Automatic cleaning device for flue gas pipeline ash deposition

Abstract

The utility model provides a kind of flue gas pipeline ash deposition automatic cleaning device, including equipment main body frame, and walking mechanism, milling and ploughing mechanism, detection mechanism, dust removal mechanism, ash cleaning mechanism, advancing fixed mechanism and control system integrally installed on the equipment main body frame;The walking mechanism is equipped in equipment main body frame bottom, for driving the whole equipment to advance along flue gas pipeline axis direction;The milling and ploughing mechanism is equipped in equipment main body frame front end;The detection mechanism is dispersed and equipped in equipment main body frame's front end, side wall and stress part;The dust removal mechanism is equipped in equipment main body frame's tail end;The ash cleaning mechanism is equipped in equipment main body frame's middle part;The advancing fixed device is symmetrically assembled in equipment main body frame's top and bottom part.The utility model effectively solves the problems of large labor intensity, poor cleaning effect and poor adaptability in existing technology flue gas pipeline ash deposition cleaning.

Description

Technical Field

[0001] This utility model belongs to the technical field of flue gas treatment equipment, specifically relating to an automatic cleaning device for ash accumulation in flue gas ducts. Background Technology

[0002] In industrial production processes, large quantities of flue gas are transported and treated through pipelines. Because flue gas typically contains significant amounts of dust, particulate matter, and other impurities, ash easily accumulates on the inner walls of the pipelines. As this ash accumulates, it reduces the cross-sectional area of ​​the flue gas pipeline, increasing flow resistance, lowering transport efficiency, and even affecting the normal operation of the entire flue gas treatment system. Furthermore, excessive ash accumulation can also cause pipeline blockages, leading to equipment malfunctions and increased maintenance costs and downtime.

[0003] Currently, the cleaning of chemical flue gas pipelines mainly relies on manual labor. This manual method has several drawbacks: firstly, it requires workers to enter the pipeline, where the environment is harsh, with high temperatures, harmful gases, and oxygen deficiency, posing a significant threat to worker safety; secondly, manual cleaning is inefficient, labor-intensive, costly, and it's difficult to guarantee uniformity and thoroughness, failing to meet the needs of large-scale, high-efficiency production in chemical enterprises. Therefore, developing a mechanical device capable of automating the cleaning process is of significant practical importance. Summary of the Invention

[0004] The purpose of this utility model is to provide an automatic cleaning device for ash accumulation in flue gas ducts, so as to solve the problems of high labor intensity, high safety hazards, poor cleaning effect and poor adaptability in the existing flue gas duct ash accumulation cleaning.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: An automatic cleaning device for ash accumulation in flue gas ducts includes a main frame of the equipment, and a walking mechanism, a milling mechanism, a detection mechanism, a dust removal mechanism, a dust cleaning mechanism, a traveling and fixing mechanism, and a control system integrated and installed on the main frame of the equipment. The control system is electrically connected to the walking mechanism, milling mechanism, detection mechanism, dust removal mechanism, dust cleaning mechanism, and traveling and fixing mechanism, respectively, and is used to receive the detection signal output by the detection mechanism in real time, and output control commands based on the signal to regulate the operating status of each mechanism. The walking mechanism is located at the bottom of the main frame of the equipment and is used to drive the entire equipment to move along the axis of the flue gas duct. The milling mechanism is located at the front end of the main frame of the equipment and is used to directly contact and remove the hard dust accumulated on the inner wall of the pipe. The detection mechanisms are distributed at the front end, side walls, and stress-bearing parts of the main frame of the equipment, and are used to collect environmental parameters and equipment operating parameters inside the pipeline. The dust removal mechanism is located at the rear end of the main frame of the equipment and is used to collect loose dust generated during the cleaning process. The dust removal mechanism is located in the middle of the main frame of the equipment and is used to remove loose dust from the inner wall of the pipe. The traveling and fixing devices are symmetrically assembled on the top and bottom of the main frame of the equipment, and are used to fix the equipment relative to the inner wall of the pipeline when the equipment is operating at a fixed point.

[0006] Furthermore, the walking mechanism is a tracked structure, specifically including two parallel and spaced walking tracks, a differential, and a drive motor; The drive motor is fixedly installed inside the main frame of the equipment, and its power output end is connected to the power input end of the differential through a coupling. The differential is fixedly mounted between the two tracks, and its two power output ends are respectively connected to the drive wheels of the two tracks one by one through a transmission gear set. The drive motor is electrically connected to the control system. The control system adjusts the speed of the drive motor and the differential ratio of the differential to regulate the travel speed and steering of the equipment.

