Dust removal robot capable of cathode wire dust removal

Abstract

The application discloses a dust removal robot capable of removing dust from a cathode wire and relates to the field of robots, which comprises a chassis frame module and a function module; the function module comprises a dust removal module, a magnetic attraction module and a wheel set module; wherein the chassis frame module is provided with mechanical ports, circuit interfaces or / and data interfaces connected with each function module, which are used for directly or indirectly connecting each function module with the chassis frame module; the wheel set module is arranged on both sides of the chassis frame module and is used for driving the dust removal robot to move on the surface of an anode plate; the magnetic attraction module is arranged on the abdomen of the chassis frame module and is used for generating a magnetic force for adsorption on the surface of the anode plate; the dust removal module comprises a first dust removal unit and a second dust removal unit; the first dust removal unit is arranged on the head of the chassis frame module and is used for removing dust from the anode plate by the dust removal robot; and the second dust removal unit is arranged on the back of the chassis frame module and is used for removing dust from the cathode wire by the dust removal robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dust removal robot capable of cathode wire dust removal. Background Technology

[0002] In industries such as power and metallurgy, electrostatic precipitators are widely used as high-efficiency particulate matter control devices, which rely on a high-voltage electric field to achieve electrostatic capture of dust particles in flue gas.

[0003] After a period of operation, existing electrostatic precipitators accumulate a large amount of dust on the anode plate and cathode wire surface, affecting the electric field strength and dust removal efficiency. Traditional cleaning methods mostly rely on manual labor or fixed rapping structures, but these methods have the following problems:

[0004] 1. Manual operation is inefficient and carries high safety risks;

[0005] 2. Existing rapping structures cause significant wear and tear on the equipment and cannot fully cover the surface;

[0006] 3. Manual cleaning can easily damage the anode plate or cathode wire;

[0007] 4. Due to the unique configuration of the anode plate and cathode wire, it is difficult to carry out effective cleaning in the complex space they form or in vertical installation environments.

[0008] Therefore, there is an urgent need for a strategy that can efficiently remove dust in the electrostatic precipitator environment.

[0009] This application proposes a dust removal robot capable of removing dust from cathode wires. It has the ability to walk on the surface of vertically placed anode plates and efficiently cleans up dust accumulation along with the anode plates and cathode wires during its movement. It can also provide human-machine cooperation in harsh environments. Utility Model Content

[0010] The purpose of this invention is to provide a dust removal robot capable of removing dust from cathode wires, solving the problems of walking ability and walking mode on the surface of vertically placed anode plates, at least solving the problem of cleaning dust accumulation on the anode plates and cathode wires while walking on the surface of vertically placed anode plates, solving the problems of cheapness and synchronization of personnel replacing consumables (such as batteries and brushes) for the robot, solving the problem of efficiently utilizing the performance of hard and soft brushes, and solving a technical problem of the compatibility of brush and battery module combinations.

[0011] This utility model provides the following solution:

[0012] According to a first aspect of the present invention, a dust removal robot capable of cathode wire dust removal is provided, comprising:

[0013] Chassis frame module and functional modules;

[0014] The functional modules include a dust removal module, a magnetic suction module, and a wheel assembly module;

[0015] The chassis frame module has mechanical ports, circuit interfaces and / or data interfaces that connect to each functional module, and is used for direct or indirect connection between each functional module and the chassis frame module.

[0016] The wheel assembly module is located on both sides of the chassis frame module and is used to drive the dust removal robot to move on the surface of the anode plate.

[0017] The magnetic module is located on the underside of the chassis frame module and is used to generate magnetic force to attract the anode plate.

[0018] The dust removal module includes a first dust removal unit and a second dust removal unit;

[0019] The first dust removal unit is located at the head of the chassis frame module and is used by the dust removal robot to remove dust from the anode plates.

[0020] The second dust removal unit is located at the back of the chassis frame module and is used by the dust removal robot to remove dust from the cathode wire.

[0021] Furthermore, the first dust removal unit includes:

[0022] Drum-type dust removal brushes and robotic arms;

[0023] One end of the robotic arm is connected to the head of the chassis frame module, and the other end is connected to the central shaft of the drum-type dust removal brush.

