Cleaning robot for a gasifier

Abstract

The present disclosure discloses a cleaning robot for a gasification furnace, the gasification furnace is internally provided with a central barrel, the cleaning robot comprises a driving component, a fixing component, a main body component and a cleaning component; wherein the first contact part of the driving component abuts against the inner wall of the gasification furnace; the fixing component comprises a fixing flat plate and a second contact part, the second contact part abuts against the outer wall of the central barrel; the main body component is internally provided with a central shaft whose axis is perpendicular to the inner wall of the gasification furnace; the cleaning component comprises a cleaning moving end and a pick assembly; wherein the first end of the cleaning moving end is rotatably connected with the central shaft; the second end of the cleaning moving end is movably connected with the first end of the cleaning moving end, the pick assembly is connected with the second end of the cleaning moving end, and the pick assembly can move along a direction parallel to the central shaft along with the second end of the cleaning moving end. Through the scheme of the present application, the slag on the inner wall of the gasification furnace can be cleaned without damaging the inner wall of the gasification furnace.

Description

Technical Field

[0001] This disclosure generally relates to the field of robotics. More specifically, this disclosure relates to a cleaning robot for a gasifier. Background Technology

[0002] A methanol gasifier is a device that converts carbonaceous feedstocks (such as coal, biomass, and municipal solid waste) into syngas (such as carbon monoxide and hydrogen) through a high-temperature gasification reaction, which is then used to synthesize methanol. It is a core piece of equipment in green methanol or coal-to-methanol processes. The methanol gasifier can convert hydrocarbons in the feedstock into syngas through partial oxidation or pyrolysis gasification under high-temperature (e.g., 800-1200 degrees Celsius) and oxygen-deficient conditions.

[0003] During the production process of a methanol gasification furnace, a large amount of hard slag accumulates on its inner wall. Due to the small internal space of the gasification furnace and the difficulty in removing the slag, there is currently a lack of efficient and automated slag removal solutions. Existing slag removal equipment mainly relies on suction to remove relatively loose slag, but it cannot clean hard slag. Using mechanical cutting methods to clean the slag inside the gasification furnace is not only prone to equipment damage, but also inefficient. Furthermore, existing slag removal equipment in other fields mostly relies on magnetic wheels to move vertically along the inner wall of the equipment being cleaned; however, this technology is not suitable for all equipment, especially gasification furnaces made of stainless steel.

[0004] In view of this, there is an urgent need to provide a cleaning robot for gasifiers so that the slag on the inner wall of the gasifier can be cleaned without damaging the inner wall. Utility Model Content

[0005] In order to at least address one or more of the technical problems mentioned above, this disclosure proposes a solution for a cleaning robot for a gasifier in one aspect.

[0006] In a first aspect, this application provides a cleaning robot for a gasifier, the gasifier having a central tank inside. The cleaning robot includes a drive component, a fixing component, a main body component, and a cleaning component. The drive component has a first contact portion abutting against the inner wall of the gasifier, and a power element inside for driving the cleaning robot to move. The fixing component includes a fixing plate and a second contact portion. The fixing plate is parallel to the inner wall of the gasifier, and the second contact portion is located on the side of the fixing plate facing the central tank and abuts against the outer wall of the central tank. The main body component is configured with... Between the driving component and the fixed component, a central axis perpendicular to the inner wall of the gasifier is provided inside the main body component; the cleaning component includes a cleaning moving end and a pneumatic pick assembly; wherein the first end of the cleaning moving end is rotatably connected to the central axis; the second end of the cleaning moving end is movably connected to the first end of the cleaning moving end, and the second end of the cleaning moving end can move in a direction parallel to the central axis; the pneumatic pick assembly is connected to the second end of the cleaning moving end, and the pneumatic pick assembly can move along the direction parallel to the central axis with the second end of the cleaning moving end, for cleaning slag on the inner wall of the gasifier.

[0007] In some embodiments, the first contact portion includes a first wheel assembly, and the second contact portion includes a second wheel assembly.

