A fault diagnosis system for electrostatic precipitators based on multi-robot combination

Abstract

This utility model provides a fault diagnosis system for electrostatic precipitators based on a multi-robot combination, belonging to the field of electrostatic precipitator technology. The system includes: an exchange chamber, connected to the interior of the electrostatic precipitator via an electric sliding door; the exchange chamber contains an arc-shaped track and a charging platform; one end of the arc-shaped track is connected to the charging platform, and the other end is connected to a parking position for the track-mounted robot; the charging platform is equipped with a contact charging device; the track-mounted robot includes a track laid along the side of the electrode plate system and a robot body mounted on the track; the robot body includes a drive device and a transport platform; the transport platform is equipped with a bridging mechanism and a rotating mechanism; and the working robot is a four-wheeled magnetic wheel trolley capable of adhering to the surface of the anode plates. The working robot moves across rows through the channel formed between itself and the anode plates via the bridging mechanism and has replaceable and installable working modules. This utility model achieves automation and modularization of internal fault diagnosis and repair of electrostatic precipitators.

Description

Technical Field

[0001] This utility model relates to the field of electrostatic precipitator technology, and more specifically to an electrostatic precipitator fault diagnosis system based on a multi-robot combination. Background Technology

[0002] Electrostatic precipitators (ESPs) are commonly used dust removal equipment in coal-fired power plants, metallurgy, and chemical industries. Their internal structure typically consists of anode plates and barbed wire. A high-voltage electric field charges dust particles, which then deposits on the electrode surface, thus purifying the flue gas. However, due to the typically high temperature, high dust levels, and strong electric field in their operating environment, long-term operation can lead to problems such as dust accumulation, deformation, loosening, and even localized insulation damage on the electrode plates and barbed wire. If these problems are not detected and addressed promptly, they can cause electric field distortion, decreased dust removal efficiency, and in severe cases, even short circuits or shutdowns, posing risks to production safety and environmental emissions.

[0003] Existing maintenance methods mostly rely on manual inspections. Operators need to enter the hot, confined space inside the electrostatic precipitator to closely observe the condition of the plates and barbed wires, and use hand tools to tighten or repair them. This method is not only labor-intensive but also carries high safety risks, especially when the dust concentration and temperature inside the electrostatic precipitator are high, making personnel highly susceptible to environmental influences. Furthermore, manual inspections have limited efficiency, often covering blind spots, making it difficult to detect some faults in a timely manner, thus compromising the timeliness and comprehensiveness of maintenance.

[0004] To reduce human error risks, some companies have begun to experiment with using single inspection robots to replace manual labor. However, existing single-unit robots can generally only operate within a single electrode plate or a portion of the electrostatic precipitator. Limited by spatial constraints and attachment methods, they struggle to perform cross-plate operations, especially when simultaneously covering both sides of the anode plates. This limitation necessitates manual entry into the chamber to complete the remaining work, preventing truly automated and comprehensive fault diagnosis and maintenance.

[0005] In summary, existing maintenance methods for electrostatic precipitators suffer from two main problems: firstly, manual inspections are both high-risk and inefficient; secondly, the coverage of existing single robots is limited, making it difficult to replace manual labor for comprehensive inspection and repair. These issues have become significant bottlenecks restricting the long-term stable operation of electrostatic precipitators. Utility Model Content

[0006] The purpose of this utility model embodiment is to provide a fault diagnosis system for electrostatic precipitators based on multi-robot combination, so as to solve the problems of safety risks, low efficiency and limited coverage of single robot operation in existing manual inspections.

[0007] To achieve the above objectives, this utility model provides a fault diagnosis system for an electrostatic precipitator based on a multi-robot combination. The system includes: an exchange chamber located outside the electrostatic precipitator and connected to its interior via an electric sliding door; an arc-shaped track and a charging platform within the exchange chamber; one end of the arc-shaped track connected to the charging platform and the other end connected to a parking position for the track-mounted robot; a contact charging device on the charging platform; a track-mounted robot comprising a track laid along the side of the electrode plate system and a robot body mounted on the track; the robot body including a drive device and a transport platform; a bridging mechanism and a rotating mechanism on the transport platform; and a working robot, a four-wheeled magnetic wheel trolley capable of adhering to the surface of the anode plates. The working robot moves across rows via a channel formed between the bridging mechanism and the anode plates and has replaceable working modules.

