, the connecting plate 11 is vertically arranged, and there are two lifting points 111, and the two lifting points 111 are arranged along the length direction of the main body 1. During on-site operation, a hoist is arranged at the manhole door above the incinerator, and the hoist hoists the whole machine to the operation area inside the furnace through the lifting points 111.

[0043] Please refer to Figure 1 and Figure 2 , In this embodiment, four groups of support components 2 are provided. Taking the four groups of support components 2 as an example for description, the four groups of support components 2 are arranged in two groups on each side of the central axis where the main body 1 is located along the length direction and are symmetrically arranged. The four groups of support components 2 arranged at intervals and symmetrically act together to press against the inner wall of the furnace, ensuring uniform force on both sides of the main body 1 and improving the installation stability of the main body 1.

[0044] The support component 2 includes a first-level support arm 21, a second-level support arm 22, and a driving module 23. The first-level support arm 21 is hinged to the main body 1, the second-level support arm 22 is hinged to the first-level support arm 21, and the driving module 23 drives the first-level support arm 21 and the main body 1 and the second-level support arm 22 and the first-level support arm 21 to fold or extend. The support component 2 has a folded state and an extended state. When the support component 2 is in the folded state, the first-level support arm 21 is folded and attached to the main body 1, and the first-level support arm 21 and the second-level support arm 22 are arranged in parallel; when the support component 2 is in the extended state, the first-level support arm 21 and the second-level support arm 22 are unfolded through the hinge point, and the end of the second-level support arm 22 that is not connected to the first-level support arm 21 is used to contact and press against the inner wall of the furnace. The first-level support arm 21 and the second-level support arm 22 that can be folded and adjusted can adapt to furnaces of different shapes and sizes, enhance the adaptability and flexibility of the coke cleaning robot, and improve the coke cleaning efficiency of the coke cleaning robot.

[0045] Before operation, the plurality of support components 2 are in the folded state, which is convenient for the whole machine to enter the furnace; during operation, the plurality of support components 2 are switched from the folded state to the extended state, the first-level support arm 21 and the second-level support arm 22 are unfolded and cooperate, the end of the second-level support arm 22 that is not connected to the first-level support arm 21 abuts against the inner wall of the furnace, and the plurality of second-level support arms 22 cooperate to reduce the overall shaking of the robot caused by the reaction force generated during the coke cleaning operation of the coke cleaning manipulator 31, facilitating the work of the coke cleaning component 3 and improving the stability and efficiency of the operation; after the operation is completed, the support component 2 is switched from the extended state to the folded state, which is convenient for the whole machine to enter and exit the furnace for transfer.

[0046] Please refer to Figure 2 and Figure 3 Specifically, the main body 1 is provided with mounting grooves 12 corresponding to the positions of the support components 2. The mounting grooves 12 are located on the two side walls of the main body 1 in the long side direction. One end of the first-level support arm 21 close to the main body 1 is located in the mounting groove 12 and is connected to the main body 1 through a hinge shaft; a connecting block is provided at the end of the first-level support arm 21 away from the main body 1, and the second-level support arm 22 is connected to the fixed block through a hinge shaft. When the support component 2 is in the folded state, the two first-level support arms 21 on the same side of the main body 1 in the length direction are folded towards each other, and the two second-level support arms 22 are folded away from each other, so that the first-level support arm 21 and the second-level support arm 22 are parallel to reduce the floor area. In each group of support components 2, the first-level support arm 21 and the second-level support arm 22 are both connected and folded in a "Z" shape.