[0008] In some embodiments, the fixing component further includes an adjustment assembly, wherein one end of the adjustment assembly is connected to the fixing plate and the other end of the adjustment assembly is connected to the second wheel set, and the adjustment assembly is capable of adjusting the pressure between the second wheel set and the outer wall of the central barrel.

[0009] In some embodiments, the cleaning robot further includes an air pump disposed outside the gasifier, and the adjustment assembly includes a first airbag component connected to the air pump, the first airbag component being capable of expanding or contracting along a direction from the inner wall of the gasifier to the outer wall of the central barrel.

[0010] In some embodiments, the fixing component further includes a braking assembly, which includes a second airbag component and a second airbag spring portion; wherein, a first end of the second airbag component is connected to the fixing plate, and a second end of the second airbag component is reciprocating along a direction from the inner wall of the gasifier to the outer wall of the central barrel; the second airbag spring portion is connected to the second end of the second airbag component and is able to follow the second end of the second airbag component in reciprocating along the direction from the inner wall of the gasifier to the outer wall of the central barrel.

[0011] In some embodiments, a gasket is provided on the side of the second airbag spring portion facing the outer wall of the central barrel.

[0012] In some embodiments, the cleaning mobile end includes a cleaning connecting plate and a cleaning telescopic rod; wherein the cleaning connecting plate includes a first region and a second region, the first region being rotatably connected to the central axis, allowing the cleaning connecting plate to rotate about the axis of the central axis; the cleaning telescopic rod is perpendicular to the inner wall of the gasifier, and the fixed end of the cleaning telescopic rod is located in the second region, the moving end of the cleaning telescopic rod is connected to the pneumatic pick assembly, enabling the pneumatic pick assembly to move in a direction perpendicular to the inner wall of the gasifier.

[0013] In some embodiments, the jackhammer assembly includes a jackhammer base and a jackhammer body, the jackhammer base being connected to the movable end of the cleaning telescopic rod, and the jackhammer body being disposed on the jackhammer base.

[0014] In some embodiments, the cleaning robot further includes a detection component for detecting slag on the inner wall of the gasifier.

[0015] The cleaning robot for gasifiers described above moves using a first and second set of wheels, eliminating the need for magnetic attachment to the inner wall or outer wall of the central tank. This allows for application in various scenarios, particularly for stainless steel equipment like gasifiers. Furthermore, the cleaning component, capable of rotating around a central axis, cleans surrounding slag when the robot is stationary, improving efficiency. Additionally, the use of a pneumatic pick assembly for slag removal prevents damage to the gasifier's inner wall caused by cutting. Attached Figure Description

[0016] The above and other objects, features, and advantages of exemplary embodiments of this disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0017] Figure 1 Exemplary structural diagrams of cleaning robots for gasifiers according to some embodiments of this application are shown;

[0018] Figure 2 Exemplary structural diagrams of cleaning robots for gasifiers according to other embodiments of this application are shown;

[0019] Figure 3 A cleaning method 300 for a gasifier according to some embodiments of this application is shown.

[0020] Tag name

[0021] 1 - Gasifier, 10 - Drive unit, 11 - First wheel assembly, 2 - Center barrel, 20 - Fixing unit, 201 - Fixing plate, 202 - Brake assembly, 203 - First airbag spring part, 204 - First airbag assembly, 205 - Second airbag spring part, 206 - Second airbag assembly, 207 - Gasket, 21 - Second wheel assembly, 30 - Main body part, 31 - Central shaft, 40 - Cleaning unit, 41 - Cleaning moving end, 411 - Cleaning connecting plate, 412 - Cleaning telescopic rod, 42 - Pneumatic pick assembly, 50 - Air pump. Detailed Implementation

[0022] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0023] It should be understood that the terms “comprising” and “including” used in this disclosure and claims indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0024] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure. As used in this disclosure and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this disclosure and claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0025] As used in this specification and claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0026] The specific embodiments disclosed herein will now be described in detail with reference to the accompanying drawings.