[0008] Optionally, the exchange chamber is equipped with a gas exchange tower, which is connected to the exchange chamber via a pipeline to form a pressure differential balanced airflow channel between the exchange chamber and the electrostatic precipitator.

[0009] Optionally, the electric sliding door has an embedded heat-insulating sealing material inside and a distance sensor on the door body to trigger the opening or closing of the door when the track robot and the operation robot enter or exit.

[0010] Optionally, the end of the arc-shaped track is equipped with a buffer spring and a pressure sensor, which contact the end of the arc-shaped track when the track robot platform returns to the parking position.

[0011] Optionally, the charging platform is equipped with a metal contact charging device, and the working robot is equipped with a charging interface, which is connected to the metal contacts to achieve charging.

[0012] Optionally, a maintenance door is provided on one side of the exchange compartment, allowing maintenance personnel to enter the exchange compartment to perform maintenance on the track robot.

[0013] Optionally, a manually operated sliding door is provided next to the charging platform, which is used for manual removal of the working robot from outside the exchange compartment for replacement or repair of the working module.

[0014] Optionally, the drive device includes a motor and gears, the motor being a magnetically encoded motor, and the gears meshing with the track to drive the robot body to move on the track.

[0015] Optionally, the transport platform includes a bridging mechanism and a rotating mechanism. The bridging mechanism is used to form a working channel with the anode plate, and the rotating mechanism is used to drive the transport platform to rotate on its own axis.

[0016] Optionally, the robot includes a magnetic wheel and a replaceable working module. The magnetic wheel is used to adhere to the surface of the anode plate, and the replaceable working module includes any one or more of a dust removal module, a diagnostic module, and a repair module.

[0017] Through the above technical solution, this utility model constructs a fault diagnosis platform capable of automatic operation inside an electrostatic precipitator by combining an exchange chamber, a track robot, and a working robot. The exchange chamber not only provides a location for robot parking, charging, and module replacement, but also ensures safe communication with the high-temperature, high-dust environment through an electric sliding door and gas isolation design. The track robot is arranged along the side of the electrode plate system, and in conjunction with the bridging and rotating mechanisms on the transport platform, enables the working robot to smoothly complete cross-row movement and switching between front and back sides. The working robot adopts a four-wheel drive magnetic wheel trolley structure, which can stably adhere to the surface of the anode plates and perform tasks such as cleaning, diagnosis, or repair through replaceable modules. Overall, this design effectively solves the problems of high risk and low efficiency of manual inspection and insufficient coverage of a single robot, realizing the automation, comprehensiveness, and high efficiency of fault diagnosis and repair processes inside the electrostatic precipitator.

[0018] Other features and advantages of this utility model embodiment will be described in detail in the following detailed description section. Attached Figure Description

[0019] 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 system structure diagram of an electrostatic precipitator fault diagnosis system based on multi-robot combination provided in one embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the exchange chamber provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of a combination of a track robot and a work robot provided in one embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures 1-Exchange chamber; 2-Railway robot; 3-Working robot; 4-Electric sliding door; 5-Railway; 6-Electric plate system; 7-Dust-covered walkway; 8-Gas exchange tower; 9-Arc-shaped track; 10-Charging platform; 11-Maintenance chamber door; 12-Sliding door; 13-Drive unit; 14-Transportation platform. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] The terms “first,” “second,” “third,” etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] 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," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] 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.

[0026] 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.