[0024] The dust removal robot controls the brushing intensity of the drum-type dust removal brush on the anode plate surface by controlling the lifting and lowering of the robotic arm.

[0025] Furthermore, the second dust removal unit includes:

[0026] Fixed brush;

[0027] The fixed brush includes bristles and a brush base;

[0028] The bristles are attached to the upper surface of the brush base, and the lower surface of the brush base is directly or indirectly connected to the back of the chassis frame module.

[0029] The direction of the second dust removal unit's scraping of the cathode line surface is controlled by the walking path of the dust removal robot on the anode plate surface.

[0030] Furthermore, the functional modules also include: a battery module;

[0031] The battery module, located at the back of the chassis frame module, is used to provide power to the dust removal robot.

[0032] According to the chassis frame module, there are mechanical ports, circuit interfaces and / or data interfaces that connect to each functional module, and a battery compartment for accommodating and replacing the battery module is provided at the rear of the chassis frame module.

[0033] The battery compartment opens at the top;

[0034] The battery module connects to the chassis frame module through the top opening of the battery compartment;

[0035] It also includes a lower surface of the brush base that is directly or indirectly connected to the back of the chassis frame module, and the lower surface of the brush base is connected to the upper cover of the battery module.

[0036] Furthermore, it also includes:

[0037] The top cover of the battery module is equipped with a handle and a pre-reserved area for handle operation;

[0038] The upper cover of the battery module is connected to the lower surface of the brush base, avoiding the handle and the handle operation reserved area.

[0039] Furthermore, it also includes:

[0040] Based on the shape of the cathode wire and the preset walking route of the dust removal robot, a brush matrix is ​​set up;

[0041] The bristle matrix includes a bristle matrix with a swallowtail-shaped outline.

[0042] Furthermore, the bristle matrix also includes:

[0043] The bristle matrix consists of type I bristles and type II bristles;

[0044] The first type of bristles and the second type of bristles are distinguished by their hardness, roughness, length, density and / or cross-sectional shape.

[0045] Furthermore, the bristles include:

[0046] Core and scraping layer;

[0047] The lower end of the core is connected to the upper surface of the brush base, and the upper end of the core is connected to the scraper layer.

[0048] Furthermore, it also includes:

[0049] The cross-sectional area of ​​the lower end of the bone core is larger than that of the upper end of the bone core.

[0050] Furthermore, it also includes:

[0051] The type differences can be distinguished by the hardness, roughness, length, density and / or cross-sectional shape of the scraped layer;

[0052] Among them, the first type of bristles are set on the periphery or front row of the bristle matrix to break up the dust caking.

[0053] The second type of bristles is positioned in the inner perimeter or rear row of the bristle matrix to disrupt dust adhesion.

[0054] The above solution achieves the following beneficial technical effects:

[0055] This application designs a chassis frame module with mechanical ports, circuit interfaces, and / or data interfaces for connection to various functional modules, making the connection between the functional modules and the chassis frame module convenient and quick, and enabling rapid combination of the functional modes of a dust removal robot capable of cathode wire dust removal.

[0056] This application enables a dust removal robot capable of cathode wire dust removal to simultaneously clean the anode plate and cathode wire during its movement by setting dust removal units at the head and back of the chassis frame module, thus making full use of the robot's travel distance to complete the dual cleaning work.

[0057] This application controls the lifting and lowering of the robotic arm to control the brushing intensity of the drum-type dust removal brush on the surface of the anode plate, thereby specifically enhancing the cleaning ability against the caking on the surface of the anode plate.

[0058] This application controls the scraping direction of the second dust removal unit on the lower surface of the cathode line by moving along the surface of the anode plate, thereby providing a reference for the setting of the brush bristles.

[0059] This application sets up a brush matrix based on the projection of the cathode wire onto the anode plate and the preset walking path of the dust removal robot capable of removing cathode wire dust, so that the brush bristles are specifically matched to the working conditions and working environment of the dust removal robot capable of removing cathode wire dust, thereby realizing the cleaning function of the cathode wire.