[0027] Figure 1 Exemplary structural diagrams of a cleaning robot for a gasifier 1, according to some embodiments of this application, are shown. Figure 1 As shown, the gasifier 1 has a central tank 2 inside. The cleaning robot includes a drive component 10, a fixing component 20, a main body component 30, and a cleaning component 40. The drive component 10 has a first contact portion abutting against the inner wall of the gasifier 1, and a power source inside for driving the cleaning robot. The fixing component 20 includes a fixing plate 201 and a second contact portion. The fixing plate is parallel to the inner wall of the gasifier 1, and the second contact portion is located on the side of the fixing plate facing the central tank 2, abutting against the outer wall of the central tank 2. The main body component 30 is located between the drive component 10 and the fixing component 20. Between the components, the main component 30 has a central axis 31 with its axis perpendicular to the inner wall of the gasifier 1; the cleaning component 40 includes a cleaning moving end 41 and a pneumatic pick assembly 42; wherein the first end of the cleaning moving end 41 is rotatably connected to the central axis; the second end of the cleaning moving end 41 is movably connected to the first end of the cleaning moving end 41, and the second end of the cleaning moving end 41 can move along a direction parallel to the central axis; the pneumatic pick assembly 42 is connected to the second end of the cleaning moving end 41, and the pneumatic pick assembly 42 can move along a direction parallel to the central axis with the second end of the cleaning moving end 41, for cleaning the slag on the inner wall of the gasifier 1.

[0028] In some embodiments, the first contact portion includes a first wheel group 11, and the second contact portion includes a second wheel group 21.

[0029] In some embodiments, the cleaning mobile end 41 includes a cleaning connecting plate 411 and a cleaning telescopic rod 412; wherein, the cleaning connecting plate 411 includes a first region and a second region, the first region being rotatably connected to the central axis, so that the cleaning connecting plate 411 can rotate around the axis of the central axis; the cleaning telescopic rod 412 is arranged perpendicularly to the inner wall of the gasifier 1, and the fixed end of the cleaning telescopic rod 412 is arranged in the second region, the moving end of the cleaning telescopic rod 412 is connected to the pneumatic pick assembly 42, and can drive the pneumatic pick assembly 42 to move in a direction perpendicular to the inner wall of the gasifier 1.

[0030] In some embodiments, the aforementioned gasifier 1 may include a methanol gasifier, which is an apparatus for converting carbonaceous raw materials (such as coal, biomass, municipal solid waste, etc.) into syngas (e.g., carbon monoxide and hydrogen) through a high-temperature gasification reaction, and then using it to synthesize methanol. Furthermore, the methanol gasifier can also convert liquid methanol into gaseous methanol vapor. Specifically, liquid methanol is pumped or injected into the gasifier 1, and the furnace may be equipped with heating elements (e.g., electric heating, hot fluid heating, tail gas / exhaust gas heating, etc.) to provide heat. When the liquid methanol absorbs sufficient heat, it can undergo a phase change, becoming methanol vapor. It is understood that at higher temperatures (e.g., well above the boiling point of methanol 64.7°C), some of the methanol vapor will undergo thermal cracking or catalytic cracking reactions, generating small molecule gases such as hydrogen and carbon monoxide.

[0031] In some embodiments, the central bucket 2 of the gasifier 1 can be positioned at the axial center of the gasifier 1, thereby forming an annular space between the central bucket 2 and the gasifier 1. It is understood that the cleaning robot of this application can operate within this annular space between the central bucket 2 and the gasifier 1, and can clean the slag on the inner wall of the gasifier 1. Furthermore, the cleaning robot of this application can also operate within other annular spaces enclosed by a cylindrical outer shell and a cylindrical inner cylinder.

[0032] It is understood that when the cleaning robot operates within the annular space between the central tank 2 and the gasifier 1, one end of the cleaning robot can rest against the inner wall of the gasifier 1, and the other end of the cleaning robot can rest against the outer wall of the central tank 2. This application will describe the cleaning robot based on its relative positional relationship when operating between the central tank 2 and the gasifier 1.