[0027] Please refer to Figure 1This embodiment provides a fault diagnosis system for an electrostatic precipitator based on a multi-robot combination. The fault diagnosis system for an electrostatic precipitator based on a multi-robot combination includes: an exchange chamber 1, which is located outside the electrostatic precipitator and communicates with the inside of the electrostatic precipitator through an electric sliding door 4. The exchange chamber 1 is provided with an arc-shaped track 9 and a charging platform 10. One end of the arc-shaped track 9 is connected to the charging platform 10, and the other end is connected to the parking position of the track robot 2. The charging platform 10 is provided with a contact charging device; the track robot 2 includes a track 5 arranged along the side of the electrode plate system 6 and a robot body installed on the track 5. The robot body includes a drive device 13 and a transport platform 14. The transport platform 14 is provided with a bridging mechanism and a rotating mechanism; the working robot 3 is a four-wheel drive magnetic wheel trolley that can be adsorbed onto the surface of the anode plate. The working robot 3 can move across rows through the channel formed between the bridging mechanism and the anode plate, and has replaceable and installable working modules.

[0028] In the embodiments of this utility model, such as Figure 2 The exchange chamber 1 is located outside the electrostatic precipitator and is connected to the interior of the precipitator via an electric sliding door 4. The electric sliding door 4 is embedded with heat-insulating sealing material, providing a passage for the robot when open and effectively isolating the high-temperature, high-dust working atmosphere when closed, preventing it from leaking into the external environment of the exchange chamber 1. Inside the exchange chamber 1, an arc-shaped track 9 and a charging platform 10 are arranged. One end of the arc-shaped track 9 is connected to the charging platform 10, and the other end docks with the parking position of the track-mounted robot 2, allowing the working robot 3 to move back and forth between the charging platform 10 and the transport platform 14 along the arc-shaped track 9. Pressure sensors and buffer springs are equipped at the ends of the arc-shaped track 9 to ensure smooth operation of the working robot 3 during docking, avoiding jamming caused by excessive speed or positioning deviation. The charging platform 10 is equipped with a contact charging device, using a metal contact docking method, enabling the working robot 3 to automatically recharge after returning, ensuring readiness for the next operation.

[0029] like Figure 3The track robot 2 mainly consists of a track 5 laid along the side of the electrostatic precipitator electrode plate system 6 and a robot body mounted on the track 5. The track 5 is fixed to the side of the electrode plate system 6 using a combination of high-strength support structure and insulating material. It not only bears the weight of the track robot 2 and the working robot 3 but also resists interference from electric fields and temperature. The track 5 is laid along the side of the dust passage 7 of the electrostatic precipitator and is fixed to the electrode plate frame structure by support members. The robot body consists of a drive unit 13 and a transport platform 14. The drive unit 13 is equipped with a magnetic encoder motor and gear transmission mechanism, enabling high-precision movement and positioning on the track 5. The transport platform 14 serves as a bridge between the working robot 3 and the electrostatic precipitator, and is equipped with a bridging mechanism and a rotating mechanism. The bridging mechanism connects to the anode plate through a telescopic structure. When deployed, it forms a stable working channel, allowing the working robot 3 to smoothly enter the anode plate surface; when retracted, it remains compact, facilitating the continued movement of the track robot 2. The rotating mechanism is installed at the bottom of the transport platform 14 and can drive the transport platform 14 to achieve 360° self-axis rotation. It is used to turn the bridging mechanism to the back of the anode plate after the working robot 3 has completed the front work of the anode plate, so that it can complete the front and back switching without human intervention.

[0030] The operation robot 3 is a four-wheel drive magnetic wheel vehicle with high-strength permanent magnets at its bottom, allowing it to adhere closely to the anode plate surface and avoid detachment due to gravity or vibration. The four-wheel drive design enhances adhesion and obstacle-crossing ability, enabling it to traverse minor structural irregularities on the anode plate surface. The operation robot 3 moves across rows via a channel formed between itself and the anode plate through the bridging mechanism of the transport platform 14. It can move between different rows and switch between the front and back sides of the same row, overcoming the limitations of traditional robots that cannot cover the back side or perform cross-row operations. More importantly, the operation robot 3 features replaceable operation modules, including a dust removal module, a diagnostic module, and a repair module. The dust removal module removes dust from the electrode plates and barbed wire surfaces using a cleaning brush or high-pressure airflow nozzle; the diagnostic module collects images, temperature, vibration, or electrical parameters through a camera and sensor unit to generate fault identification data; and the repair module uses fastening tools or a coating device to tighten connectors and repair defective insulation layers.