[0007] Furthermore, the traveling and fixing mechanism includes multiple sets of electrically telescopic support rods symmetrically distributed at the top and bottom of the main frame of the equipment; One end of the electric telescopic support rod is fixedly connected to the main frame of the equipment, and the other end of the support rod extends outward perpendicular to the pipeline axis. Each of the telescopic ends of the support rod is provided with a support head, which is used to press against the inner wall of the pipe when it is extended. A buffer spring is provided between the support head and the telescopic end of the support rod; The drive motor of the electric telescopic support rod is electrically connected to the control system. The control system adjusts the telescopic length of the support rod by controlling the drive motor to achieve stable support and position fixation of the equipment in the pipeline.

[0008] Furthermore, the detection mechanism includes a distance sensor, a temperature sensor, and a pressure sensor; The distance sensor is provided in three parts, which are fixedly installed on the front center and the middle of the left and right side walls of the main frame of the equipment by brackets respectively. The detection direction is towards the front end of the pipe, the left inner wall and the right inner wall respectively. The signal output end is electrically connected to the signal input end of the control system through wires, and is used to detect the relative position of the equipment with the inner wall of the pipe and the bend in real time. The temperature sensor is mounted on the front end of the main frame of the equipment, with the detection end exposed to the environment inside the pipeline and the signal output end electrically connected to the control system for real-time acquisition of the temperature inside the pipeline. Multiple pressure sensors are provided, which are respectively fixed to the force-bearing surface of the support rod of the traveling and fixed mechanism and the inner side of the track plate of the traveling track. The signal output terminal is electrically connected to the control system and is used to detect the pressure borne by the equipment during operation.

[0009] Furthermore, the milling mechanism includes an arc-shaped guide rail, a slide table, a milling cutter, a slide table drive motor, and a cutter rotation drive motor; The arc-shaped guide rail is fixedly installed at the front end of the main frame of the equipment, and its arc-shaped profile is adapted to the curvature of the flue gas duct. The slide table is slidably mounted on the arc-shaped guide rail, and the slide table is driven by the slide table drive motor to reciprocate along the arc-shaped guide rail; The milling cutter has a long rod structure, with multiple milling cutter heads embedded in the rod. The milling cutter is rotatably mounted on the slide table via a bearing seat, and its axis is perpendicular to the sliding plane of the slide table. The tool rotation drive motor is a variable frequency motor, which is fixedly installed on the slide table. Its output shaft is connected to the end of the tool holder of the milling tool through a coupling or reducer, and is used to drive the milling tool to rotate around its own axis. Both the slide drive motor and the tool rotation drive motor are electrically connected to the control system. The control system adjusts the position and speed of the slide along the arc-shaped guide rail by controlling the slide drive motor to realize the tangential swing motion of the milling tool, and adjusts the rotation speed and direction of the milling tool by controlling the tool rotation drive motor to realize the self-rotation motion of the milling tool.

[0010] Furthermore, the dust removal mechanism includes a rotary motor, a dust removal arm, and a dust removal brush; The rotary motor is fixedly installed in the middle of the main frame of the equipment via a motor base. Its output shaft is set in a horizontal direction perpendicular to the pipeline axis, and the end of the output shaft is connected and fixed to one end of the dust removal arm. The cleaning arm is a long strip of metal rod, and the other end of the cleaning arm extends radially outward along the pipe, with a cleaning brush fixed at the end. Furthermore, the dust removal mechanism includes a dust collection fan, a dust collection port, and a dust conveying pipe; The dust extraction fan is fixed to the rear end of the main frame of the equipment, and the dust extraction port is installed on the side wall of the rear end of the main frame of the equipment through a pipe joint, with the dust extraction port facing the working area of ​​the dust removal brush mechanism. One end of the ash conveying pipe is connected to the air inlet of the dust suction port, and the other end is connected to the ash collection device; The dust extraction fan is electrically connected to the control system.

[0011] Furthermore, it also includes infrared monitoring devices; The infrared monitoring device is fixedly installed on the front top of the main frame of the equipment by a bracket. Its monitoring lens faces the dust accumulation area on the inner wall of the pipe. The signal output terminal is electrically connected to the control system. It is used to collect image data of the dust removal area in real time to monitor the dust removal progress and assist in locating the real-time position of the equipment in the pipe.