[0033] In some embodiments, the drive component 10 may include a drive body and a first contact portion, the first contact portion being a first wheel assembly 11. In some embodiments, the first wheel assembly 11 may be disposed on the side of the drive body opposite to the central barrel 2. When the cleaning robot works inside the gasification furnace 1, its first contact portion may abut against the inner wall of the gasification furnace 1, that is, the first wheel assembly 11 may abut against the inner wall of the gasification furnace 1. In some embodiments, a power element may be disposed inside the drive component 10, the power element including a battery, which can be used to drive the cleaning robot to move.

[0034] In some embodiments, the side of the drive body facing the central barrel 2 can be connected to the main body component 30. The interior of the main body component 30 may be provided with a central axis 31 whose axis is perpendicular to the inner wall of the gasifier 1. It is understood that the inner wall of the gasifier 1 can be curved. The perpendicularity of the axis of the central axis 31 to the inner wall of the gasifier 1 can be such that, in a certain longitudinal section of the gasifier 1, the axis of the central axis 31 is perpendicular to the straight line containing the inner wall of the gasifier 1 within the aforementioned longitudinal section (e.g., ...). Figure 1As shown in the image).

[0035] In some embodiments, the cleaning component 40 may include a cleaning movable end 41 and a pneumatic pick assembly 42. In some embodiments, the cleaning movable end 41 may include a first end and a second end, wherein the first end of the cleaning movable end 41 may be the end facing the central barrel 2, and the second end of the cleaning movable end 41 may be the end facing the inner wall of the gasifier (i.e., away from the central barrel).

[0036] In some embodiments, the jackhammer assembly 42 includes a jackhammer base and a jackhammer body, the jackhammer base being connected to the movable end of the cleaning telescopic rod, and the jackhammer body being disposed on the jackhammer base.

[0037] In some embodiments, the first end of the cleaning mobile end 41 may be rotatably connected to the central shaft 31. Specifically, the cleaning mobile end 41 may include a cleaning connecting plate 411 and a cleaning telescopic rod 412. The cleaning mobile end 41 may be disposed at the first end of the cleaning mobile end 41, and the cleaning telescopic rod 412 may be disposed at the second end of the cleaning mobile end 41.

[0038] In some embodiments, the cleaning connection plate 411 can be a cylinder mounting base, on which a first region and a second region can be provided, wherein the first region and the second region do not overlap. The first region of the cleaning connection plate 411 can be rotatably connected to the central shaft 31, so that the cleaning connection plate 411 can rotate about the axis of the central shaft 31.

[0039] In some embodiments, a bearing housing may be provided on a first region of the cleaning connection plate 411, with a rolling bearing installed inside, so that the central shaft 31 and the bearing housing are connected. In other embodiments, the cleaning connection plate 411 and the central shaft 31 may also be connected by means of a turntable and ball bearing connection.

[0040] In some embodiments, the cleaning telescopic rod 412 can be disposed on the second region of the cleaning connecting plate 411, and the cleaning telescopic rod 412 can rotate with the cleaning connecting plate 411 about the axis of the central axis 31. In some embodiments, the cleaning telescopic rod 412 may include a cylinder, the fixed part of which can be disposed on the second region of the cleaning connecting plate 411, and the moving part of which can be connected to the pneumatic pick assembly 42. It is understood that the moving part of the cylinder can move along the axial direction of the cylinder, thereby driving the pneumatic pick assembly 42 to move along the axial direction of the cylinder, wherein the axial direction of the cylinder can be perpendicular to the inner wall of the gasifier 1. It is understood that the aforementioned axial direction of the cylinder can be parallel to the direction of the central axis. Further, when the pneumatic pick assembly 42 is located around the slag to be cleaned, the pneumatic pick assembly 42 can be driven by the cylinder inside its interior to reciprocate to strike the slag, thereby achieving the cleaning of the slag.