[0031] Optionally, the exchange chamber 1 is provided with a gas exchange tower 8, which is connected to the exchange chamber 1 through a pipe to form a pressure differential balanced airflow channel between the exchange chamber 1 and the electrostatic precipitator.

[0032] In this embodiment of the invention, a gas exchange tower 8 is provided on the exchange chamber 1. The gas exchange tower 8 is connected to the exchange chamber 1 through a high-temperature and corrosion-resistant pipe, forming an independent airflow channel communicating with the interior of the electrostatic precipitator. The gas exchange tower 8 is equipped with an adjustable fan unit and a differential pressure sensor, which can pre-adjust the pressure between the exchange chamber 1 and the electrostatic precipitator cavity before the track robot 2 or the working robot 3 enters or exits the electrostatic precipitator. When the interior of the electrostatic precipitator is in a negative pressure state with high temperature and high dust, the gas exchange tower 8 starts, and the fan unit operates according to a preset exhaust or replenishment mode, gradually bringing the air pressure inside the exchange chamber 1 closer to the air pressure level inside the electrostatic precipitator. By collecting data from the differential pressure sensor in real time, the fan speed and valve opening can be dynamically adjusted to ensure that the air pressure difference is maintained within a safe range. This prevents the airflow from being ejected instantaneously due to excessive internal negative pressure when the electric sliding door 4 opens, thus ensuring the smooth entry and exit of the track robot 2 and the working robot 3, and avoiding the risk of dust carried by outside air entering the interior of the electrostatic precipitator.

[0033] A filter unit is installed at the outlet of the gas exchange tower 8 to capture dust entrained during the exchange process, preventing it from flowing back into the exchange chamber 1 or the external environment. Furthermore, flexible seals are installed at the pipe interfaces to resist expansion and contraction caused by temperature fluctuations and ensure airtightness during long-term operation. Through this design, the gas exchange tower 8 forms a controllable pressure differential balance channel between the exchange chamber 1 and the electrostatic precipitator, making the exchange chamber 1 a buffer zone for robot entry and exit. The technical benefits are twofold: firstly, it ensures the stability and airtightness of the internal operating environment of the electrostatic precipitator, preventing airflow turbulence caused by pressure differential disturbances; secondly, it improves the safety and reliability of robot operation, creating stable and controllable conditions for subsequent diagnostic and repair operations.

[0034] Optionally, the electric sliding door 4 has an embedded heat-insulating sealing material inside and a distance sensor on the door body, which is used to trigger the opening or closing of the door body when the track robot 2 and the operation robot 3 enter or exit.

[0035] In this embodiment of the invention, the electric sliding door 4 has an embedded heat-insulating sealing material. This heat-insulating sealing material is a high-temperature resistant and corrosion-resistant composite layer structure, including an outer metal plate, a middle heat-insulating ceramic layer, and an inner wear-resistant sealing ring. Through this multi-layer composite design, the door can effectively block high-temperature gases and dust particles inside the electrostatic precipitator when closed, preventing them from leaking into the exchange chamber 1, thereby maintaining a safe environment inside the exchange chamber 1. The edges of the door adopt a labyrinth-style sealing structure, which can maintain high airtightness even under repeated opening and closing, preventing air leakage caused by tiny gaps.

[0036] A distance sensor, preferably an infrared or ultrasonic ranging device, is also installed on the outer surface of the door. This sensor can measure the distance in real time when the tracked robot 2 or the working robot 3 approaches the electric sliding door 4. When the robot moves into the preset range, the sensor outputs a trigger signal, and the electric sliding door 4 opens to form a passageway. After the robot has completely passed through, the sensor detects that it has moved away from the door, and the electric sliding door 4 automatically closes, thus achieving linkage control that matches the robot's entry and exit movements. The entire opening and closing process is fast and reliable, avoiding the robot waiting or colliding with the door.