[0060] Based on practical application, this application adopts a simple and lightweight fixed brush, taking into account the characteristics of small cathode wire area, poor shape regularity, and high risk of being hooked. It avoids designing a complex mechanism such as a rolling brush and adding a large number of sensors to the back, thereby reducing development and manufacturing costs while balancing cleaning efficiency and robot movement safety.

[0061] This application differentiates types by hardness, roughness, length and / or cross-sectional shape, allowing the bristles to complement each other and improve the cleaning effect on the cathode wire.

[0062] This application provides a channel for the cleaned dust to fall off by reserving gaps between multiple brush matrices, thereby reducing the decrease in cleaning efficiency caused by blockage of the dust removal channel due to the large area of ​​the brush matrices, and reducing the excessive resistance to the movement of the dust removal robot that can perform cathode wire dust removal.

[0063] This application enhances the toughness of the bottom while retaining the softness of the top by setting the cross-sectional shape of the bristles to a conical shape, so that the bristles can adapt to the dust removal needs of the irregular shape of the cathode line and reduce the deformation fatigue of the bristles.

[0064] This application connects the upper cover of the battery module to the lower surface of the brush base, enabling rapid replacement of consumables. For example, in harsh dust removal environments with low visibility, personnel cannot stay at the dust removal site for extended periods. Cathode wire dust removal robots need to replace batteries and brushes promptly. The battery module connects to the chassis frame module through the upper opening of the battery compartment, providing higher fault tolerance and facilitating rapid replacement, ensuring that the cathode wire dust removal robot's mobility and dust removal capabilities remain highly efficient at all times.

[0065] This application addresses the issue of reserving spacing between multiple bristle matrices, and providing a handle and a reserved area for handle operation on the top cover of the battery module. This design matches the shape of the battery handle with the design requirement of reserving spacing between multiple bristle matrices, thus ensuring an effective fit between the brush and the battery.

[0066] This application controls the hardness of the brush bristles by setting a core and a scraper layer, while giving full play to the special dust removal capabilities of the scraper layer.

[0067] This application distinguishes different types of brushes by their hardness, roughness, length, density, and / or cross-sectional shape, and distributes them flexibly in the bristle matrix to simultaneously treat dust agglomeration and dust adsorption.

[0068] This application uses a brush matrix with a dovetail-shaped outline to push dust to both sides by utilizing the beveled surface of the dovetail, thereby reducing resistance and minimizing excessive dust accumulation on the brush. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the working environment of a dust removal robot capable of cathode wire dust removal in a specific embodiment of the present invention;

[0070] in, Figure 1 (a) is a frontal view of the positional relationship between the anode plate 1 and the cathode wire 2 of the dust removal equipment;

[0071] Figure 1 (b) is a side view of the positional relationship between the anode plate 1 and the cathode wire 2 of the dust removal equipment;

[0072] Figure 1 (c) is a frontal view of a dust removal robot capable of cathode wire dust removal crawling in the space between the anode plate 1 and the cathode wire 2;

[0073] Figure 1(d) is a side view of a dust removal robot capable of removing dust from the cathode wire crawling in the space between the anode plate 1 and the cathode wire 2.

[0074] Figure 2 This is a schematic diagram of the basic configuration of a dust removal robot capable of cathode wire dust removal in a specific embodiment of this utility model;

[0075] in, Figure 2 (a) is a schematic diagram of the bottom of a dust removal robot that can remove dust with cathode wires;

[0076] Figure 2 (b) is a schematic diagram of the back of a dust removal robot capable of cathode wire dust removal;

[0077] Figure 2 (c) is a schematic diagram of the side of a dust removal robot capable of cathode wire dust removal.

[0078] Figure 3 This is a structural diagram of a dust removal robot dust removal unit that can perform cathode wire dust removal in a specific embodiment of this utility model;

[0079] in, Figure 3 (a) is a schematic diagram of the battery module in the unremoved state;

[0080] Figure 3 (b) is a schematic diagram showing the state of the battery module being removed from the battery compartment.