[0047] The driving module 23 includes a first driving member 231 and a second driving member 232. The first driving member 231 is arranged on the main body 1 and is used to drive the first-level support arm 21 to unfold or fold; the second driving member 232 is arranged on the first-level support arm 21 and is used to drive the second-level support arm 22 to unfold or fold. By controlling the first driving member 231 and the second driving member 232 for each group of support arms, the angles between the first-level support arm 21 and the main body 1 and / or between the second-level support arm 22 and the first-level support arm 21 can be correspondingly adjusted, and the first-level support arm 21 and the second-level support arm 22 are unfolded according to the use requirements, so that the ends of the multiple groups of second-level support arms 22 away from the first-level support arm 21 always keep in close contact with the inner walls of the furnace with different shapes and sizes, improving the automation degree of the whole machine. In this embodiment, both the first driving member 231 and the second driving member 232 are oil cylinders, and the two ends of the oil cylinders are installed through connecting blocks. One end of the first driving member 231 is installed on the main body 1, and the other end is installed at the end of the first-level support arm 21 away from the main body 1. When the support component 2 is in the folded state, the first driving member 231 is located in the mounting groove 12. The setting of the mounting groove 12 reduces the weight of the main body 1 on the one hand and is used to accommodate the first driving member 231 to reduce the volume of the support component 2 in the folded state on the other hand. One end of the second driving member 232 is installed at the end of the first-level support arm 21 close to the main body 1, and the other end is installed at the end of the second-level support arm 22 close to the first-level support arm 21. When the support component 2 is in the folded state, the second driving member 232 is located between the first-level support arm 21 and the second-level support arm 22. In other embodiments, the first driving member 231 and the second driving member 232 can be one or more of cylinders or motors, so as to provide acting forces between the first-level support arm 21 and the main body 1 and between the second-level support arm 22 and the first-level support arm 21 to adjust the corresponding hinge angles.

[0048] In some other embodiments, the support assembly 2 may further be provided with a three-stage support arm or even an N-stage support arm. The three-stage support arm or even the N-stage support arm are all connected in a "Z" shape to form a folding structure with more sections. The implementation principle is the same as that of this embodiment and will not be elaborated here.

[0049] Please refer to Figure 2 , further, a walking module 221 is detachably provided at one end of the secondary support arm 22 that is not connected to the primary support arm 21. The walking module 221 is rotationally matched with the secondary support arm 22 to adjust the direction. The walking module 221 is used to press against the inner wall of the furnace and move along the inner wall of the furnace. The walking module 221 can adjust the direction, thereby driving the coke cleaning assembly 3 to change the operation area, which is convenient for improving the operation efficiency of the whole machine. Different forms of walking modules 221 can be selected according to the inner wall condition of the furnace, including wheeled walking modules and crawler-type walking modules. In this embodiment, the walking module 221 is preferably a crawler-type walking module. Selecting the crawler-type walking module increases the contact area with the inner wall of the furnace, enhances the stability of the support assembly 2, and enables the robot to move horizontally or vertically in the furnace flexibly and efficiently, realizing all-round coke cleaning operations.

[0050] Please refer to Figure 1 , the coke cleaning assembly 3 is located below the main body 1. The coke cleaning assembly 3 includes a coke cleaning robotic arm 31, an execution tool 32, and a rotation module 33. The coke cleaning robotic arm 31 is installed on the main body 1 through the rotation module 33. The execution tool 32 is arranged at one end of the coke cleaning robotic arm 31 away from the rotation module 33. The coke cleaning robotic arm 31 drives the execution tool 32 to clean the inside of the furnace.

[0051] Specifically, the rotation module 33 includes a mounting seat 331 and a rotation driving member 332. The rotation driving member 332 is arranged on the lower end surface of the main body 1 to drive the mounting seat 331 to be rotationally matched with the main body 1. One end of the coke cleaning robotic arm 31 that is not connected to the execution tool 32 is fixedly installed on the mounting seat 331. The rotation driving member 332 drives the mounting seat 331 to rotate, thereby driving the coke cleaning robotic arm 31 to rotate in a 360° direction, so that the coke cleaning robotic arm 31 drives the execution tool 32 to perform all-round and dead-angle-free coke cleaning operations, improving the coverage of the coke cleaning operations and ensuring that every coke accumulation area can be effectively cleaned.

[0052] In this embodiment, the coke cleaning robotic arm 31 is preferably a robotic arm with a multi-joint structure. The coke cleaning robotic arm 31 can be designed into 2 joints, 3 joints or 4 joints according to needs. When the robotic arm with a multi-joint structure works, it can flexibly stretch and adjust its posture, further improving the coverage of the coke cleaning operation. The execution tool 32 is detachably connected to the coke cleaning robotic arm 31, and the execution tool 32 is one of a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical coke cleaning agent spraying module. According to the different types of coke blocks to be cleaned or requirements, different forms of execution tools 32 can be selected and installed at the end of the coke cleaning robotic arm 31, such as a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical coke cleaning agent spraying module, etc., so as to implement the most suitable cleaning strategy for different types of coke deposits.

