A portable sub-machine crosses the track robot in the electric dust collector

Abstract

The utility model embodiment provides a portable sub -machine in electric precipitator cross row cross -section track robot, belongs to electric precipitator technical field. Portable sub -machine in electric precipitator cross row cross -section track robot includes: guide rail and robot main body, the guide rail is installed in the side of electric precipitator internal polar plate system, the robot main body is set up in the below guide rail and along guide rail sliding, the robot main body includes drive arrangement and carrying platform, the carrying platform includes rotating mechanism and bridge -building mechanism, the rotating mechanism is used to drive carrying platform self -shaft rotation, the bridge -building mechanism is used to build the temporary passage of detachable sub -machine between carrying platform and anode plate. The utility model scheme realizes the stable cross -passage construction between carrying platform and anode plate through accurate controllable bridge -building mechanism, thereby guarantees the safety and positioning accuracy of detachable sub -machine cross row cross -section operation.

Description

Technical Field

[0001] This utility model relates to the field of electrostatic precipitator technology, specifically to a track robot capable of carrying a submachine and traversing rows and surfaces within an electrostatic precipitator. Background Technology

[0002] Electrostatic precipitators (ESPs) are crucial equipment widely used in flue gas purification processes in industries such as thermal power plants, metallurgy, and building materials. They achieve solid-gas separation by establishing a high-voltage electric field between the plates and wires, charging particulate matter in the flue gas and adsorbing it onto the plate surface. During long-term operation, dust accumulation, structural deformation, and component loosening inevitably occur in the internal plate system and related structures of the ESP. Regular maintenance and repair are necessary to ensure dust removal efficiency and compliance with emission standards.

[0003] Currently, some sites have begun using maintenance robots that can move inside electrostatic precipitators to replace manual labor in high-dust environments. These robots can typically move between anode plates in the same row and perform functions such as inspection, cleaning, or repair. However, most existing robot designs only support operation on the same row of anode plates and cannot autonomously cross to adjacent rows. This requires manual movement of the equipment between plates or in passageways, increasing the frequency of personnel entering the electrostatic precipitator and the associated risks. Furthermore, existing robots have a fixed orientation on the working surface of the anode plate and cannot automatically switch working positions between the front and back sides. If the back of the anode plate needs to be processed, the robot's posture usually needs to be readjusted or it needs to be redeployed, which not only extends the work cycle but also easily introduces positioning errors during repeated disassembly and assembly.

[0004] Therefore, in the field of electrostatic precipitator maintenance, how to enable maintenance robots to move continuously between different rows of anode plates under narrow, dusty, and complex internal structural conditions, and to efficiently switch between the forward and reverse working directions within the same row, remains a technical problem to be solved. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a track robot that can carry a submachine and move across rows and surfaces inside an electrostatic precipitator, so as to solve the problems that existing maintenance robots cannot move across rows autonomously and cannot achieve continuous operation on both sides of the anode plate.

[0006] To achieve the above objectives, this utility model provides a track robot capable of carrying a submachine unit across rows and surfaces within an electrostatic precipitator. The track robot comprises a guide rail and a robot body. The guide rail is installed on the side of the electrode plate system inside the electrostatic precipitator. The robot body is positioned below the guide rail and slides along it. The robot body includes a drive device and a transport platform. The transport platform includes a rotation mechanism and a bridging mechanism. The rotation mechanism drives the transport platform to rotate from its axis, and the bridging mechanism constructs a temporary passage for the detachable submachine unit between the transport platform and the anode plates.

[0007] Optionally, the guide rail extends along the arrangement direction of the electrode system, and a plurality of equally spaced pins are provided on one side of the guide rail. Each pin is fixedly installed on the guide rail base and serves as the force point for the drive device to engage.

[0008] Optionally, the drive device includes a cycloidal gear assembly that meshes with the pin and a drive motor coaxially connected to the cycloidal gear assembly, wherein the cycloidal gear assembly is fixed to the output shaft of the drive motor by a set pin.

[0009] Optionally, the drive device includes a motor mounting plate for fixing the drive motor, the motor mounting plate being made of a rigid metal plate, and having a protective cover installed on its outside to cover the drive motor and the cycloidal gear assembly.

[0010] Optionally, the transport platform includes a platform fixing plate disposed on the platform base plate. The platform fixing plate is provided with a magnetic suction assembly for magnetically fixing the detachable submachine, and a position sensor is installed at the center of the platform fixing plate.