[0081] Figure 4 This is a schematic diagram of a simultaneous battery and brush replacement in a specific embodiment of this utility model;

[0082] in, Figure 4 (a) is a front view of the brush and the battery top cover being connected as one unit;

[0083] Figure 4 (b) is a side view of the brush and the battery top cover being connected as one unit;

[0084] Figure 4 (c) is a schematic diagram showing the replacement of the battery module along with the brush when it is removed from the battery compartment.

[0085] Figure 5 This is a schematic diagram of a side handle in a specific embodiment of the present invention;

[0086] Figure 6 This is a schematic diagram of a swallowtail-shaped brush matrix in a specific embodiment of this utility model.

[0087] in, Figure 6 (a) is a slanted view of the arrangement of multiple layers of different types of bristles in a swallowtail-shaped bristle matrix.

[0088] Figure 6 (b) is a frontal view of a multi-layered array of different types of brushes arranged layer by layer in a swallowtail-shaped brush matrix;

[0089] Figure 7 This is a schematic diagram of the bristle structure in a specific embodiment of the present invention.

[0090] in, Figure 7 (a) is a schematic diagram of the side profile of the brush bristles;

[0091] Figure 7 (b) is a schematic diagram of the cross section of the bristles.

[0092] Figure 8 This is a schematic diagram illustrating how the width of the brush matrix of a dust removal robot capable of cathode wire dust removal affects the dust removal operation in a specific embodiment of this utility model.

[0093] in, Figure 8 (a) is a schematic diagram of the bristles located at the tail;

[0094] Figure 8 (b) is a schematic diagram of the brush bristles located on the top cover of the battery module;

[0095] Figure 8 (c) is a schematic diagram with the bristles located on the top cover of the battery module and the handles located on both sides;

[0096] Figure 8 (d) is a schematic diagram with the brush bristles located on the top cover of the battery module, the handles on both sides, and the brush bristles in a swallowtail shape.

[0097] Icon labels:

[0098] 1. Anode plate; 2. Cathode wire; 3. Battery module; 4. Dust removal module; 5. Magnetic module; 6. Wheel assembly module; 7. Chassis frame module; 8. First dust removal unit; 9. Second dust removal unit; 10. Robotic arm; 11. Roller-type dust removal brush; 12. Brush bristles; 13. Brush base; 14. Sensor; 15. Handle; 16. Type I brush bristles; 17. Type II brush bristles; 18. Core; 19. Scraper layer. Detailed Implementation

[0099] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0100] In this application, the dust removal robot capable of cathode wire dust removal includes: a chassis frame module 7 and a functional module;

[0101] The functional modules include: dust removal module 4, magnetic suction module 5, and wheel assembly module 6;

[0102] The chassis frame module 7 has mechanical ports, circuit interfaces and / or data interfaces that connect to each functional module, and is used for direct or indirect connection between each functional module and the chassis frame module 7.

[0103] Among them, the wheel assembly module 6 is set on both sides of the chassis frame module 7 and is used to drive the dust removal robot to move on the surface of the anode plate 1.

[0104] The magnetic module 5 is located on the underside of the chassis frame module 7 and is used to generate magnetic force for adsorption on the surface of the anode plate 1.

[0105] Dust removal module 4 includes a first dust removal unit 8 and a second dust removal unit 9;

[0106] The first dust removal unit 8 is located at the head of the chassis frame module 7 and is used by the dust removal robot to remove dust from the anode plate 1.

[0107] The second dust removal unit 9 is located on the back of the chassis frame module 7 and is used by the dust removal robot to remove dust from the cathode wire 2.

[0108] In this embodiment, the first dust removal unit 8 includes:

[0109] 11 cylindrical dust removal brush and 10 robotic arm;

[0110] One end of the robotic arm 10 is connected to the head of the chassis frame module 7, and the other end is connected to the central shaft of the roller dust removal brush 11.

[0111] The dust removal robot controls the brushing intensity of the roller-type dust removal brush 11 on the surface of the anode plate 1 by controlling the lifting and lowering of the robotic arm 10.

[0112] In this embodiment, the second dust removal unit 9 includes:

[0113] Fixed brush;

[0114] The fixed brush includes bristles 12 and a brush base 13;

[0115] The bristles 12 are connected to the upper surface of the brush base 13, and the lower surface of the brush base 13 is directly or indirectly connected to the back of the chassis frame module 7.

