Incinerator decoking robot

Abstract

The utility model discloses an incinerator decoking robot which comprises a connecting frame, a rotating device, a hammering mechanism and a bucket mechanism, the rotating device is installed on the connecting frame, the hammering mechanism is arranged on the right side of the connecting frame, and the bucket mechanism is arranged on the left side of the connecting frame. According to the decoking robot for the incinerator, the bucket abuts against the inner wall of the incinerator, the hammering drill continuously hammers a coking area on the inner wall of the incinerator, the inner wall of the incinerator is supported through the bucket mechanism, reverse supporting acting force is provided for the hammering mechanism, and in other words, an acting force attachment point and an auxiliary supporting effect are formed; the anti-collision device is used for counteracting the counter-acting force of the hammering mechanism and also plays a proper anti-collision protection role on the furnace wall, so that coke in the furnace can be removed, and the operation is smooth.

Description

Technical Field

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

[0002] When incinerating solid waste, due to the complex composition of the solid waste entering the furnace, when the temperature in the furnace is higher than the melting point of the material, it will volatilize and melt under high temperature and coke on the inner wall of the furnace of the incinerator, and gradually spread and grow into dense and thick coke blocks, covering the four walls of the incinerator in the auxiliary burner area and below, resulting in reduced incineration capacity and efficiency, affecting boiler output, and in serious cases, the furnace must be forced to be shut down for decoking.

[0003] The coking phenomenon in the furnace of the incinerator is difficult to avoid. If it is mild, it needs to be removed online, and if it is severe, the furnace must be shut down for decoking. Online decoking means that the furnace door is opened without stopping the furnace, and the coking is done manually with a long pickaxe at a fixed point; while decoking by stopping the furnace traditionally requires manual entry into the furnace to clean the coke. Manual decoking is time-sensitive, heavy, labor-intensive, and has high temperature radiation heat in the furnace, a harsh working environment, and prominent construction safety issues.

[0004] According to the survey, when the furnace is shut down for decoking, the only few decoking machines use impact drills for decoking. These machines are bulky and require high-altitude wire rope hoisting operations inside the furnace. Moreover, they are suspended in the air during operation, have no fulcrum, and are difficult to counterweight. The decoking effect and efficiency still need to be improved.

[0005] Therefore, we propose a solid waste incinerator decoking robot to solve the above problems. Utility Model Content

[0006] The utility model aims to provide an incinerator decoking robot to solve the problems raised in the above-mentioned background technology.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A decoking robot for an incinerator comprises a connecting frame, a rotating device, a hammer mechanism and a bucket mechanism, wherein the rotating device is installed on the connecting frame, the hammer mechanism is arranged on the right side of the connecting frame, and the bucket mechanism is arranged on the left side of the connecting frame.

[0009] The hammer mechanism includes a base arm, a support arm, an end arm and a hammer drill, wherein the support arm is installed at the end position of the base arm through a transverse axis, the end arm is installed at the end position of the support arm through a transverse axis, and the hammer drill is installed at the end position of the end arm.

[0010] The bucket mechanism includes a fixed arm, an intermediate arm, an end arm, and a bucket. The intermediate arm is installed at the end of the fixed arm through a transverse axis structure, the end arm is installed at the end of the intermediate arm through a transverse axis structure, and the bucket is installed at the end position of the end arm.

[0011] The rotating device includes an assembly frame, a protective shell, a rotating structure, a worm and a motor. The protective shell is installed in the inner cavity space of the assembly frame, the rotating structure is installed on the top of the protective shell, the worm is installed in the inner cavity of the protective shell, and the motor is installed on the side of the assembly frame.

[0012] Preferably, a flange structure is installed at the bottom of the base arm, a right fourth hydraulic cylinder is installed between the flange structure and the base arm, a right first hydraulic cylinder is installed between the base arm and the support arm, a right second hydraulic cylinder is installed between the support arm and the end arm, and a right third hydraulic cylinder is installed between the end arm and the hammer drill.

[0013] Preferably, a connecting shell is provided at the bottom of the fixed arm, a left first hydraulic cylinder is provided at the connection between the connecting shell, the fixed arm and the middle arm, a left second hydraulic cylinder is provided at the connection between the fixed arm, the middle arm and the end arm, and a left third hydraulic cylinder is provided at the connection between the middle arm, the end arm and the bucket.

[0014] Preferably, the output shaft of the motor is docked and mounted with the worm through a coupling.

[0015] Preferably, the bottom of the rotating structure is plugged onto the protective shell through a vertical axis, and tooth structures are equidistantly arranged at the bottom of the side of the rotating structure, and the tooth structure located on one side is meshed with the worm.

[0016] Preferably, a fall chain hoist is installed on the top of the connecting frame.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The incinerator decoking robot has a bucket against the inner wall of the incinerator, and the hammer drill continuously hammers the coked area on the inner wall of the incinerator. The bucket mechanism is supported on the inner wall of the incinerator to provide a reverse supporting force for the hammer mechanism, that is, it constitutes an attachment point and an auxiliary support to offset the reaction force of the hammer mechanism, and also plays an appropriate anti-collision protection role for the furnace wall, so that the coke in the furnace can be removed and the operation can be smooth.