[0053] The safety and intelligent level of the coke cleaning operation are improved. The coke cleaning robot further includes a remote operation interface. The main body 1 is provided with an intelligent control system, and the intelligent control system is communicatively connected to the remote operation interface. Through the remote operation interface, the operator can remotely control the robot when away from the site of the coke cleaning robot. According to the instructions input through the remote operation interface, the coke cleaning robot can independently execute the pre-programmed tasks according to the intelligent control system, reducing the necessity of manual intervention, enhancing the safety of the operation, and realizing the intelligent management of the operation process.

[0054] In this embodiment, the intelligent control system includes a vision sensor, a lidar and an intelligent algorithm module. The vision sensor is used to identify and analyze the furnace internal environment information, and the lidar is used to provide the furnace internal space layout information. The vision sensor and the lidar generate electrical signals according to the corresponding information and feedback them to the intelligent algorithm module. Through the vision sensor, the furnace internal condition can be monitored in real time, and the distribution and position of the coke blocks can be automatically identified. Through the lidar, a high-precision three-dimensional point cloud map can be created to provide accurate distance and space layout, and navigation and precise positioning can be carried out in real time to avoid damaging the furnace wall during the operation. Through the intelligent algorithm, the coke cleaning path can be optimized based on the electrical signals generated by the vision sensor and the lidar, continuously improving the operation efficiency and accuracy.

[0055] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A furnace coke cleaning robot, characterized in that: include: Main body (1); A plurality of support assemblies (2) are arranged on both sides of the main body (1); the support assembly (2) comprises a primary support arm (21) and a secondary support arm (22); one end of the primary support arm (21) is hinged to the main body (1), and the other end of the primary support arm (21) is hinged to the secondary support arm (22); The support assembly (2) has a folded state and an extended state. When the support assembly (2) is in the folded state, the primary support arm (21) is folded and fitted to the main body (1), and the primary support arm (21) and the secondary support arm (22) are arranged in parallel. When the support assembly (2) is in the extended state, the primary support arm (21) and the secondary support arm (22) are unfolded through a hinge point, and the end of the secondary support arm (22) not connected to the primary support arm (21) is used to contact and press against the inner wall of the furnace. A decoking assembly (3) is arranged on the main body (1), the decoking assembly (3) comprising a decoking mechanical arm (31) and an execution tool (32), the execution tool (32) being arranged at one end of the decoking mechanical arm (31) away from the main body (1), the decoking mechanical arm (31) driving the execution tool (32) to clean the furnace.

2. The furnace coke cleaning robot according to claim 1, characterized in that: The decoking assembly (3) further comprises a rotating module (33), wherein the rotating module (33) comprises a mounting seat (331) and a rotating driving member (332), wherein the rotating driving member (332) is arranged on the main body (1) to drive the mounting seat (331) to rotate and cooperate with the main body (1); and an end of the decoking mechanical arm (31) that is not connected to the execution tool (32) is fixedly mounted on the mounting seat (331).

3. The furnace coke cleaning robot according to claim 1, characterized in that: Each group of the support components (2) further comprises a driving module (23), wherein the driving module (23) comprises a first driving member (231) and a second driving member (232), wherein the first driving member (231) is arranged on the main body (1) and is used to drive the primary support arm (21) to unfold or fold; and the second driving member (232) is arranged on the primary support arm (21) and is used to drive the secondary support arm (22) to unfold or fold.

4. A furnace coke cleaning robot according to claim 1 or 3, characterized in that: An end portion of the secondary support arm (22) not connected to the primary support arm (21) is detachably provided with a walking module (221), and the walking module (221) is rotatably matched with the secondary support arm (22) to adjust the direction.

5. The furnace coke cleaning robot according to claim 4, characterized in that: The walking module (221) is preferably a crawler-type walking module.

6. The furnace coke cleaning robot according to claim 2, characterized in that: The coke cleaning robot arm (31) is preferably a multi-section structured robot arm.

7. A furnace coke cleaning robot according to claim 1 or 6, characterized in that: The execution tool (32) is detachably connected to the decoking mechanical arm (31), and the execution tool (32) is one of a hydraulic breaker, a milling head, a high-pressure water gun, a dust removal module or a chemical decoking agent spraying module.

8. The furnace coke cleaning robot according to claim 2, characterized in that: A connecting plate (11) is provided on the end surface of the main body (1) facing away from the rotating module (33), and the connecting plate (11) is provided with a lifting point (111) so that a winch can lift the entire machine to an operating area inside the furnace through the lifting point (111).

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