[0041] In some embodiments, the pneumatic pick assembly 42 may include a pneumatic pick base and a pneumatic pick body, wherein the pneumatic pick base may be connected to the moving part of a cylinder, and the pneumatic pick body may be disposed on the pneumatic pick base. During operation, the aforementioned pneumatic pick body and pneumatic pick base may move along with the moving part of the cylinder.

[0042] Understandably, after the pneumatic pick assembly 42 has cleaned up the slag, the pneumatic pick assembly 42 can rotate around the central axis 31 along with the cleaning connecting plate 411, thereby cleaning up the surrounding slag.

[0043] In some embodiments, the fixing component 20 may include a fixing plate 201 and a second contact portion, wherein the side of the fixing plate 201 away from the central barrel 2 may be connected to the main body component 30, and the side of the fixing plate 201 facing the central barrel 2 may be provided with a second contact portion, wherein the second contact portion may include a second wheel set 21, which may abut against the outer wall of the central barrel 2.

[0044] In some embodiments, the aforementioned fixed plate 201 may be arranged parallel to the inner wall of the gasifier 1. It can be understood that the aforementioned fixed plate 201 being arranged parallel to the inner wall of the gasifier 1 may mean that in a certain longitudinal section of the gasifier 1, the cross-sectional line of the fixed plate 201 is parallel to the cross-sectional line of the inner wall of the gasifier 1 in the aforementioned longitudinal section.

[0045] Understandably, with the first wheel assembly 11 abutting against the inner wall of the gasifier 1 and the second wheel assembly 21 abutting against the outer wall of the central barrel 2, the cleaning robot can move within the area surrounded by the inner wall of the gasifier 1 and the outer wall of the central barrel 2.

[0046] The solution proposed in this application eliminates the need for the cleaning robot to be magnetically attached to the inner wall of the gasifier 1 or the outer wall of the central tank 2, as it relies on the first and second wheel sets for movement. This allows it to be used in various scenarios, particularly for equipment like the gasifier 1 made of stainless steel. Furthermore, the cleaning component, designed to rotate around a central axis, allows for efficient cleaning of slag in the surrounding area when the robot is stationary. Additionally, the use of a pneumatic pick assembly for slag removal prevents damage to the inner wall of the gasifier 1 caused by cutting.

[0047] Figure 2 Exemplary structural diagrams of a cleaning robot for gasifier 1, representing other embodiments of this application, are shown. Figure 2 As shown, the fixing component also includes an adjustment assembly, wherein one end of the adjustment assembly is connected to the fixing plate 201, and the other end of the adjustment assembly is connected to the second wheel set 21. The adjustment assembly can adjust the pressure between the second wheel set 21 and the outer wall of the central barrel 2.

[0048] In some embodiments, the cleaning robot further includes an air pump 50 disposed outside the gasifier 1, and the adjustment assembly includes a first airbag component 204 connected to the air pump, the first airbag component 204 being capable of expanding or contracting along a direction from the inner wall of the gasifier to the outer wall of the central barrel.

[0049] In some embodiments, the adjustment component may be disposed on the side of the fixed plate 201 facing the central barrel, and disposed between the fixed plate 201 and the second wheel group 21.

[0050] In some embodiments, the adjusting component can reciprocate along a direction from the inner wall of the gasifier 1 to the outer wall of the central barrel. It should be understood that the aforementioned direction from the inner wall of the gasifier to the outer wall of the central barrel or from the outer wall of the central barrel 2 to the inner wall of the gasifier 1 can be the direction of the shortest distance between the inner wall of the gasifier and the outer wall of the central barrel, which is also the direction perpendicular to the inner wall of the gasifier 1.