[0019] 2. When the bucket of the incinerator decoking robot works alone, the bucket mechanism cooperates with the visual mechanism to continuously remove the relatively loose coke on the inner wall of the incinerator through the action of the bucket. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural view of the present utility model;

[0021] Figure 2 This is a schematic structural view of the slewing device of the present utility model;

[0022] Figure 3 This is a schematic structural view of the bucket mechanism of the present utility model;

[0023] Figure 4 This is a schematic structural view of the hammering mechanism of the present utility model;

[0024] Figure 5 This is a sectional view of the slewing device of the present utility model;

[0025] Figure 6 This is a schematic process view of the present utility model.

[0026] In the figure: 1, chain block hoist; 2, connecting frame; 3, slewing device; 31, motor; 32, slewing structure; 33, worm; 34, mounting frame; 35, protective housing; 4, hammering mechanism; 41, right fourth hydraulic cylinder; 42, right first hydraulic cylinder; 43, right second hydraulic cylinder; 44, right third hydraulic cylinder; 45, hammering drill; 46, flange structure; 47, base arm; 48, support arm; 49, end arm; 5, bucket mechanism; 51, left first hydraulic cylinder; 52, left second hydraulic cylinder; 53, left third hydraulic cylinder; 54, bucket; 55, connecting shell; 56, fixed arm; 57, intermediate arm; 58, end arm. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0028] The present utility model provides a technical solution for a coking removal robot for an incinerator:

[0029] Embodiment:

[0030] As Figure 1 shown, the robot mainly includes a slewing device 3, a hammering mechanism 4, and a bucket mechanism 5.

[0031] As Figure 4As shown, the hammer mechanism 4 mainly includes a base arm 47, a support arm 48, an end arm 49 and a hammer drill 45. The top of the base arm 47 and the bottom of the support arm 48, and the top of the support arm 48 and one end of the end arm 49 are connected and fixed by a transverse bolt structure. A right first hydraulic cylinder 42 is arranged between the base arm 47 and the support arm 48, a right second hydraulic cylinder 43 is arranged between the support arm 48 and the end arm 49, and a right third hydraulic cylinder 44 is arranged between the end arm 49 and the hammer drill 45.

[0032] like Figure 3 As shown, the bucket mechanism 5 mainly includes a fixed arm 56, an intermediate arm 57 and a terminal arm 58. The fixed arm 56 and the intermediate arm 57, as well as the intermediate arm 57 and the terminal arm 58 are connected and fixed by transverse bolts. A left first hydraulic cylinder 51 is installed between the fixed arm 56 and the intermediate arm 57, a left second hydraulic cylinder 52 is installed between the intermediate arm 57 and the terminal arm 58, a bucket 54 is installed at the terminal position of the terminal arm 58, and a left third hydraulic cylinder 53 is arranged between the terminal arm 58 and the bucket 54.

[0033] like Figure 2 As shown, the rotating device 3 mainly includes an assembly frame 34, a protective shell 35, a motor 31, a worm 33 and a rotating structure 32. The protective shell 35 is fixedly installed in the inner cavity of the assembly frame 34, the motor 31 is installed on the side of the assembly frame 34, the worm 33 is installed in the inner cavity of the protective shell 35, and the rotating structure 32 is installed on the top of the protective shell 35.

[0034] Among them, Figure 4 As shown, a flange structure 46 for mounting the hammer mechanism 4 is fixedly mounted at the bottom of the base arm 47 , and a right four-hydraulic cylinder 41 is arranged between the flange structure 46 and the base arm 47 .

[0035] Among them, Figure 3 As shown, a connection shell 55 for mounting the bucket mechanism 5 is mounted at the bottom of the fixed arm 56 via fasteners.

[0036] Among them, Figure 3 As shown, one end of the worm 33 is butt-jointed with the output shaft of the motor 31 via a coupling, and tooth structures are equidistantly arranged at the bottom of the side of the rotary structure 32 , and the tooth structures are meshed with the worm 33 .

[0037] Among them, Figure 3 As shown, the worm 33 is located at one side of the rotary structure 32 , and the rotary structure 32 is rotatably installed in the protective shell 35 .

[0038] Among them, Figure 1 As shown, the connecting frame 2 is installed at the upper and lower positions of the rotating device 3, and the bucket mechanism 5 and the hammer mechanism 4 are installed at the lower position of the connecting frame 2.

[0039] Among them, as Figure 4 shown, a chain hoist 1 is provided at the top of the connecting frame 2.

[0040] In this embodiment, when using this technical solution to perform decoking operations on the inner wall of the incinerator, a remote controller is used to control the actions of the chain hoist 1 and the slewing device 3. Before decoking, the entire robot structure is lifted into the incinerator by the chain hoist 1. A camera structure for visual recognition is installed on the decoking robot. In this way, when operating the decoking robot, the internal operation situation of the incinerator can be understood and observed in real time.