[0116] The direction of the second dust removal unit 9 scraping the lower surface of the cathode wire 2 is controlled by the walking path of the dust removal robot on the surface of the anode plate 1.

[0117] In this embodiment, the functional module further includes: battery module 3;

[0118] Battery module 3, located at the back of chassis frame module 7, is used to provide power to the dust removal robot;

[0119] According to the chassis frame module 7, there are mechanical ports, circuit interfaces and / or data interfaces for connecting to various functional modules, and a battery compartment for accommodating and replacing the battery module 3 is provided on the back of the chassis frame module 7.

[0120] The battery compartment opens at the top;

[0121] Battery module 3 connects to chassis frame module 7 through the top opening of the battery compartment;

[0122] It also includes a lower surface of the brush base 13 that is directly or indirectly connected to the back of the chassis frame module 7, and the lower surface of the brush base 13 is connected to the upper cover of the battery module 3.

[0123] In this embodiment, it also includes:

[0124] The top cover of battery module 3 is provided with handle 15 and handle 15 operation reserved area;

[0125] The lower surface of the brush base 13 is connected to the upper cover of the battery module 3, avoiding the handle 15 and the operating reserved area of ​​the handle 15.

[0126] In this embodiment, it also includes:

[0127] Based on the shape of cathode wire 2 and the preset walking route of the dust removal robot, a brush 12 matrix is ​​set;

[0128] The bristle matrix 12 includes a bristle matrix 12 with a swallowtail-shaped outline.

[0129] In this embodiment, the bristle matrix 12 further includes:

[0130] The bristle matrix 12 consists of type 1 bristles 16 and type 2 bristles 17;

[0131] The first type of bristles 16 and the second type of bristles 17 are distinguished by their hardness, roughness, length, density and / or cross-sectional shape.

[0132] In this embodiment, the bristles 12 include:

[0133] Bone core 18 and scraping layer 19;

[0134] The lower end of the core 18 is connected to the upper surface of the brush base 13, and the upper end of the core 18 is connected to the scraper layer 19.

[0135] In this embodiment, it also includes:

[0136] The cross-sectional area of ​​the lower end of the core 18 is larger than the cross-sectional area of ​​the upper end of the core 18.

[0137] In this embodiment, it also includes:

[0138] The type differences can be distinguished by the hardness, roughness, length, density and / or cross-sectional shape of the scraped layer 19;

[0139] Among them, the first type of bristles 16 are arranged on the periphery or front row of the bristle matrix 12 to break up the dust caking.

[0140] The second type of bristles 17 are arranged in the inner perimeter or rear row of the bristle matrix 12 to disrupt the adsorption of dust.

[0141] Specifically,

[0142] In the first specific embodiment, such as Figure 1 The image shows the working environment of the dust removal equipment where the cathode wire dust removal robot is located. Figure 1 (a), (b), (c), and (d) are represented from the front and side views, respectively, by... Figure 1 From (a) and (b), it can be seen that the dust removal equipment includes an anode plate 1 and a cathode wire 2, which are arranged vertically. Dust mainly accumulates on the surfaces opposite to the anode plate 1 and the cathode wire 2. Among them, the cathode wire 2 has "branching".

[0143] Depend on Figure 1 As can be seen from (c) and (d), the dust removal robot capable of removing dust from the cathode wire is located in the space between the anode plate 1 and the cathode wire 2 to carry out dust removal work. For example, the dust removal robot capable of removing dust from the cathode wire crawls up and down on the surface of the anode plate 1.

[0144] In the second specific embodiment, such as Figure 2 The diagram shows the basic configuration of a dust removal robot capable of cathode wire dust removal. Figure 2 (a), (b), and (c) represent the back, front, and side views, respectively. The functional modules of the cathode wire dust removal robot include a battery module 3, a dust removal module 4, a magnetic suction module 5, and a wheel assembly module 6, which are connected to the chassis frame module 7.

