Cleaning robot for electric dust remover

Abstract

The utility model relates to a cleaning robot for an electric dust remover. The cleaning robot comprises a crawling mechanism and a cleaning mechanism. The upper end of a rope of the crawling mechanism is fixed to the position higher than the top end of the anode plate, the other end of the rope penetrates through the position between two pulleys A, passes through the position between a limiting guide frame A and a driving wheel A, then passes through the position between a limiting guide frame B and a driving wheel B and penetrates out of the position between two pulleys B arranged at the lower end of the crawling mechanism, and the robot is driven by a motor to move and ascend and descend on the rope. A roller of the cleaning mechanism is coaxially connected with a spiral brush roller through a jackscrew to drive the spiral brush roller to complete cleaning operation on the surfaces of the anode plate and the cathode wire; the robot can be further provided with a camera and auxiliary lighting equipment, and high-definition shooting and defect recognition in a high-dust environment and a dark environment are achieved. The cleaning robot for the electric precipitator can be used for internal cleaning and fault inspection of the electric precipitator, manual work is replaced by a machine, personal safety risks are reduced, the overhaul quality and efficiency of the electric precipitator are improved, and good operation of the electric precipitator is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to nondestructive testing technical field, especially relate to a kind of electric dust collector cleaning robot for internal cleaning and defect inspection of thermal power plant electric dust collector. BACKGROUND

[0002] Thermal power plant boiler relies on coal carbon combustion to generate qualified steam to drive steam turbine unit power generation, in combustion process, a large number of dust and harmful gas are inevitably generated, cause environmental pollution and health hazards. With the strengthening of the national environmental protection efforts, smoke emission concentration standard is constantly reduced, and the normal efficient operation of electric dust removal equipment is the key factor of standard discharge. Electric dust collector relies on gas ionization, dust particle is charged and moves to dust collecting plate under the action of electric field force, under the action of reasonable rapping period and rapping force, dust collected on dust collecting plate falls into dust hopper in sheet form and is removed. Electric dust collector is widely used due to its high dust removal efficiency, low equipment resistance, strong adaptability to flue gas change and less maintenance workload.

[0003] But in actual, due to operation, maintenance, mismanagement and other reasons, many electric dust collectors cannot exert their potential, and the dust removal efficiency is not high, which cannot reach the designed effect. Since the internal structure of electric dust collector is complex, personnel need to enter the slit of anode plate and cathode wire for routine maintenance and repair, and the minimum interval is only 200mm, which is extremely inconvenient for action, so that the repair quality cannot be guaranteed. And the internal environment contains a large amount of dust, is hot and light deficient, which has great influence on the health condition and psychological state of inspection personnel.

[0004] Therefore, we hope to use robot to replace manual repair and cleaning of electric dust collector, which not only avoids high-risk operation, but also improves repair efficiency and comprehensiveness. SUMMARY

[0005] In order to overcome the above-mentioned deficiencies in the prior art, the utility model provides a kind of electric dust collector cleaning robot can move inside electric dust collector, carry out anode plate, cathode wire dust removal and soundness, welding point firmness check.Electric dust collector cleaning robot realizes the movement of robot on rope by crawling mechanism, and the dust on anode plate and cathode wire is cleaned by the spiral brush roll of cleaning mechanism, which reduces manual intervention, improves cleaning efficiency and realizes automatic cleaning;The rope for assisting robot to crawl is simple and fast in suspension, which improves the efficiency of robot translation position;Robot can also be equipped with camera and auxiliary lighting equipment, realize high-dust environment, dark environment high-definition shooting, and carry out defect identification.Electric dust collector cleaning robot can realize dust cleaning inside electric dust collector, diagnose the real situation inside electric dust collector, provide targeted and accurate guidance for electric dust collector maintenance, and can also carry out comprehensive review after maintenance, verify the quality of electric dust collector maintenance comprehensively, and ensure the quality after repair.

[0006] To solve the above technical problems, the utility model adopts the technical scheme of: an electric dust collector cleaning robot, characterized by comprising: a crawling mechanism for moving up and down inside the electric dust collector, and a cleaning mechanism for removing dust from the surface of the anode plate and cathode wire inside the electric dust collector.