[0037] With this design, the electric sliding door 4 not only ensures the sealed isolation between the exchange chamber 1 and the inside of the electrostatic precipitator, but also automatically responds when the robot enters or exits, reducing the risks caused by human operation and delays.

[0038] Optionally, the end of the arc-shaped track 9 is provided with a buffer spring and a pressure sensor, which contact the end of the arc-shaped track 9 when the track robot 2 carrying platform 14 returns to the parking position.

[0039] In this embodiment of the invention, the end of the arc-shaped track 9 is equipped with a buffer spring and a pressure sensor, which work together to ensure that the track robot 2's transport platform 14 can dock safely and smoothly when returning to the parking position. The arc-shaped track 9 is made of wear-resistant alloy steel, and its end is fixed to the bottom plate of the exchange chamber 1 by a support seat. A set of coaxially arranged buffer springs is installed at the end connection position. The buffer spring has a preset stiffness coefficient and compression stroke. When the transport platform 14 contacts the end of the arc-shaped track 9, the buffer spring will undergo controlled deformation to absorb the kinetic energy generated during the platform's return process, avoiding direct hard impact that could damage the track 5 and the platform interface.

[0040] A pressure sensor is embedded below the buffer spring. This sensor monitors the force applied during contact in real time. When the detected signal reaches a preset threshold, it indicates that the transport platform 14 has accurately positioned itself. This signal is used to determine whether the robot 3 can smoothly enter or leave the transport platform 14 along the curved track 9. If the pressure value is insufficient, it indicates that the platform is not fully engaged and further position adjustments are needed. If the pressure value exceeds the upper limit, it indicates an abnormal situation of excessive impact, requiring a shutdown or buffering action. This combination of mechanics and sensors achieves dual protection through mechanical buffering and electronic detection.

[0041] Optionally, the charging platform 10 is equipped with a metal contact charging device, and the working robot 3 is equipped with a charging interface, which is connected to the metal contact to achieve charging.

[0042] In this embodiment of the invention, the charging platform 10 is equipped with a metal contact charging device. The charging device consists of two sets of independent metal contacts, serving as the positive and negative electrodes respectively, and is fixed to the surface of the charging platform 10 by an insulating base. The metal contacts are made of wear-resistant nickel-plated copper alloy material, possessing good conductivity and oxidation resistance, and can maintain stable contact performance in long-term high-temperature and high-dust environments. The contact surface is designed with a micro-protrusion structure to ensure effective mechanical compression when the robot 3 stops, thereby enhancing the reliability of electrical contact.

[0043] The robot 3 has a pre-installed charging interface at a corresponding position. The charging interface includes an elastic contact and a conductive block. When the robot 3 moves along the arc-shaped track 9 to the charging platform 10, the charging interface automatically engages with the metal contacts on the charging platform 10. Because the contact has a certain degree of elasticity, even with slight positional deviations, stable contact can be achieved through deformation compensation, avoiding charging failures due to robot positioning errors. To further improve safety, a dustproof sealing ring is also provided between the charging interface and the contacts. After contact is completed, the sealing ring automatically tightens to prevent dust particles from entering the contact area.

[0044] In terms of electrical design, the charging contacts are connected to the external power supply unit via cables and are equipped with overcurrent protection circuits and temperature rise detection modules. In the event of abnormal current or excessive temperature, the power supply can be cut off immediately to prevent overheating damage caused by poor contact. The entire charging process does not require manual plugging or unplugging; it is completed entirely by the robot's own docking action.

[0045] Optionally, a maintenance door 11 is provided on one side of the exchange compartment 1 for maintenance personnel to enter the exchange compartment 1 to perform maintenance on the track robot 2.

[0046] In this embodiment of the invention, a maintenance door 11 is provided on one side of the exchange chamber 1 for maintenance personnel to enter the exchange chamber 1 to maintain the track robot 2. The size of the maintenance door 11 is designed according to the minimum requirements for personnel entry and exit, ensuring that personnel can carry tools and enter smoothly while also maintaining the compactness of the overall structure. The door body of the maintenance door 11 adopts a composite structure of steel plate and heat insulation layer. The outer layer is a corrosion-resistant steel plate, the middle layer is a ceramic fiber heat insulation layer, and the inner layer is a high-temperature resistant sealing ring. This effectively isolates the residual heat and dust conducted from inside the electrostatic precipitator when the door is closed, maintaining the safety of the external environment of the exchange chamber 1.