[0051] In some embodiments, the aforementioned adjustment assembly may include a first airbag component 204 and a first airbag spring portion 203. One end of the first airbag spring portion 203 may be connected to the first airbag component 204, and the other end of the first airbag spring portion 203 may be connected to the second wheel assembly 21. The first airbag component 204 may be connected to the air pump of the cleaning robot. When the air pump evacuates the first airbag component 204, the length of the first airbag component 204 in the direction perpendicular to the inner wall of the gasifier may decrease. When the air pump inflates the first airbag component 204, the length of the first airbag component 204 in the direction perpendicular to the inner wall of the gasifier may increase. Understandably, when the second wheel assembly 21 abuts against the outer wall of the central barrel, if the air pump inflates the first airbag component 204, the first airbag component 204 begins to expand, increasing its length in the direction perpendicular to the inner wall of the gasifier. This compresses the first airbag spring portion 203, increasing the pressure of the first airbag spring portion 203 on the second wheel assembly 21, thereby increasing the pressure of the second wheel assembly 21 on the outer wall of the central barrel. If air is then pumped out from the expanded first airbag component 204, initially its length in the direction perpendicular to the inner wall of the gasifier remains constant, while the first airbag spring portion 203 gradually returns to its natural length from its compressed state. The pressure of the first airbag spring portion on the second wheel assembly 21 gradually decreases, thereby reducing the pressure of the second wheel assembly 21 on the outer wall of the central barrel 2. When the air is pumped to a certain extent, if the first airbag component 204 continues to be pumped, the length of the first airbag component 204 in the direction perpendicular to the inner wall of the gasifier can be further reduced, thereby driving the second wheel group 21 to move in that direction, so that the second wheel group 21 does not contact the outer wall of the central barrel.

[0052] In some embodiments, the fixing component 20 further includes a braking assembly 202, which includes a second airbag component 206 and a second airbag spring portion 205; wherein, a first end of the second airbag component 206 is connected to the fixing plate 201, and a second end of the second airbag component 206 is capable of reciprocating along a direction from the inner wall of the gasifier 1 to the outer wall of the central barrel 2; the second airbag spring portion is connected to the second end of the second airbag component 206 and is capable of reciprocating along with the second end of the second airbag component 206 in the direction from the inner wall of the gasifier 1 to the outer wall of the central barrel 2.

[0053] In some embodiments, a gasket 207 is provided on the side of the second airbag spring portion 205 facing the outer wall of the central barrel 2.

[0054] In some embodiments, the brake assembly 202 can also be disposed on the side of the fixed plate 201 facing the central barrel 2. It is understood that the second contact portion can be disposed in the middle region of the fixed plate 201, and the adjustment assembly can be disposed around the second contact portion and disposed in the edge region of the fixed plate 201.

[0055] In some embodiments, the second airbag component 206 can also be connected to an air pump. When the air pump inflates the second airbag component 206, the second airbag component 206 can extend along a direction perpendicular to the inner wall of the gasifier 1. It is understood that since a gasket 207 is provided on the side of the second airbag spring portion 205 facing the outer wall of the central barrel 2, and the gasket 207 can abut against the outer wall of the central barrel 2, the second airbag spring portion 205 can be compressed at this time, and its pressure on the gasket 207 can be increased. Therefore, the pressure of the gasket 207 on the central barrel 2 can be increased.

[0056] In some embodiments, when the air pump evacuates the second airbag component 206, the second airbag component 206 can shorten in a direction perpendicular to the inner wall of the gasifier 1. At this time, the second airbag spring portion 205 can gradually return from a compressed state to a normal state. During this process, the pressure of the second airbag spring portion 205 on the aforementioned gasket 207 gradually decreases, and therefore the pressure of the gasket 207 on the central barrel 2 can also gradually decrease. It is understood that when the gasket 207 leaves the outer wall of the aforementioned central barrel 2, it exerts no pressure on the central barrel 2.

[0057] In some embodiments, the aforementioned gasket 207 can be configured as a flat plate or as an arc shape with the same radius of curvature as the outer wall of the central barrel 2. In this case, the gasket 207 and the outer wall of the central barrel 2 can be in line contact or surface contact, which has greater frictional force than point contact.