[0011] Optionally, the position sensor is a contact or non-contact sensor, installed at the center detection position of the platform fixing plate, and connected to the platform fixing plate through a sensor housing fixing seat.

[0012] Optionally, the rotating mechanism includes a servo mounting plate fixed to the drive device and a servo rotating servo mounted on the servo mounting plate, the output end of which is connected to the base plate of the transport platform by bolts.

[0013] Optionally, the servo mounting plate is provided with multiple roller structures, and the V-shaped grooves of the roller structures are engaged with the V-shaped protrusions of the guide rail to provide guiding support for the rotation of the transport platform.

[0014] Optionally, the bridging mechanism includes a guide rail slider fixed to the platform base plate, a transverse platform slidably connected to the guide rail slider, a rack fixed to the back of the transverse platform, a gear meshing with the rack, and a servo motor driving the gear.

[0015] Optionally, the transverse platform is provided with photoelectric sensor mounting holes in the middle of both sides, each mounting hole is equipped with a photoelectric sensor, and a light-transmitting glass baffle is covered on the outside, the glass baffle being fixedly connected to the transverse platform.

[0016] Through the above technical solution, this utility model achieves stable movement between rows of anode plates inside the electrostatic precipitator by setting guide rails on the side of the electrode plate system and arranging a slidable robot body on the guide rails. The rotating mechanism integrated into the transport platform can drive the platform to rotate on its own axis, thereby allowing the working direction of the detachable sub-machine to switch between the front and back sides of the anode plates; the bridging mechanism can create a temporary channel between the transport platform and the anode plates, allowing the detachable sub-machine to cross the gap and enter the working surface. This structure not only enables the maintenance robot to autonomously cross rows between multiple rows of anode plates, but also supports continuous switching between front and back side operations, reducing the need for manual handling and repositioning, and improving work efficiency and coverage integrity.

[0017] Other features and advantages of this utility model embodiment will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a track robot that can operate across rows and surfaces within an electrostatic precipitator, according to one embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the drive device and the rotating mechanism of the transport platform provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a transport platform provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the bridging mechanism provided in one embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures 1-Guide rail; 2-Robot body; 3-Pin; 4-Drive device; 5-Transportation platform; 6-Drive motor; 7-Cycloidal gear; 8-Protective cover; 9-Roller; 10-Motor mounting plate; 11-Rotation mechanism; 12-Platform base plate; 13-Platform fixing plate; 14-Position sensor; 15-Bridging mechanism; 16-Servo motor mounting plate; 17-Servo rotary servo motor; 18-Guide rail slider; 19-Gear; 20-Servo motor; 21-Rack; 22-Transverse platform; 23-Photoelectric sensor; 24-Glass baffle. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0021] In this embodiment of the utility model, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use.

[0022] The terms “first,” “second,” “third,” etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0023] The terms "horizontal," "vertical," and "sag" do not imply that a component must be absolutely horizontal, vertical, or sagging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0024] Furthermore, terms like "roughly" and "basically" are used to indicate that the content does not require absolute precision, but rather allows for a certain degree of deviation. For example, "roughly equal" does not simply mean absolute equality; in actual production and operation, achieving absolute "equality" is difficult, and a certain degree of deviation is generally present. Therefore, besides absolute equality, "roughly equal to" also includes the aforementioned situation where a certain degree of deviation exists. Using this as an example, in other cases, unless otherwise specified, terms like "roughly" and "basically" have similar meanings.

[0025] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Please refer to Figure 1This embodiment provides a track robot capable of carrying submachines across rows and surfaces within an electrostatic precipitator. The track robot includes a guide rail 1 and a robot body 2. The guide rail 1 is installed on the side of the electrode plate system inside the electrostatic precipitator. The robot body 2 is located below the guide rail 1 and slides along the guide rail 1. The robot body 2 includes a drive device 4 and a transport platform 5. The transport platform 5 includes a rotating mechanism 11 and a bridging mechanism 15. The rotating mechanism 11 is used to drive the transport platform 5 to rotate on its own axis. The bridging mechanism 15 is used to construct a temporary passage for the detachable submachines between the transport platform 5 and the anode plates.