[0007] The crawling mechanism includes a rope for assisting the movement of the robot, a limit switch, a navigation plug, a shell for protecting internal components of the robot, a pulley A, a gear A, a drive wheel A, an encoder, a circuit board, a guide A, a limit guide bracket B, a fixed plate, a limit guide bracket A, a handle for manual operation and carrying the robot, a motor, a gear B, a drive wheel B, a guide B, a pulley B, and a battery.

[0008] The rope is fixed at a position higher than the top end of the anode plate at the upper end of the crawling mechanism, and the other end passes between the two pulleys A provided at the upper end of the crawling mechanism. The rope is pressed tightly against the drive wheel A by the limit guide bracket A. Due to the guidance of the guide A, the rope passes between the limit guide bracket B and the drive wheel B, and is guided by the guide B to pass out between the two pulleys B provided at the lower end of the crawling mechanism.

[0009] The gear A and the gear B are engaged, the gear A is connected with the drive wheel A, the gear B is connected with the drive wheel B, the motor drives the gear to rotate, the gear drives the drive wheel to rotate, and the electric dust collector cleaning robot moves up and down on the rope.

[0010] The cleaning mechanism comprises a support, one end of the support is fixedly connected with a shell, the other end of the support is fixedly connected with a roller support, detachable roller side plates are installed on the left and right sides of the roller support, a roller is installed between the roller side plates, the roller is coaxially connected with a spiral brush roller through a jackscrew, and the built-in motor of the roller drives the roller to rotate, thereby driving the spiral brush roller to rotate, and the cleaning work on the surface of the anode plate and the cathode wire is completed.

[0011] The limit switch contacts the upper edge of the anode plate to trigger a signal, and the motor is controlled to stop running through the circuit board.

[0012] The navigation plug is connected with a controller for controlling the walking of the crawling mechanism, the cleaning of the cleaning mechanism and the shooting of the camera.

[0013] The spiral brush roller is provided with staggered hard nylon bristles on the surface, the inclination angle of the bristles is 30-45 degrees, the length of the spiral brush roller can be the width of the anode plate of the electric dust collector, and the diameter of the spiral brush roller can be the spacing between the anode plate and the cathode wire of the electric dust collector.

[0014] The encoder is used for monitoring the moving speed and position of the robot, the fixed plate is used for fixing the internal components of the robot, and the battery is used for providing power for the robot.

[0015] The circuit board is connected with the motor and the built-in motor of the roller, the circuit board is connected with an external controller through the navigation plug, and the circuit board comprises a speed regulating module for regulating the rotating speed of the motor according to the control signal.

[0016] The limit guide frame A extrudes the rope to tightly adhere to the driving wheel A, the limit guide frame B extrudes the rope to tightly adhere to the driving wheel B, and the guide A and the guide B play a guiding role.

[0017] The electric dust collector cleaning robot is also provided with a camera and an LED lamp.

[0018] The electric dust collector cleaning robot is also provided with a falling prevention hook and a falling preventer for preventing the electric dust collector cleaning robot from falling.

[0019] The cleaning mechanism adopts a modularization, and different models can be replaced according to different on-site cleaning environments.

[0020] The electric dust collector cleaning robot moves at a relatively high speed, can reach 5m / min, and supports continuous and long-time cruise detection.

[0021] Through the above technical scheme, the electric dust collector cleaning robot has the following beneficial effects:

[0022] In conclusion, the electric dust cleaner cleaning robot can move inside the electric dust cleaner to carry out the cleaning work of the anode plate and the cathode wire. The robot moves up and down on the rope through the crawling mechanism, and the spiral brush roller of the cleaning mechanism cleans the dust on the anode plate and the cathode wire, reduces manual intervention, improves the cleaning efficiency, and realizes automatic cleaning. The rope for assisting the robot to crawl is simple and fast in suspension, and improves the efficiency of the robot in translation position. The robot can also be equipped with a camera and an auxiliary lighting device to realize high-definition shooting in a high-dust environment and a dark environment, and to identify defects. The electric dust cleaner cleaning robot can realize the dust cleaning work inside the electric dust cleaner, diagnose the real situation inside the electric dust cleaner, provide targeted and accurate guidance and direction for the maintenance of the electric dust cleaner, and can also conduct a comprehensive review after maintenance to verify the maintenance quality of the electric dust cleaner, and ensure the quality after repair. The electric dust cleaner cleaning robot is used for internal fault inspection and cleaning of the electric dust cleaner, replaces manual work with a machine, reduces personal safety risks, improves the electric dust maintenance quality and efficiency, ensures the good operation of the electric dust cleaner, reduces smoke emission, improves emission performance, and improves the stability of the unit operation.