[0012] Compared with existing technologies, this utility model device employs specialized cleaning methods for different types of ash accumulation. The front cleaning drill effectively breaks down and removes hard, coked clumps of ash; the central rotating cleaning brush efficiently sweeps away loose dust; and the rear dust collection mechanism promptly collects and discharges the cleaned dust, ensuring thorough and efficient cleaning. The walking mechanism adopts a tracked design and is equipped with a differential, giving it excellent passability, stability, and flexible steering capabilities in complex pipeline terrain, guaranteeing long-term reliable operation in the harsh environment of chemical flue gas pipelines. By integrating multiple sensors and infrared monitoring devices, the system can perceive the equipment's own status and changes in the pipeline environment in real time, achieving precise positioning, obstacle avoidance, temperature warning, and overload protection. The fixing mechanism provides stable support during movement and firmly locks the machine body during fixed-point cleaning, effectively preventing the equipment from tipping over or slipping during operation, ensuring a smooth and safe operation. Attached Figure Description

[0013] Figure 1 This is a side sectional view of the present invention. Figure 2 This is a front structural diagram of the present invention; Attached Figure Descriptions: 1. Main Frame; 2. Tracked Belt; 3. Upper Support Rod; 4. Lower Support Rod; 5. Support Head; 6. Control Cabinet; 7. Distance Sensor; 8. Arc-Shaped Guide Rail; 9. Milling Cutter; 10. Slide Table Drive Motor; 11. Cutter Rotation Drive Motor; 12. Dust Cleaning Arm; 13. Dust Cleaning Brush; 15. Dust Suction Port; 16. Dust Collection Device; 17. Dust Conveying Pipe. Detailed Implementation

[0014] The present invention will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The terms such as "upper," "lower," "left," and "right" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of the present invention.

[0015] like Figure 1 As shown, an automatic cleaning device for ash accumulation in flue gas ducts, such as Figure 1 , Figure 2 As shown, the device includes a main frame 1, and a walking mechanism, a milling mechanism, a detection mechanism, a dust removal mechanism, a dust cleaning mechanism, a travel and fixing mechanism, and a control system integrated and installed on the main frame 1.

[0016] The hardware components of the control system are centrally installed in a control cabinet 6, which is fixed to the main frame 1 of the equipment. The control system is electrically connected to the walking mechanism, milling mechanism, detection mechanism, dust removal mechanism, dust cleaning mechanism, and traveling and fixing mechanism, respectively, and is used to receive the detection signals output by the detection mechanism in real time, and output control commands based on the signals to regulate the operating status of each mechanism.

[0017] The walking mechanism is located at the bottom of the main frame 1 of the equipment and is used to drive the entire equipment to move along the axis of the flue gas duct.

[0018] The milling mechanism is located at the front end of the main frame 1 of the equipment and is used to directly contact and remove the hard dust accumulated on the inner wall of the pipe.

[0019] The detection mechanisms are distributed at the front end, side walls, and stress-bearing parts of the main frame 1 of the equipment, and are used to collect environmental parameters and equipment operating parameters inside the pipeline.

[0020] The dust removal mechanism is located at the rear end of the main frame 1 of the equipment and is used to collect loose dust generated during the cleaning process.

[0021] The dust removal mechanism is located in the middle of the main frame 1 of the equipment and is used to remove loose dust from the inner wall of the pipe.

[0022] The traveling and fixing devices are symmetrically assembled on the top and bottom of the main frame 1 of the equipment, and are used to fix the equipment relative to the inner wall of the pipeline when the equipment is operating at a fixed point.

[0023] The walking mechanism is a tracked structure, specifically including two parallel and spaced walking tracks 2, a differential and a drive motor.

[0024] The drive motor is fixedly installed inside the main frame 1 of the equipment, and its power output end is connected to the power input end of the differential through a coupling.

[0025] The differential is fixedly mounted between the two tracks 2, and its two power output ends are respectively connected to the drive wheels of the two tracks 2 through a transmission gear set.

[0026] The drive motor is electrically connected to the control system. The control system adjusts the speed of the drive motor and the differential ratio of the differential to regulate the travel speed and steering of the equipment.

[0027] The traveling and fixing mechanism includes multiple sets of electrically telescopic support rods symmetrically distributed at the top and bottom of the main frame 1 of the equipment.

[0028] One end of the electric telescopic support rod is fixedly connected to the main frame 1 of the equipment, and the other end is the telescopic end that extends outward perpendicular to the pipeline axis.