[0027] In this embodiment of the invention, a track-mounted robot capable of carrying its submachine unit across rows and surfaces within an electrostatic precipitator is provided. The overall structure is designed to adapt to the characteristics of the electrostatic precipitator, such as its narrow internal space, high dust concentration, and tightly packed electrode plates. Its core consists of a guide rail 1 arranged along the electrode plate system's arrangement direction and a robot body 2 mounted on the guide rail 1. The guide rail 1 is fixedly installed on the side of the electrode plate system inside the electrostatic precipitator, forming a straight running path traversing multiple rows of anode plates. This provides a reference support for the smooth sliding of the robot body 2, and achieves precise positioning and continuous movement through a transmission structure meshing with the guide rail 1. The robot body 2 is suspended below the guide rail 1 and is driven by a drive device 4 to move back and forth along the guide rail 1, thereby sequentially reaching the working positions of each row of anode plates.

[0028] A transport platform 5 is located at the lower part of the robot body 2. This platform is responsible for carrying the detachable sub-machine, adjusting its orientation, and constructing the crossing channel. The transport platform 5 integrates two core components: a rotating mechanism 11 and a bridging mechanism 15. The rotating mechanism 11 drives the transport platform 5 to achieve 360° self-rotation, so that the working surface of the detachable sub-machine can be flexibly adjusted to the front or back of the anode plate according to the operation requirements, thereby supporting continuous operation on both sides without repeated manual deployment. The bridging mechanism 15 is installed at the front end of the transport platform 5, which can form a stable temporary channel between the transport platform 5 and the target anode plate, allowing the detachable sub-machine to smoothly cross the intermediate gap to enter the working surface area of ​​the anode plate to perform tasks. After the operation is completed, it can also return to the platform along the channel to realize a closed loop of the operation path.

[0029] Through the aforementioned structural combination, this maintenance robot, while ensuring its adaptability to the harsh environment inside the electrostatic precipitator, can automatically move across multiple rows of anode plates and quickly switch between forward and reverse working directions within a single row. The overall design not only reduces the frequency of manual entry into high-dust spaces, lowering labor intensity and safety risks during maintenance, but also improves the efficiency and coverage of anode plate maintenance operations, providing a reliable guarantee for the long-term stable operation of the electrostatic precipitator.

[0030] Preferably, the guide rail 1 extends along the arrangement direction of the electrode system, and a plurality of equally spaced pins 3 are provided on one side of the guide rail 1. Each pin 3 is fixedly installed on the base of the guide rail 1 and serves as the force point for the drive device 4 to engage.

[0031] Furthermore, the drive device 4 includes a cycloidal gear 7 assembly that meshes with the pin 3 and a drive motor 6 that is coaxially connected to the cycloidal gear 7 assembly. The cycloidal gear 7 assembly is fixed to the output shaft of the drive motor 6 by a set pin.

[0032] Furthermore, such as Figure 2 The drive device 4 includes a motor mounting plate 10 for fixing the drive motor 6. The motor mounting plate 10 is made of a rigid metal plate and has a protective cover 8 on its outside that covers the drive motor 6 and the cycloidal gear 7 assembly.

[0033] In this embodiment of the invention, the guide rail 1 extends along the arrangement direction of the electrode system, enabling the robot body 2 to cover the entire longitudinal working range of the electrode system. To ensure meshing stability and positioning accuracy during the driving process, a plurality of equidistant pins 3 are evenly arranged along the length of one side of the guide rail 1. These pins 3 are all made of wear-resistant, high-strength metal and are fixedly installed on the base of the guide rail 1 by welding or threaded fastening, thereby forming a series of rigid force-bearing points. During robot operation, these pins 3 not only transmit driving force but also achieve consistency in driving pitch through equidistant distribution, making the robot's movement smooth and controllable.

[0034] Furthermore, the drive unit 4 employs a cycloidal gear 7 assembly that directly meshes with the aforementioned pin 3. The cycloidal gear 7 assembly achieves high contact rate meshing through a special profile design, resulting in uniform force distribution and strong impact resistance during meshing, making it suitable for long-term operation in the dust-covered, temperature- and humidity-fluctuating environment inside the electrostatic precipitator. The central shaft of the cycloidal gear 7 assembly is coaxially connected to the output shaft of the drive motor 6, and the two are fixed together by a high-precision set pin to prevent axial displacement or torque transmission loosening during long-term operation, thereby ensuring drive efficiency and stability. In selecting the drive motor 6, a DC geared motor with high output torque and low speed characteristics is preferred to provide stable and controllable propulsion during meshing transmission.