[0041] According to the images of the visual structure, the decoking robot is guided and operated to move and adjust the angle. At the same time, it can also be judged through the visual mechanism where decoking operations need to be performed.

[0042] When the decoking robot moves to a suitable position, the slewing device 3 is controlled to act through the remote controller. Specifically: The motor 31 drives the worm 33 to rotate through its output shaft. When the worm 33 rotates, it can drive the slewing structure 32 to rotate through the tooth structure. Thus, the connecting frame 2 is driven to rotate by the slewing structure 32. When the connecting frame 2 rotates, the bucket mechanisms 5 and the hammering mechanisms 4 on both sides can be driven to rotate, and then adjusted to a suitable position.

[0043] After that, the hydraulic unit on the bucket mechanism 5 is controlled to act through the remote controller, so that the bucket 54 abuts against the inner wall of the incinerator. Then, the hydraulic mechanism on the hammering mechanism 4 is controlled to act through the remote controller, so that the hammer drill 45 continuously hammers the coking area on the inner wall of the incinerator. The bucket mechanism 5 provides support on the inner wall of the incinerator, providing a reverse supporting force for the hammering mechanism 4, that is, constituting a force attachment point and an auxiliary supporting function, used to offset the reaction force of the hammering mechanism 4, and at the same time also playing an appropriate anti-impact protection for the furnace wall. In this way, the coking in the furnace can be removed and the operation can be carried out smoothly.

[0044] Among them, through the cooperation of the bucket mechanism 5 and the visual mechanism, the relatively loose coking on the inner wall of the incinerator is continuously shoveled and removed through the action of the bucket 54.

[0045] Among them, the hammer drill is used to clean the dense coking areas that are difficult to shovel with the bucket 54, and the bucket 54 is used to clean the relatively loose coking areas that are easy to shovel with the bucket 54. The remote controller controls the input through visual recognition in the furnace and outputs control signals to control the rotation of the slewing device 3 and the extension or contraction of the double arms, as well as the bucket 54 or hammering actions.

[0046] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model may be understood according to specific circumstances.

[0047] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. An incinerator coke removal robot, comprising a connecting frame (2), a slewing device (3), a hammering mechanism (4) and a bucket mechanism (5), characterized in that: The slewing device (3) is installed on the connecting frame (2), the hammer mechanism (4) is arranged on the right side of the connecting frame (2), and the bucket mechanism (5) is arranged on the left side of the connecting frame (2); The hammer mechanism (4) comprises a base arm (47), a support arm (48), a terminal arm (49) and a hammer drill (45), wherein the support arm (48) is mounted at the end position of the base arm (47) via a transverse axis, the terminal arm (49) is mounted at the end position of the support arm (48) via a transverse axis, and the hammer drill (45) is mounted at the end position of the terminal arm (49); The bucket mechanism (5) comprises a fixed arm (56), an intermediate arm (57), an end arm (58), and a bucket (54); the intermediate arm (57) is mounted at the end of the fixed arm (56) via a transverse axis structure; the end arm (58) is mounted at the end of the intermediate arm (57) via a transverse axis structure; and the bucket (54) is mounted at the end of the end arm (58); The rotating device (3) comprises an assembly frame (34), a protective shell (35), a rotating structure (32), a worm (33) and a motor (31), wherein the protective shell (35) is installed in the inner cavity space of the assembly frame (34), the rotating structure (32) is installed on the top of the protective shell (35), the worm (33) is installed in the inner cavity of the protective shell (35) in a through-type manner, and the motor (31) is installed at the side of the assembly frame (34).

2. The coke removal robot for an incinerator according to claim 1, characterized in that: A flange structure (46) is installed at the bottom of the base arm (47), a right fourth hydraulic cylinder (41) is installed between the flange structure (46) and the base arm (47), a right first hydraulic cylinder (42) is installed between the base arm (47) and the support arm (48), a right second hydraulic cylinder (43) is installed between the support arm (48) and the end arm (49), and a right third hydraulic cylinder (44) is installed between the end arm (49) and the hammer drill (45).

3. The coke removal robot for an incinerator according to claim 1, wherein: A connecting shell (55) is provided at the bottom of the fixed arm (56); a left first hydraulic cylinder (51) is provided at the connection between the connecting shell (55), the fixed arm (56) and the intermediate arm (57); a left second hydraulic cylinder (52) is provided at the connection between the fixed arm (56), the intermediate arm (57) and the terminal arm (58); and a left third hydraulic cylinder (53) is provided at the connection between the intermediate arm (57), the terminal arm (58) and the bucket (54).

4. The coke removal robot for an incinerator according to claim 1, wherein: The output shaft of the motor (31) is butt-jointed with the worm (33) via a coupling.

5. The coke removal robot for an incinerator according to claim 1, characterized in that: The bottom of the rotary structure (32) is plugged onto the protective shell (35) via a vertical shaft, and tooth structures are equidistantly arranged at the bottom of the side of the rotary structure (32), and the tooth structure on one side meshes with the worm (33).

6. The coke removal robot for an incinerator according to claim 1, wherein: A chain hoist (1) is installed on the top of the connecting frame (2).

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