[0029] The support rod located at the top of the main frame 1 of the equipment is defined as the upper support rod 3, and the support rod located at the bottom is defined as the lower support rod 4.

[0030] Both the upper support rod 3 and the lower support rod 4 are provided with a support head 5 at their telescopic ends. The support head 5 is used to press against the inner wall of the pipe when it is extended.

[0031] A buffer spring is provided between the telescopic ends of the support head 5.

[0032] The drive motor of the electric telescopic support rod is electrically connected to the control system. The control system adjusts the telescopic length of the support rod by controlling the drive motor to achieve stable support and position fixation of the equipment in the pipeline.

[0033] The traveling and fixing mechanism is used to ensure that the equipment can be firmly fixed to the ground during operation, while the spring device effectively ensures the free retraction of the fixing rod when foreign objects appear on the inner wall of the pipeline.

[0034] The detection mechanism includes a distance sensor 7, a temperature sensor, and a pressure sensor.

[0035] The distance sensor 7 is provided in three parts, which are fixedly installed on the front center and the middle of the left and right side walls of the main frame 1 of the equipment by brackets respectively. The detection direction is towards the front end of the pipe, the left inner wall and the right inner wall respectively. The signal output end is electrically connected to the signal input end of the control system through wires, and is used to detect the relative position of the equipment with the inner wall of the pipe and the bend in real time.

[0036] The temperature sensor is mounted on the front end of the main frame 1 of the equipment. The detection end is exposed to the environment inside the pipeline, and the signal output end is electrically connected to the control system for real-time acquisition of the temperature inside the pipeline.

[0037] The purpose of the temperature sensor is to monitor the temperature inside the pipeline where the equipment is located in real time. If the temperature reaches the maximum that the nearby equipment can withstand, an alarm will be issued and the signal will be transmitted to the operator's control device. At this time, the operator can manually shut down the machine. If the operator does not detect the alarm in time, the equipment can trigger the protection program to automatically stop operation.

[0038] Multiple pressure sensors are provided, which are respectively fixed to the force-bearing surface of the support rod of the traveling and fixed mechanism and the inner side of the track plate of the traveling track 2. The signal output terminal is electrically connected to the control system and is used to detect the pressure borne by the equipment during operation.

[0039] The pressure sensor can monitor the pressure exerted on the equipment in real time, thereby adjusting the position of the cleaning fixture. It can also trigger an alarm if the pressure is too high or if the equipment passes through narrow areas, thus providing a protective function.

[0040] The milling mechanism includes an arc-shaped guide rail 8, a slide table, a milling cutter 9, a slide table drive motor 10, and a cutter rotation drive motor 11.

[0041] The arc-shaped guide rail 8 is fixedly installed at the front end of the main frame 1 of the equipment, and its arc-shaped profile is adapted to the curvature of the flue gas duct.

[0042] The slide table is slidably mounted on the arc-shaped guide rail 8, and the slide table is driven by the slide table drive motor 10 to reciprocate along the arc-shaped guide rail 8.

[0043] The milling cutter 9 has a long rod structure, with multiple milling cutter heads embedded in the rod. The milling cutter 9 is rotatably mounted on the slide table via a bearing seat, and its axis is perpendicular to the sliding plane of the slide table.

[0044] The tool rotation drive motor 11 is a variable frequency motor, which is fixedly installed on the slide. Its output shaft is connected to the end of the tool holder of the milling tool 9 through a coupling or reducer, and is used to drive the milling tool 9 to rotate around its own axis.

[0045] Both the slide drive motor 10 and the tool rotation drive motor 11 are electrically connected to the control system. The control system adjusts the position and moving speed of the slide along the arc guide rail 8 by controlling the slide drive motor 10 to realize the tangential swing motion of the milling tool 9, and adjusts the rotation speed and direction of the milling tool 9 by controlling the tool rotation drive motor 11 to realize the self-rotation motion of the milling tool 9.

[0046] In this embodiment, the milling cutter 9 is preferably made of cemented carbide, a material with high hardness, wear resistance, high heat resistance, and corrosion resistance. This fully meets the requirements of various operating environments and types of work in chemical plants, including high temperatures, hardened dust accumulation, and corrosion from dilute acids within pipelines.

[0047] The dust removal mechanism includes a rotary motor, a dust removal arm 12, and a dust removal brush 13.

[0048] The rotary motor is fixedly installed in the middle of the main frame 1 of the equipment via a motor base. Its output shaft is set in a horizontal direction perpendicular to the pipeline axis, and the end of the output shaft is connected and fixed to one end of the dust removal arm 12.