[0035] To ensure stable operation of the drive motor 6 in harsh environments, a dedicated motor mounting plate 10 is provided in the drive unit 4. This motor mounting plate 10 is made of a moderately thick rigid metal plate, possessing sufficient resistance to deformation. Even under the influence of motor vibration and guide rail 1 loads during prolonged operation, it will not undergo significant deformation or loosening. One side of the motor mounting plate 10 is directly connected to the frame structure of the robot body 2, while the other side is secured to the drive motor 6 body via threads or riveting, thus forming a stable mounting support. To further enhance protection, a protective cover 8 is added to the outside of the motor mounting plate 10. This protective cover 8 covers the outer surface of the drive motor 6 and the cycloidal gear 7 assembly, employing a sealed structure to prevent dust from entering the meshing parts of the gear 19 and the motor interior, avoiding impact on drive performance due to increased wear or decreased insulation performance. The protective cover 8 can be designed as a detachable structure according to maintenance needs, facilitating regular inspection and lubrication.

[0036] With the above structural arrangement, the drive process of this portable robot, which can traverse rows and surfaces within the electrostatic precipitator, on the guide rail 1 exhibits high stability and durability. The direct meshing of the cycloidal gear 7 and the pin 3 not only enhances the anti-slip capability of the drive process but also ensures high precision in each positioning, making it suitable for automated operation on complex paths such as traversing rows and surfaces. Simultaneously, the combination of the rigid metal mounting plate and the sealed protective cover significantly extends the service life of the drive unit 4 in dusty, high-temperature, and humid environments, thereby ensuring the reliability and ease of maintenance of the entire machine during long-term operation.

[0037] Preferably, the transport platform 5 includes a platform fixing plate 13 disposed on the platform base plate 12. The platform fixing plate 13 is provided with a magnetic suction assembly for magnetically fixing the detachable submachine, and a position sensor 14 is installed at the center of the platform fixing plate 13.

[0038] Furthermore, the position sensor 14 is a contact or non-contact sensor, installed at the center detection position of the platform fixing plate 13, and connected to the platform fixing plate 13 through the sensor housing fixing seat.

[0039] In this embodiment of the invention, the structural design of the transport platform 5 specifically considers the stable fixation and precise positioning requirements of the detachable submachine during cross-row and cross-surface operations. Preferably, the transport platform 5 has a platform fixing plate 13 on the platform base plate 12. This fixing plate, as the core structure for supporting and fixing the submachine, is made of high-strength metal sheet and is firmly connected to the platform base plate 12 by multi-point bolts or welding to ensure that the robot does not shift position during operation. The upper surface of the platform fixing plate 13 integrates a magnetic attraction component. This magnetic attraction component can be selected as a permanent magnet or an energized electromagnet according to the weight of the submachine and the working environment. It achieves uniform adsorption of the bottom of the submachine through reasonable magnetic force distribution, thereby preventing the submachine from slipping, tilting, or falling off when the robot accelerates, decelerates, or crosses the gap of the guide rail 1. To facilitate the replacement of the submachine, the magnetic attraction component can adopt a controllable electromagnet structure, which can achieve rapid release and re-adsorption by switching the current on and off.

[0040] A position sensor 14 is installed at the center of the platform mounting plate 13 to detect the installation position and attitude of the submachine relative to the platform mounting plate 13 in real time. This position sensor 14 can be a contact sensor, such as a limit switch or micro switch with mechanical contacts, or a non-contact sensor, such as an inductive, Hall effect, photoelectric, or laser rangefinder sensor, to adapt to different detection accuracy and working environment requirements. The position sensor 14 is connected to the platform mounting plate 13 via a sensor housing mounting bracket. The bracket is made of corrosion-resistant metal or high-strength engineering plastic, ensuring installation strength and facilitating quick disassembly and assembly during maintenance or sensor replacement. The sensor's installation height and detection angle are precisely calculated and calibrated to ensure that its sensing area is perfectly matched with the submachine's installation reference plane. This allows for real-time monitoring of whether the submachine is in the correct fixed position during robot operation, providing reliable position information support for subsequent adjustments to the rotating mechanism 11 and crossing actions of the bridging mechanism 15.

[0041] Preferred, such as Figure 3 The rotating mechanism 11 includes a servo mounting plate 16 fixed to the drive device 4 and a servo rotating servo 17 mounted on the servo mounting plate 16. The output end of the servo rotating servo 17 is connected to the base plate of the transport platform 5 by bolts.