[0047] The maintenance compartment door 11 features a multi-level labyrinthine sealing structure at its edges, with wear-resistant sealing strips embedded in key contact surfaces to ensure good airtightness even after frequent opening and closing. The door is preferably opened by an outward-folding or sliding mechanism, combined with a secure handle and mechanical lock, allowing for single-person operation of opening and closing. To further enhance safety, the maintenance compartment door 11 is also equipped with an observation window made of tempered glass and fixed with a metal frame, allowing maintenance personnel to observe the status of the tracked robot 2 inside the exchange compartment 1 without opening the door.

[0048] When the track robot 2 malfunctions and requires manual intervention, maintenance personnel can directly enter the exchange chamber 1 by opening the maintenance chamber door 11 to inspect and replace the drive unit 13, the transport platform 14, or the end of the track 5 of the track robot 2. Since the maintenance chamber is located outside the electrostatic precipitator, its internal environment is far superior to that inside the electrostatic precipitator cavity, and there are no dangerous conditions of high temperature and high dust, thus greatly reducing the safety risks of maintenance operations.

[0049] Optionally, a manually operated sliding door 12 is provided next to the charging platform 10. The sliding door 12 is used for manual removal of the working robot 3 from outside the exchange chamber 1 for replacement or repair of the working module.

[0050] In this embodiment of the invention, a manually operable sliding door 12 is provided next to the charging platform 10. The sliding door 12 provides a way for personnel to remove the working robot 3 without entering the exchange chamber 1, so as to replace or repair the working module. The door body of the sliding door 12 is made of a high-strength metal frame combined with wear-resistant alloy plate, and the outer edge is embedded with a high-temperature resistant rubber sealing strip. When closed, it can ensure a tight fit with the wall of the exchange chamber 1, thereby effectively preventing dust from escaping and heat conduction. The track 5 of the sliding door 12 adopts a lateral sliding groove structure and is supported by rollers, allowing maintenance personnel to easily pull it from the outside, ensuring that the opening and closing operation is labor-saving and stable.

[0051] A positioning latch mechanism is installed on the inner side of the sliding door 12. The latch automatically locks when the door is closed, ensuring that the sliding door 12 will not shift on its own when subjected to internal air pressure or vibration. To further improve safety, a small observation window is provided on the surface of the sliding door 12, allowing maintenance personnel to confirm whether the robot 3 is docked on the charging platform 10 before opening the sliding door 12, avoiding the risks of blind operation. The height and width of the sliding door 12 are matched to the external dimensions of the robot 3, allowing the robot to be smoothly removed from the charging platform 10. Maintenance personnel can replace modules, such as cleaning modules, diagnostic modules, or repair modules, from the outside. After replacement, the robot is placed back into the charging platform 10 along the sliding door 12 channel, restoring normal standby and charging status.

[0052] Optionally, the drive device 13 includes a motor and a gear, the motor being a magnetically encoded motor, and the gear meshing with the track 5 to drive the robot body to move on the track 5.

[0053] In this embodiment of the invention, the driving device 13 includes a motor and gears. The motor is a magnetic encoder motor, which has a magnetic encoder at the end of its shaft, capable of acquiring the motor's rotation angle in real time and outputting pulse signals. By accumulating and calculating the rotation angle data, the movement distance of the robot body on the track 5 can be obtained, thereby achieving precise positioning. Compared with ordinary DC motors, magnetic encoder motors have higher resolution and anti-interference capabilities, maintaining signal output stability even in harsh environments with strong electric fields and high dust levels inside electrostatic precipitators.

[0054] The gears are made of high-strength alloy steel and undergo surface hardening to improve wear resistance. The gears mesh with a pre-fabricated rack structure on the side of track 5. The torque output from the motor is transmitted through the gears and directly acts on track 5, allowing the robot body to move smoothly along track 5. To ensure reliable meshing, a dust cover and a grease inlet are provided at the meshing point of the gear and rack. The dust cover prevents dust from entering the gap between the gear teeth, while the grease inlet is used to periodically replenish grease to reduce wear.