[0023] The utility model will be described in detail below with reference to the drawings. DRAWINGS

[0024] Figure 1 It is the structure schematic diagram of electric dust cleaner cleaning robot of the utility model's front view.

[0025] Figure 2 It is the structure schematic diagram of electric dust cleaner cleaning robot of the utility model's right view.

[0026] In the figure: 1-crawling mechanism, 2-cleaning mechanism, 101-rope, 102-limit switch, 103-ship plug, 104-housing, 105-pulley A, 106-gear A, 107-driving wheel A, 108-encoder, 109-circuit board, 110-guider A, 111-limit guider B, 112-fixing plate, 113-limit guider A, 114-handle, 115-motor, 116-gear B, 117-driving wheel B, 118-guider B, 119-pulley B, 120-battery, 201-bracket, 202-roller bracket, 203-roller side plate, 204-roller, 205-spiral brush roller. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the implementation scheme of the utility model will be described in detail below with reference to the drawings.

[0028] As Figure 1The utility model discloses an electric dust collector cleaning robot, including crawling mechanism 1, cleaning mechanism 2.

[0029] In an embodiment of the utility model, crawling mechanism 1 is used to move and lift in the electric dust collector, and cleaning mechanism 2 is used to remove dust on the surface of anode plate and cathode wire inside the electric dust collector.

[0030] As Figure 1 The crawling mechanism 1 includes a rope 101, a limit switch 102, a navigation plug 103, a shell 104, a pulley A 105, a gear A 106, a drive wheel A 107, an encoder 108, a circuit board 109, a guider A 110, a limit guider frame B 111, a fixed plate 112, a limit guider frame A 113, a handle 114, a motor 115, a gear B 116, a drive wheel B 117, a guider B 118, a pulley B 119 and a battery 120.

[0031] In an embodiment of the utility model, the rope 101 is used to assist the movement of the robot, the shell 104 is used to protect the internal components of the robot, and the handle 114 is used for manual operation and carrying of the robot.

[0032] In an embodiment of the utility model, the upper end of the rope 101 is fixed above the top end of the anode plate, the other end passes between the two pulley A 105 arranged at the upper end of the crawling mechanism 1, the rope 101 is pressed against the drive wheel A 107 through the limit guider frame A 113, and the rope 101 passes between the limit guider frame B 111 and the drive wheel B 117 under the guidance of the guider A 110, and then passes out between the two pulley B 119 arranged at the lower end of the crawling mechanism 1 under the guidance of the guider B 118.

[0033] In an embodiment of the utility model, the gear A 106 and the gear B 116 are engaged, the gear A 106 is connected with the drive wheel A 107, the gear B 116 is connected with the drive wheel B 117, the motor 115 drives the rotation of the gears, the gears drive the rotation of the drive wheels, and the electric dust collector cleaning robot moves and lifts on the rope 101.

[0034] As Figure 2 The cleaning mechanism 2 includes a bracket 201, one end of the bracket 201 is fixedly connected with the shell 104, the other end is fixedly connected with a roller bracket 202, detachable roller side plates 203 are installed on the left and right sides of the roller bracket 202, a roller 204 is installed between the roller side plates 203, and the roller 204 is coaxially connected with a spiral brush roller 205 through a top wire.

[0035] In an embodiment of the utility model, the built-in motor of the roller 204 drives the rotation of the roller 204, thereby driving the rotation of the spiral brush roller 205, and the cleaning work on the surface of the anode plate and the cathode wire is completed.

[0036] In an embodiment of the utility model, the limit switch 102 contacts the upper edge of the anode plate, triggers a signal, and the motor 115 is controlled to stop running through the circuit board 109.