[0145] In the third specific embodiment, such as Figure 3 The dust removal robot shown is equipped with a dust removal unit that can perform cathode wire dust removal. Figure 3(a) and (b) are shown from the inclined plane. The functional modules of the dust removal robot capable of cathode wire dust removal include a battery module 3 that is detachable from the battery compartment on the chassis frame module 7. The first dust removal unit 8 consists of a drum-type dust removal brush 11 and a robotic arm 10. A sensor 14 (e.g., a pressure sensor) is set on the outside of the support of the central axis of the drum-type dust removal brush 11 to detect contact with the anode plate and determine if the robotic arm is excessively downward. In addition to being set on the outside of the support of the central axis of the drum-type dust removal brush, multiple sensors 14 are also set at other positions around the robot to ensure that the robot travels in the center of the anode plate when it collides with the edge of the anode plate, such as raised edges, while ensuring that the second dust removal unit 9 cleans the cathode wire 2 synchronously. Figure 3 (b) indicates that battery module 3 has been removed from the battery compartment.

[0146] The second dust removal unit 9 includes brush bristles 12 and a brush base 13, with the lower surface of the brush base 13 connected to the back of the chassis frame module 7.

[0147] In the fourth specific embodiment, such as Figure 4 The brush and battery are updated and synchronized as shown. Figure 4 (a), (b), and (c) are shown from the front, side, and oblique views, respectively, avoiding the handle 13 and the handle operation reserved area. The lower surface of the brush base 13 is connected to the upper cover of the battery module 3. Figure 4 (c) indicates that battery module 3 has been removed from the battery compartment.

[0148] In this embodiment, the matching handle 15 is located in the middle of the battery module 3 and uses a two-row bristle matrix. In a dust removal scenario, a dust removal robot capable of cathode wire dust removal moves back and forth. The gap reserved between the two rows of bristle matrices prevents excessive dust from accumulating inside the bristle matrix.

[0149] In actual dust removal work environments, the conditions are harsh and lighting is insufficient. To ensure continuous operation, it is necessary to replace the battery promptly to prevent a decrease in the robot's mobility, and to replace the brushes regularly to reduce dust accumulation. By combining the brushes with battery module 3, the entire replacement process can be completed in a single battery module replacement step. The removed battery module 3 is then taken to a designated auxiliary location for further disassembly, charging, and dust removal.

[0150] In the fifth specific embodiment, such as Figure 5 The side handle shown, handle 13 and handle operation reserved area are offset to both sides of the battery module 3 cover, leaving more space for the bristle matrix to be set.

[0151] The choice between the handle and brush matrix matching setting of the fourth or fifth specific embodiment can be made based on the specific dust removal effect and dust removal requirements. For example, if the "caking degree" of cathode wire 1 is relatively weak, the brush matrix of the fifth specific embodiment is preferred, and the number of "soft bristles" in it is increased. If the "caking degree" of cathode wire 1 is relatively strong, the brush matrix of the fourth specific embodiment is preferred, and the number of "hard bristles" in it is increased.

[0152] In the sixth specific embodiment, such as Figure 6 The swallowtail-shaped bristle matrix shown Figure 6 (a) and (b) are shown from the inclined plane and the front view, respectively. The shape is swallowtail-shaped, with the first type of bristles 16 located in the front row and the second type of bristles 17 located in the rear row, arranged in multiple rows. Because the cathode line 2 has "branching," starting from the ground, the robot pushes dust to both sides as it moves upward through the swallowtail-shaped bristle matrix. Compared to a rectangular bristle matrix, this allows dust to fall off more quickly, reducing its accumulation in the bristle matrix. The first type of bristles 16 use "hard" bristles, while the second type of bristles 17 use "soft" bristles.

[0153] In the seventh specific embodiment, such as Figure 7 The bristle structure shown, Figure 7 (a) and (b) represent the longitudinal and transverse cuts of the bristles 12, respectively.

[0154] The bristles 12 include a core 18 and a scraping layer 19. The core 18 is made of a material with rigid memory, and the scraping layer 19 is an absorbent layer such as rubber or resin, or / and a friction layer of quartz sand. For example, the first type of bristles 16 has a scraping layer 19 with a quartz sand surface to clean dust deposits. The second type of bristles 17 has a scraping layer 19 with rubber or resin on its surface, which increases the density to clean dust deposits.