[0058] In some embodiments, when the cleaning robot is cleaning slag, the air pump can inflate the second airbag component 206, thereby increasing the compression force of the second airbag spring portion 205. This increases the friction force between the pad 207 and the central barrel 2, thereby increasing the stability of the cleaning robot during operation and making it less prone to slippage. Furthermore, the pad can be adjusted to adjust the length of the cleaning robot in the direction parallel to the central axis.

[0059] In some embodiments, the cleaning robot further includes a detection component for detecting slag on the inner wall of the gasifier.

[0060] In some embodiments, the detection component may include sensors, such as camera sensors and lidar sensors. The camera sensor may be housed within the main body component and can be used to detect the position of slag within the gasifier. The lidar sensor may be housed within the drive component and can be used to detect slag and distance parameters within the gasifier, assisting in navigation, obstacle avoidance, and positioning in complex environments.

[0061] In some embodiments, the cleaning robot may further include a control component, which may also be housed within the drive component and electrically connected to the aforementioned sensors. This control module (e.g., an Advantech AFE-R770 control system) can autonomously plan the path and strategy for cleaning slag based on the data from the aforementioned sensors. Furthermore, a visual remote control may be provided, allowing for remote monitoring and operation of the control module, facilitating user monitoring and adjustment of the cleaning robot.

[0062] Figure 3 A cleaning method 300 for a gasifier according to some embodiments of this application is shown, using a cleaning robot as described in any of the preceding descriptions. The cleaning method 300 includes: S301 in response to detecting slag on the inner wall of the gasifier, driving the cleaning robot to move to the area where the slag is located; S302 driving the braking component of the cleaning robot to fix the cleaning robot in the area where the slag is located; S303 rotating the cleaning moving end of the cleaning robot to drive the pneumatic pick assembly of the cleaning robot to rotate to the position where the slag is located, thereby achieving the cleaning of the slag.

[0063] In some embodiments, when the cleaning robot is in operation, the slag on the inner wall of the gasifier 1 can be detected by the detection component. After the slag is detected, the control component can plan the path based on the data detected by the detection component, and then drive the cleaning robot to move to the area where the slag is located.

[0064] In some embodiments, when the cleaning robot moves to the area where the slag is located, the braking component of the cleaning robot can be activated, so that the pad of the braking component can abut against the outer wall of the central barrel 2. Since the contact between the pad and the outer wall of the central barrel 2 is line friction or surface friction, the cleaning robot is less likely to be displaced due to vibration during the cleaning process, so that the cleaning robot can be fixed in the area where the slag is located, thereby improving stability.

[0065] In some embodiments, the cleaning robot's mobile end can rotate around a central axis, thereby driving the pneumatic pick assembly to the location of the slag. The mobile end can also move in a direction parallel to the central axis, further driving the pneumatic pick assembly to strike the slag, thus cleaning it. Furthermore, after cleaning the slag in that area is complete, the mobile end can drive the pneumatic pick assembly to rotate around the central axis, thereby cleaning the slag in the surrounding area, expanding the cleaning area of ​​the parking point, and improving cleaning efficiency. The aforementioned parking point can be the current location of the cleaning robot.

[0066] In summary, the solution proposed in this application allows the cleaning robot to move using the first and second wheel sets during operation. It eliminates the need for magnetic attachment to the inner wall of the gasifier 1 or the outer wall of the central tank 2, making it suitable for various applications, especially for equipment like the gasifier 1 made of stainless steel. Furthermore, the cleaning component, designed to rotate around a central axis, allows for efficient cleaning of slag in the surrounding area when the robot is stationary. Additionally, the use of a pneumatic pick assembly for slag removal prevents damage to the inner wall of the gasifier 1 caused by cutting.