[0042] Furthermore, the servo mounting plate 16 is provided with multiple roller structures 9, and the V-shaped grooves of the roller structures 9 are engaged with the V-shaped protrusions of the guide rail 1 to provide guiding support for the rotation of the transport platform 5.

[0043] In this embodiment of the invention, the rotating mechanism 11 includes a servo mounting plate 16 fixed to the drive device 4. The servo mounting plate 16 is made of a high-strength metal plate of moderate thickness and is connected to the frame of the drive device 4 via multi-point fasteners, ensuring that it remains firmly installed and does not loosen even under long-term vibration and high-temperature dust environments. A servo rotating servo 17 is fixedly mounted on the mounting plate. The servo model can be selected according to the platform weight and rotational inertia, with priority given to high-torque, closed-loop control industrial-grade servo servos to ensure rotational positioning accuracy and response speed. The output end of the servo is directly connected to the base plate of the transport platform 5 via high-strength bolts. This rigid connection method avoids gaps and vibrations during rotation, ensuring that the transport platform 5 can quickly and accurately stop at a predetermined angle when rotating to the target position.

[0044] To further improve rotational stability and reduce the load on the servo motor, the servo motor mounting plate 16 is equipped with multiple rollers 9. These rollers 9 are evenly distributed around the circumference, and each roller 9 has a V-groove machined on its outer edge. The V-groove engages with the V-shaped protrusion on the guide rail 1, providing circumferential guiding support for the transport platform 5 during rotation through a locking mechanism. This structure effectively limits the radial sway of the platform during rotation and also shares some of the rotational torque, reducing the lateral force on the servo motor bearings, thereby extending the service life of the servo motor. The rollers 9 can be made of wear-resistant engineering plastics or high-strength alloy steel, and dust seals are added at the bearing positions to adapt to the harsh environment of high dust and high temperature inside the electrostatic precipitator.

[0045] Preferred, such as Figure 4 The bridging mechanism 15 includes a guide rail 1 slider fixed on the platform base plate 12, a transverse platform 22 slidably connected to the guide rail 1 slider, a rack 21 fixed to the back of the transverse platform 22, a gear 19 meshing with the rack 21, and a servo motor 20 driving the gear 19.

[0046] Furthermore, the transverse platform 22 has photoelectric sensor 23 mounting holes in the middle of both sides, each mounting hole is equipped with a photoelectric sensor 23, and a light-transmitting glass baffle 24 is covered on the outside, the glass baffle 24 is fixedly connected to the transverse platform 22.

[0047] In this embodiment of the invention, the bridging mechanism 15 includes a guide rail 1 slider fixed on the platform base plate 12. The guide rail 1 slider is slidably connected to the transverse platform 22, and adopts a structure in which the linear guide rail 1 and the slider cooperate. This structure can provide high resistance to lateral forces while ensuring the stability of lateral movement, so as to adapt to the vibration and impact that may exist inside the electrostatic precipitator. The transverse platform 22 is made of high-strength lightweight metal or composite material, which can withstand the concentrated load when the submachine crosses, and can reduce the overall weight and reduce the drive burden.

[0048] In terms of the drive structure, a rack 21 is fixed to the back of the transverse platform 22. The rack 21 is rigidly connected to the transverse platform 22 by bolts or embedded mounting to ensure pitch stability and meshing accuracy. The gear 19 meshing with the rack 21 is mounted on the drive shaft and is directly driven by the servo motor 20. The servo motor 20 is preferably a high-precision position control type to accurately control the displacement of the bridging platform during transverse movement, achieving seamless connection with the edge of the anode plate. The meshing part of the gear 19 and the rack 21 can be coated with solid lubricant or equipped with a dustproof cover to extend service life and reduce meshing resistance caused by dust accumulation.

[0049] To ensure precise alignment of the bridging positions, a photoelectric sensor 23 mounting hole is provided on the center of each side of the transverse platform 22. A photoelectric sensor 23 is fixedly installed in each mounting hole. The sensor is used to detect the relative position or boundary position of the transverse platform 22 to avoid overshoot or collision. A light-transmitting glass baffle 24 covers the outside of the sensor. This baffle is made of high-temperature resistant, dustproof tempered glass or transparent composite material and is fixedly connected to the transverse platform 22 by screws or clips. This protects the sensor from damage by dust, high-temperature fumes, and mechanical impact without affecting the transmission quality of the optical signal.