[0037] In an embodiment of the utility model, the navigation plug 103 is connected with a controller for controlling the walking of the crawling mechanism 1, the cleaning of the cleaning mechanism 2, and the shooting of the camera.

[0038] In an embodiment of the utility model, the spiral brush roller 205 is provided with staggered hard nylon bristles on the surface, the inclination angle of the bristles is 30°-45°, the length of the spiral brush roller 205 is greater than the width of the two anode plates of the electric dust collector, and the spiral brush roller 205 can clean two groups of anode plates and cathode wires of the electric dust collector at a time.

[0039] In an embodiment of the utility model, the encoder 108 is used for monitoring the moving speed and position of the robot, the fixed plate 112 is used for fixing the internal components of the robot, and the battery 120 is used for providing power for the robot.

[0040] In an embodiment of the utility model, the circuit board 109 is connected with the motor 115 and the built-in motor of the roller 204, the circuit board 109 is connected with an external controller through the navigation plug 103, and the circuit board 109 comprises a speed regulation module for adjusting the rotating speed of the motor 115 according to a control signal.

[0041] In an embodiment of the utility model, the limit guide frame A 113 extrudes the rope 101 to be close to the driving wheel A 107, the limit guide frame B 111 extrudes the rope 101 to be close to the driving wheel B 117, and the guide A 110 and the guide B 118 play a guiding role.

[0042] In an embodiment of the utility model, the electric dust collector cleaning robot is also provided with a camera and an LED lamp.

[0043] In an embodiment of the utility model, the electric dust collector cleaning robot is also provided with a falling prevention hook and a falling preventer for preventing the electric dust collector cleaning robot from falling.

[0044] In an embodiment of the utility model, the cleaning mechanism 2 adopts a modularization, and different models can be replaced according to different on-site cleaning environments.

[0045] In one embodiment of the utility model, the robot can move inside the electric dust collector to carry out cleaning work of the anode plate and the cathode wire. The electric dust collector cleaning robot can also be equipped with a camera and auxiliary lighting equipment, can realize high-definition shooting in a high-dust environment and a dark environment, and can identify defects and faults, complete the integrity and welding firmness inspection of the electric dust collector, can realize remote control operation and real-time wireless transmission of video data, and the operator can even work outside the electric dust collector. The external controller has video data storage and playback functions. The electric dust collector cleaning robot has a high moving speed, which can reach 5 m / min, and supports continuous and long-time cruise detection.

[0046] In summary, the electric dust collector cleaning robot has the following advantages: the electric dust collector cleaning robot realizes the movement and lifting of the robot on the rope through the crawling mechanism, and reduces manual intervention and improves cleaning efficiency through the spiral brush roller of the cleaning mechanism to clean the dust on the anode plate and the cathode wire inside the electric dust collector, realizes automatic cleaning, the rope for assisting the robot to crawl is simple and fast in suspension, improves the efficiency of the translation position of the robot, the robot can also be equipped with a camera and auxiliary lighting equipment to realize high-definition shooting in a high-dust environment and a dark environment, and to identify defects. The utility model provides an efficient, safe and simple electric dust collector cleaning robot, which meets the demand of automatic cleaning of the electric dust collector.

[0047] The electric dust collector cleaning robot can realize dust cleaning inside the electric dust collector, diagnose the real situation inside the electric dust collector, provide targeted and accurate guidance and direction for the maintenance of the electric dust collector, and can also conduct comprehensive review after maintenance to verify the maintenance quality of the electric dust collector and ensure the quality after maintenance. The electric dust collector cleaning robot can be used for internal cleaning and fault inspection of the electric dust collector, replaces manual work with a machine, reduces personal safety risks, improves the maintenance quality and efficiency of the electric dust collector, ensures the good operation of the electric dust collector, reduces smoke emission, improves emission performance, and improves the stability of the unit operation.

[0048] The specific embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range of ordinary skilled persons in the art without departing from the purpose of the utility model.