[0067] While numerous embodiments of this disclosure have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of this disclosure. It should be understood that various alternatives to the embodiments of this disclosure described herein may be employed in the practice of this disclosure. The appended claims are intended to define the scope of this disclosure and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A cleaning robot for a gasifier, wherein the gasifier has a central tank inside, characterized in that, The cleaning robot includes a drive component (10), a fixing component (20), a main body component (30), and a cleaning component (40); wherein, when the cleaning robot is working inside the gasifier, The first contact portion of the drive component (10) abuts against the inner wall of the gasifier. The drive component (10) is provided with a power element inside for driving the cleaning robot to move. The fixing component (20) includes a fixing plate (201) and a second contact portion. The fixing plate and the inner wall of the gasifier are arranged parallel to each other. The second contact portion is located on the side of the fixing plate facing the central barrel and abuts against the outer wall of the central barrel. The main body component (30) is disposed between the driving component (10) and the fixing component, and the main body component (30) has a central axis whose axis is perpendicular to the inner wall of the gasifier. The cleaning component (40) includes a cleaning mobile end (41) and a pneumatic pick assembly (42); wherein The first end of the cleaning mobile end (41) is rotatably connected to the central axis; The second end of the cleaning moving end (41) is movably connected to the first end of the cleaning moving end (41), and the second end of the cleaning moving end (41) can move along a direction parallel to the central axis; The pneumatic pick assembly (42) is connected to the second end of the cleaning moving end (41). The pneumatic pick assembly (42) can move along the direction parallel to the central axis with the second end of the cleaning moving end (41) to clean the slag on the inner wall of the gasifier.

2. The cleaning robot according to claim 1, characterized in that, The first contact portion includes a first wheel assembly (11), and the second contact portion includes a second wheel assembly (21).

3. The cleaning robot according to claim 2, characterized in that, The fixing component (20) further includes an adjustment component, wherein one end of the adjustment component is connected to the fixing plate (201), and the other end of the adjustment component is connected to the second wheel group (21). The adjustment component is capable of adjusting the pressure between the second wheel group (21) and the outer wall of the central barrel.

4. The cleaning robot according to claim 3, characterized in that, The cleaning robot also includes an air pump (50) disposed outside the gasifier. The adjustment assembly includes a first airbag component (204) connected to the air pump (50). The first airbag component (204) is capable of expanding or contracting along the direction from the inner wall of the gasifier to the outer wall of the central barrel.

5. The cleaning robot according to claim 1, characterized in that, The fixing component (20) further includes a brake assembly (202), which includes a second airbag component (206) and a second airbag spring component (205); wherein, The first end of the second airbag component is connected to the fixed plate (201), and the second end of the second airbag component can reciprocate along the direction from the inner wall of the gasifier to the outer wall of the central barrel; The second airbag spring part (205) is connected to the second end of the second airbag component and can reciprocate along with the second end of the second airbag component in the direction from the inner wall of the gasifier to the outer wall of the central barrel.

6. The cleaning robot according to claim 5, characterized in that, A gasket (207) is provided on the side of the second airbag spring part (205) facing the outer wall of the central barrel.

7. The cleaning robot according to claim 1, characterized in that, Cleaning the mobile device (41) includes cleaning the connecting plate (411) and cleaning the retractable rod (412); wherein, The cleaning connection plate (411) includes a first region and a second region, the first region being rotatably connected to the central axis, so that the cleaning connection plate (411) can rotate about the axis of the central axis; The cleaning telescopic rod (412) is arranged perpendicularly to the inner wall of the gasifier, and the fixed end of the cleaning telescopic rod is arranged in the second area. The moving end of the cleaning telescopic rod is connected to the pneumatic pick assembly (42), which can drive the pneumatic pick assembly (42) to move in a direction perpendicular to the inner wall of the gasifier.

8. The cleaning robot according to claim 7, characterized in that, The pneumatic pick assembly (42) includes a pneumatic pick base and a pneumatic pick body. The pneumatic pick base is connected to the movable end of the cleaning telescopic rod, and the pneumatic pick body is disposed on the pneumatic pick base.

9. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a detection component for detecting slag on the inner wall of the gasifier.

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