[0050] After the bridging mechanism is activated, the servo motor fixed on the platform base plate starts to run, driving the gear on the output shaft to rotate. This gear meshes with the rack on the back of the traversing platform, forming a rigid lateral pushing relationship. The rack is integrally connected to the back of the traversing platform by bolts or welding, enabling the entire platform assembly to slide along the guide rail slider 18. The slider adopts a rolling or self-lubricating guide rail structure to ensure smooth guidance even in high-dust environments.

[0051] Through the design of the aforementioned bridging mechanism 15, the transverse platform 22 can move precisely along the slider of the guide rail 1 under controlled drive. When it reaches the target position, the photoelectric sensor 23 provides feedback information to correct its position, ultimately forming a stable temporary crossing channel between the transverse platform 22 and the anode plate. This not only ensures the safety and stability of the submachine crossing but also reduces manual intervention and improves the efficiency and accuracy of cross-row and cross-surface maintenance operations.

[0052] The optional embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present utility model, various simple modifications can be made to the technical solutions of the present utility model, and these simple modifications all fall within the protection scope of the present utility model.

[0053] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the various possible combinations will not be described separately in this embodiment.

[0054] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0055] Furthermore, various different implementation methods of this utility model can be arbitrarily combined, as long as they do not violate the spirit of this utility model, they should also be regarded as the content disclosed by this utility model.

Claims

1. A track-mounted robot capable of carrying a submachine unit across rows and surfaces within an electrostatic precipitator, characterized in that, The track-mounted robot capable of carrying its submachine unit across rows and surfaces within the electrostatic precipitator includes: Guide rails and robot body; The guide rail is installed on the side of the internal electrode plate system of the electrostatic precipitator. The robot body is located below the guide rail and slides along the guide rail. The robot body includes a drive device and a transport platform. The transport platform includes a rotating mechanism and a bridging mechanism. The rotating mechanism is used to drive the transport platform to rotate on its own axis, and the bridging mechanism is used to construct a temporary passage for detachable submachines between the transport platform and the anode plate.

2. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 1, characterized in that, The guide rail extends along the arrangement direction of the electrode plate system. A number of equally spaced pins are provided on one side of the guide rail. Each pin is fixedly installed on the guide rail base and serves as the force point for the drive device to engage.

3. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 2, characterized in that, The drive device includes a cycloidal gear assembly that meshes with the pin and a drive motor coaxially connected to the cycloidal gear assembly. The cycloidal gear assembly is fixed to the output shaft of the drive motor by a set pin.

4. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 3, characterized in that, The drive unit includes a motor mounting plate for fixing the drive motor. The motor mounting plate is made of a rigid metal plate and has a protective cover installed on its outside to cover the drive motor and the cycloidal gear assembly.

5. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 1, characterized in that, The transport platform includes a platform fixing plate disposed on the platform base plate. The platform fixing plate is equipped with a magnetic suction component for magnetically fixing the detachable submachine, and a position sensor is installed at the center of the platform fixing plate.

6. The portable sub-machine of claim 5, wherein, The position sensor is a contact or non-contact sensor, installed at the center detection position of the platform fixing plate, and connected to the platform fixing plate through the sensor housing fixing seat.

7. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 1, characterized in that, The rotating mechanism includes a servo mounting plate fixed to the drive unit and a servo rotating servo mounted on the servo mounting plate. The output end of the servo rotating servo is connected to the base plate of the transport platform by bolts.

8. The portable sub-machine of claim 7, wherein, The servo mounting plate is equipped with multiple roller structures. The V-shaped grooves of the roller structures are engaged with the V-shaped protrusions of the guide rail to provide guiding support for the rotation of the transport platform.

9. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 1, characterized in that, The bridging mechanism includes a guide rail slider fixed to the platform base plate, a transverse platform slidably connected to the guide rail slider, a rack fixed to the back of the transverse platform, a gear meshing with the rack, and a servo motor driving the gear.

10. The track robot capable of carrying a submachine unit and traversing rows and surfaces within an electrostatic precipitator according to claim 9, characterized in that, The transverse platform has photoelectric sensor mounting holes on both sides in the middle. Each mounting hole is equipped with a photoelectric sensor and is covered with a light-transmitting glass baffle. The glass baffle is fixedly connected to the transverse platform.

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