[0055] Optionally, the transport platform 14 includes a bridging mechanism and a rotating mechanism. The bridging mechanism is used to form a working channel with the anode plate, and the rotating mechanism is used to drive the transport platform 14 to rotate on its own axis.

[0056] In this embodiment of the invention, the transport platform 14 includes a bridging mechanism and a rotating mechanism, which cooperate to ensure that the working robot 3 can smoothly complete cross-row movement and front-to-back switching. The bridging mechanism is located at the front end of the transport platform 14 and adopts a telescopic structure combined with the guide rail 5. When the track robot 2 stops on one side of the anode plate, the bridging mechanism extends along a preset direction, and its end connects with the edge of the anode plate to form a stable channel. The width and surface structure of the channel match the magnetic wheel of the working robot 3, ensuring that the working robot 3 can firmly attach and enter the surface of the anode plate for operation along the channel. When the bridging mechanism retracts, it is fixed in the platform frame by a limiter and a buffer to reduce the vibration and wear of the moving parts during operation.

[0057] The rotating mechanism is installed at the bottom of the transport platform 14 and mainly consists of a slewing bearing, a drive motor, and connecting bearings. Its function is to drive the entire platform to rotate on its own axis after completing the work on the front side of a row of anode plates. The rotation angle can be 180° or 360°, allowing the bridging mechanism to be turned towards the back of the anode plates, thus enabling the robot 3 to switch between front and back sides. The load-bearing components of the rotating mechanism are made of high-strength steel and equipped with internal roller bearings to ensure smooth rotation and a certain degree of impact resistance, capable of withstanding the additional loads generated by the robot 3 during traversal.

[0058] Optionally, the robot 3 includes a magnetic wheel and a replaceable working module. The magnetic wheel is used to adhere to the surface of the anode plate, and the replaceable working module includes any one or more of a dust removal module, a diagnostic module, and a repair module.

[0059] In this embodiment of the invention, the working robot 3 includes magnetic wheels and replaceable working modules. The combination of these two components enables reliable movement and multi-functional operation within the complex working conditions of an electrostatic precipitator. The magnetic wheels are positioned at the four drive wheels on the bottom of the working robot 3, and are equipped with high-performance permanent magnets. The magnetic flux of the magnets is optimized to generate sufficient adsorption force when the robot approaches the anode plate surface, thereby counteracting the effects of gravity and vibration. Through this design, the working robot 3 can stably adhere to the vertical or inclined surface of the anode plate without detaching due to running speed or local protrusions. Simultaneously, the four-wheel independent motor drive structure, in conjunction with the magnetic wheels, ensures that the robot maintains good crawling and obstacle-crossing capabilities even in high-dust environments, allowing it to smoothly traverse small weld points, protrusions, or deposits on the anode plate surface.

[0060] Supported by magnetic wheels, the operating robot 3 can be equipped with different replaceable operating modules, including one or more of the following: dust removal modules, diagnostic modules, and repair modules, selected according to the maintenance task. The dust removal module can employ either a mechanical brush or a high-pressure airflow nozzle: the mechanical brush, made of wear-resistant and heat-resistant fiber material, continuously removes accumulated dust from the anode plate or barbed wire surface as the robot moves; the high-pressure airflow nozzle is connected to an air storage unit, spraying directional airflow to remove stubborn dust deposits. These two methods effectively reduce dust deposition on the electrode surface, improving the stability of the electric field and dust removal efficiency.

[0061] The diagnostic module includes a camera device and a multi-functional sensor unit. The camera device uses an industrial camera with low-light imaging capabilities and is equipped with a dustproof protective cover, enabling it to acquire relatively clear images of the electrode plates and barbed wire surfaces even in dusty environments, allowing for the detection of problems such as deformation, breakage, or uneven dust accumulation. The sensor unit can be configured with temperature sensors, vibration sensors, or electrical response sensors. Temperature sensors detect localized overheating, vibration sensors determine if the barbed wires are loose or broken, and electrical response sensors capture partial discharge or short-circuit signals, thus forming complete fault identification data. This data can be subsequently aggregated to assess the operating status and potential risks of the electrostatic precipitator.