[0049] The cleaning arm 12 is a long strip of metal rod. The other end of the cleaning arm 12 extends outward along the radial direction of the pipe, and a cleaning brush 13 is fixed at the end.

[0050] The dust removal mechanism includes a dust suction fan, a dust suction port 15, and a dust conveying pipe 17.

[0051] The dust extraction fan is fixed to the tail end of the main frame 1 of the equipment, and the dust extraction port 15 is installed on the side wall of the tail end of the main frame 1 of the equipment through a pipe joint, and the dust extraction port 15 faces the working area of ​​the dust removal brush 13 mechanism.

[0052] One end of the ash conveying pipe 17 is connected to the air inlet of the dust suction port 15, and the other end is connected to the ash collection device 16.

[0053] The dust extraction fan is electrically connected to the control system.

[0054] This equipment also includes an infrared monitoring device; the infrared monitoring device is fixedly installed on the front top of the main frame 1 of the equipment by a bracket, its monitoring lens faces the dust accumulation area on the inner wall of the pipe, and its signal output terminal is electrically connected to the control system to collect image data of the dust removal area in real time to monitor the dust removal progress and assist in locating the real-time position of the equipment in the pipe.

[0055] Compared with existing technologies, this utility model device employs specialized cleaning methods for different types of ash accumulation. The front cleaning drill effectively breaks down and removes hard, coked clumps of ash; the central rotating cleaning brush efficiently sweeps away loose dust; and the rear dust collection mechanism promptly collects and discharges the cleaned dust, ensuring thorough and efficient cleaning. The walking mechanism adopts a tracked design and is equipped with a differential, giving it excellent passability, stability, and flexible steering capabilities in complex pipeline terrain, guaranteeing long-term reliable operation in the harsh environment of chemical flue gas pipelines. By integrating multiple sensors and infrared monitoring devices, the system can perceive the equipment's own status and changes in the pipeline environment in real time, achieving precise positioning, obstacle avoidance, temperature warning, and overload protection. The fixing mechanism provides stable support during movement and firmly locks the machine body during fixed-point cleaning, effectively preventing the equipment from tipping over or slipping during operation, ensuring a smooth and safe operation.

[0056] The above description is only a preferred embodiment of the present utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present utility model patent application are included within the protection scope of the present utility model patent application.

Claims

1. An automatic cleaning device for ash accumulation in flue gas ducts, characterized in that, It includes the main frame of the equipment, as well as a walking mechanism, milling mechanism, detection mechanism, dust removal mechanism, dust cleaning mechanism, travel and fixing mechanism and control system integrated and installed on the main frame of the equipment; The control system is electrically connected to the walking mechanism, milling mechanism, detection mechanism, dust removal mechanism, dust cleaning mechanism, and traveling and fixing mechanism, respectively, and is used to receive the detection signal output by the detection mechanism in real time, and output control commands based on the signal to regulate the operating status of each mechanism. The walking mechanism is located at the bottom of the main frame of the equipment and is used to drive the entire equipment to move along the axis of the flue gas duct. The milling mechanism is located at the front end of the main frame of the equipment and is used to directly contact and remove the hard dust accumulated on the inner wall of the pipe. The detection mechanisms are distributed at the front end, side walls, and stress-bearing parts of the main frame of the equipment, and are used to collect environmental parameters and equipment operating parameters inside the pipeline. The dust removal mechanism is located at the rear end of the main frame of the equipment and is used to collect loose dust generated during the cleaning process. The dust removal mechanism is located in the middle of the main frame of the equipment and is used to remove loose dust from the inner wall of the pipe. The traveling and fixing mechanism is symmetrically assembled on the top and bottom of the main frame of the equipment, and is used to fix the equipment relative to the inner wall of the pipeline when the equipment is operating at a fixed point.

2. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 1, characterized in that, The walking mechanism is a tracked structure, specifically including two parallel and spaced walking tracks, a differential and a drive motor; The drive motor is fixedly installed inside the main frame of the equipment, and its power output end is connected to the power input end of the differential through a coupling. The differential is fixedly mounted between the two tracks, and its two power output ends are respectively connected to the drive wheels of the two tracks one by one through a transmission gear set. The drive motor is electrically connected to the control system. The control system adjusts the speed of the drive motor and the differential ratio of the differential to regulate the travel speed and steering of the equipment.

3. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 1, characterized in that, The traveling and fixing mechanism includes multiple sets of electrically telescopic support rods symmetrically distributed at the top and bottom of the main frame of the equipment; One end of the electric telescopic support rod is fixedly connected to the main frame of the equipment, and the other end of the support rod extends outward perpendicular to the pipeline axis. Each of the telescopic ends of the support rod is provided with a support head, which is used to press against the inner wall of the pipe when it is extended. A buffer spring is provided between the support head and the telescopic end of the support rod; The drive motor of the electric telescopic support rod is electrically connected to the control system. The control system adjusts the telescopic length of the support rod by controlling the drive motor to achieve stable support and position fixation of the equipment in the pipeline.

4. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 3, characterized in that, The detection mechanism includes a distance sensor, a temperature sensor, and a pressure sensor; The distance sensor is provided in three parts, which are fixedly installed on the front center and the middle of the left and right side walls of the main frame of the equipment by brackets respectively. The detection direction is towards the front end of the pipe, the left inner wall and the right inner wall respectively. The signal output end is electrically connected to the signal input end of the control system through wires, and is used to detect the relative position of the equipment with the inner wall of the pipe and the bend in real time. The temperature sensor is mounted on the front end of the main frame of the equipment, with the detection end exposed to the environment inside the pipeline and the signal output end electrically connected to the control system for real-time acquisition of the temperature inside the pipeline. Multiple pressure sensors are provided, which are respectively fixed to the force-bearing surface of the support rod of the traveling mechanism and the inner side of the track plate of the traveling track. The signal output terminal is electrically connected to the control system and is used to detect the pressure borne by the equipment during operation.

5. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 1, characterized in that, The milling mechanism includes an arc-shaped guide rail, a slide table, a milling cutter, a slide table drive motor, and a cutter rotation drive motor. The arc-shaped guide rail is fixedly installed at the front end of the main frame of the equipment, and its arc-shaped profile is adapted to the curvature of the flue gas duct. The slide table is slidably mounted on the arc-shaped guide rail, and the slide table is driven by the slide table drive motor to reciprocate along the arc-shaped guide rail; The milling cutter has a long rod structure, with multiple milling cutter heads embedded in the rod. The milling cutter is rotatably mounted on the slide table via a bearing seat, and its axis is perpendicular to the sliding plane of the slide table. The tool rotation drive motor is a variable frequency motor, which is fixedly installed on the slide table. Its output shaft is connected to the end of the tool holder of the milling tool through a coupling or reducer, and is used to drive the milling tool to rotate around its own axis. Both the slide drive motor and the tool rotation drive motor are electrically connected to the control system. The control system adjusts the position and speed of the slide along the arc-shaped guide rail by controlling the slide drive motor to realize the tangential swing motion of the milling tool, and adjusts the rotation speed and direction of the milling tool by controlling the tool rotation drive motor to realize the self-rotation motion of the milling tool.

6. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 1, characterized in that, The dust removal mechanism includes a rotary motor, a dust removal arm, and a dust removal brush; The rotary motor is fixedly installed in the middle of the main frame of the equipment via a motor base. Its output shaft is set in a horizontal direction perpendicular to the pipeline axis, and the end of the output shaft is connected and fixed to one end of the dust removal arm. The cleaning arm is a long strip of metal rod, with the other end of the cleaning arm extending radially outward along the pipe and a cleaning brush fixed at the end.

7. An automatic cleaning device for ash accumulation in flue gas ducts according to any one of claims 1 or 6, characterized in that, The dust removal mechanism includes a dust collection fan, a dust collection port, and a dust conveying pipe. The dust extraction fan is fixed to the rear end of the main frame of the equipment, and the dust extraction port is installed on the side wall of the rear end of the main frame of the equipment through a pipe joint, with the dust extraction port facing the working area of ​​the dust removal brush mechanism. One end of the ash conveying pipe is connected to the air inlet of the dust suction port, and the other end is connected to the ash collection device; The dust extraction fan is electrically connected to the control system.

8. The automatic cleaning device for ash accumulation in flue gas ducts according to claim 1, characterized in that, It also includes infrared monitoring devices; The infrared monitoring device is fixedly installed on the front top of the main frame of the equipment by a bracket. Its monitoring lens faces the dust accumulation area on the inner wall of the pipe. The signal output terminal is electrically connected to the control system. It is used to collect image data of the dust removal area in real time to monitor the dust removal progress and assist in locating the real-time position of the equipment in the pipe.

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