Claims

1. An electrostatic precipitator cleaning robot characterized by The utility model relates to a climbing mechanism (1) for moving up and down in an electric dust collector and a cleaning mechanism (2) for removing dust from the surface of anode plates and cathode wires inside the electric dust collector. The climbing mechanism (1) comprises a rope (101) for assisting the movement of the robot, a limit switch (102), a propeller (103), a shell (104) for protecting the internal components of the robot, a pulley A (105), a gear A (106), a drive wheel A (107), an encoder (108), a circuit board (109), a guide A (110), a limit guide B (111), a fixed plate (112), a limit guide A (113), a handle (114) for manual operation and carrying of the robot, a motor (115), a gear B (116), a drive wheel B (117), a guide B (118), a pulley B (119), and a battery (120). The upper end of the rope (101) is fixed above the top end of the anode plate, the other end passes between the two pulley A (105) provided at the upper end of the climbing mechanism (1), then passes between the limit guide A (113) and the drive wheel A (107), goes down, then passes between the limit guide B (111) and the drive wheel B (117), goes down, and then passes out from between the two pulley B (119) provided at the lower end of the climbing mechanism (1). The gear A (106) and the gear B (116) are engaged, the gear A (106) is connected with the drive wheel A (107), the gear B (116) is connected with the drive wheel B (117), the motor (115) drives the rotation of the gears, the gears drive the rotation of the drive wheels, and the electric dust collector cleaning robot moves up and down on the rope (101). The cleaning mechanism (2) comprises a support (201), one end of the support (201) is fixedly connected with the shell (104), the other end is fixedly connected with a roller support (202), the roller support (202) is provided with detachable roller side plates (203) on the left and right sides, the roller side plates (203) are provided with a roller (204) therebetween, the roller (204) is coaxially connected with a spiral brush roller (205) through a top pin, and the built-in motor of the roller (204) drives the rotation of the roller (204), so as to drive the rotation of the spiral brush roller (205) and complete the cleaning work on the surface of the anode plate and the cathode wire. The limit switch (102) contacts the upper edge of the anode plate to trigger a signal, and the motor (115) is controlled to stop running through the circuit board (109).

2. The electrostatic precipitator cleaning robot of claim 1, wherein The propeller (103) is connected with a controller for controlling the movement of the climbing mechanism (1), the cleaning of the cleaning mechanism (2), and the shooting of a camera.

3. The electrostatic precipitator cleaning robot of claim 1, wherein The spiral brush roller (205) is provided with staggered hard nylon bristles on the surface, the inclination angle of the bristles is 30°-45°, the length of the spiral brush roller (205) is greater than the width of two anode plates of the electric dust collector, and the spiral brush roller (205) can clean two groups of anode plates and cathode wires of the electric dust collector at one time.

4. The electrostatic precipitator cleaning robot of claim 1, wherein ​ 5. The electrostatic precipitator cleaning robot of claim 1, wherein The encoder (108) is used for monitoring the robot moving speed and position, the fixed plate (112) is used for fixing the internal components of the robot, and the battery (120) is used for providing power for the robot.

6. The electrostatic precipitator cleaning robot of claim 1, wherein The circuit board (109) is connected with the motor (115) and the built-in motor of the roller (204), the circuit board (109) is connected with the external controller through the navigation plug (103), and the circuit board (109) comprises a speed regulating module for adjusting the rotating speed of the motor (115) according to the control signal.

7. The electrostatic precipitator cleaning robot of claim 1, wherein The limiting guide frame A (113) extrudes the rope (101) to be close to the driving wheel A (107), the limiting guide frame B (111) extrudes the rope (101) to be close to the driving wheel B (117), and the guide A (110) and the guide B (118) play a guiding role.

8. The electrostatic precipitator cleaning robot of claim 1, wherein The electric dust collector cleaning robot is also provided with a camera and an LED lamp.

9. The electrostatic precipitator cleaning robot of claim 1, wherein The electric dust collector cleaning robot is also provided with a falling prevention hook and a falling prevention device connected with the electric dust collector cleaning robot to prevent the electric dust collector cleaning robot from falling.

10. The electrostatic precipitator cleaning robot of claim 1, wherein The cleaning mechanism (2) is modularized, and different models can be replaced according to different cleaning environments.

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