[0062] The repair module is primarily used for basic repair work, including fastening tools and coating devices. The fastening tools are designed as miniature electric wrenches or clip-on fasteners, which, after the robot is accurately positioned, can reinforce the connecting bolts or clamps of the anode plates to prevent loosening due to prolonged operation. The coating devices include small spray heads or rollers, which can apply an insulating coating to the defective area after the robot detects it, thereby restoring local insulation performance and preventing breakdown or discharge problems caused by uneven electric fields.

[0063] To ensure rapid module replacement, the robot body 3 features standardized quick-change interfaces, employing a combination of mechanical snap-fit ​​and electrical plug-in. Maintenance personnel can directly remove the robot 3 through the sliding door 12 of the exchange compartment 1, allowing for module replacement or maintenance in an external environment. The entire operation is simple and quick, requiring no complex tools. This modular design not only enhances operational flexibility but also provides space for future functional expansion; for example, new monitoring modules or dedicated repair tools can be developed as needed.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 multi-robot combination-based electrostatic precipitator fault diagnosis system, characterized by, The electrostatic precipitator fault diagnosis system based on multi-robot combination includes: The exchange chamber is located outside the electrostatic precipitator and is connected to the inside of the electrostatic precipitator through an electric sliding door. The exchange chamber is equipped with an arc-shaped track and a charging platform. One end of the arc-shaped track is connected to the charging platform, and the other end is connected to the parking position of the track robot. The charging platform is equipped with a contact charging device. The track robot includes a track laid along the side of the electrode plate system and a robot body installed on the track. The robot body includes a drive device and a transport platform. The transport platform is provided with a bridging mechanism and a rotating mechanism. The work robot is a four-wheel drive magnetic wheel vehicle that can adhere to the surface of the anode plate. The work robot can move across rows through the channel formed between the bridging mechanism and the anode plate, and has replaceable and installable work modules.

2. The multi-robot combination-based electrostatic precipitator fault diagnosis system according to claim 1, characterized by, The exchange chamber is equipped with a gas exchange tower, which is connected to the exchange chamber via a pipeline to form a pressure differential balanced airflow channel between the exchange chamber and the electrostatic precipitator.

3. The multi-robot combination based electrostatic precipitator fault diagnostic system according to claim 1, wherein The electric sliding door has an embedded heat-insulating and sealing material inside, and a distance sensor is installed on the door to trigger the opening or closing of the door when the track robot and the operation robot enter or exit.

4. The multi-robot combination based electrostatic precipitator fault diagnostic system according to claim 1, wherein The end of the arc-shaped track is equipped with a buffer spring and a pressure sensor, which contact the end of the arc-shaped track when the track robot platform returns to the parking position.

5. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, The charging platform is equipped with a metal contact charging device, and the working robot is equipped with a charging interface, which is connected to the metal contacts to achieve charging.

6. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, One side of the exchange compartment is equipped with a maintenance door, which allows maintenance personnel to enter the exchange compartment to perform maintenance on the track robot.

7. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, Next to the charging platform is a manually operated sliding door, which is used for manual removal of the working robot from outside the exchange compartment for replacement or repair of the working module.

8. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, The drive device includes a motor and gears. The motor is a magnetically encoded motor, and the gears mesh with the track to drive the robot body to move on the track.

9. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, The transport platform includes a bridging mechanism and a rotating mechanism. The bridging mechanism is used to form a working channel with the anode plate, and the rotating mechanism is used to drive the transport platform to rotate on its own axis.

10. The electrostatic precipitator fault diagnosis system based on multi-robot combination according to claim 1, characterized in that, The robot includes a magnetic wheel and a replaceable working module. The magnetic wheel is used to adhere to the surface of the anode plate. The replaceable working module includes any one or more of a dust removal module, a diagnostic module, and a repair module.

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