[0155] like Figure 7 As shown in (a), the core 18 is tapered to balance the stability of the bristle root and the flexibility of the bristle tip. Figure 7 As shown in (b), the core 18 adopts a plate-shaped configuration to enhance the directionality of brushing.

[0156] The ability to flexibly select and configure the bristle matrix based on the hardness, roughness, length, density, and / or cross-sectional shape of the brush layer, depending on the specific dust removal scenario.

[0157] In the eighth specific embodiment, such as Figure 8 The width of the brush matrix in the cathode wire dust removal robot shown affects the dust removal operation. Figure 8(a), (b), (c), and (d) represent four types of dust removal robots capable of cathode wire dust removal walking on the anode plate 1. In this embodiment, the width of the brush matrix is ​​set based on the outer contour of the cathode wire 2. The redundancy of the brush matrix width is set based on the maximum offset of the robot's walking and swinging contour deviating from the center line of the anode plate 1, and the left and right deformation and bending of the cathode wire 2 deviating from the center line of the anode plate. That is, a wider brush matrix is ​​not necessarily better. An excessively wide brush matrix cannot perform a scraping function at the edges and will provide space for dust accumulation. At the same time, it is not conducive to weight reduction and does not allow sufficient operating space for the battery module's handle.

[0158] In the ninth specific embodiment, the handle 13 and the handle operation reserved area are offset to both sides of the battery module 3 cover, providing more space for the bristle matrix. The reserved space between the handles 13 must be sufficient to accommodate the width of the bristle matrix. For example, if the width of the battery cover is insufficient, the handle or / and the width of the brush base can be extended.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A dust removal robot capable of cathode wire dust removal, characterized in that, The cathode wire dust removal robot includes: Chassis frame module and functional modules; The functional modules include a dust removal module, a magnetic suction module, and a wheel assembly module; The chassis frame module has mechanical ports, circuit interfaces and / or data interfaces that connect to each functional module, and is used for direct or indirect connection between each functional module and the chassis frame module. The wheel assembly module is located on both sides of the chassis frame module and is used to drive the dust removal robot to move on the surface of the anode plate. The magnetic module is located on the underside of the chassis frame module and is used to generate magnetic force to attract the anode plate. The dust removal module includes a first dust removal unit and a second dust removal unit; The first dust removal unit is located at the head of the chassis frame module and is used by the dust removal robot to remove dust from the anode plates. The second dust removal unit is located at the back of the chassis frame module and is used by the dust removal robot to remove dust from the cathode wire.

2. The dust removal robot capable of cathode wire dust removal according to claim 1, characterized in that, The first dust removal unit includes: Drum-type dust removal brushes and robotic arms; One end of the robotic arm is connected to the head of the chassis frame module, and the other end is connected to the central shaft of the drum-type dust removal brush. The dust removal robot controls the brushing intensity of the drum-type dust removal brush on the anode plate surface by controlling the lifting and lowering of the robotic arm.

3. The dust removal robot capable of cathode wire dust removal according to claim 1, characterized in that, The second dust removal unit includes: Fixed brush; The fixed brush includes bristles and a brush base; The bristles are attached to the upper surface of the brush base, and the lower surface of the brush base is directly or indirectly connected to the back of the chassis frame module. The direction of the second dust removal unit's scraping of the cathode line surface is controlled by the walking path of the dust removal robot on the anode plate surface.

4. The dust removal robot capable of cathode wire dust removal according to claim 3, characterized in that, The functional module also includes: a battery module; The battery module, located at the back of the chassis frame module, is used to provide power to the dust removal robot. According to the chassis frame module, there are mechanical ports, circuit interfaces and / or data interfaces that connect to each functional module, and a battery compartment for accommodating and replacing the battery module is provided at the rear of the chassis frame module. The battery compartment opens at the top; The battery module connects to the chassis frame module through the top opening of the battery compartment; It also includes a lower surface of the brush base that is directly or indirectly connected to the back of the chassis frame module, and the lower surface of the brush base is connected to the upper cover of the battery module.

5. The dust removal robot capable of cathode wire dust removal according to claim 4, characterized in that, Also includes: The top cover of the battery module is equipped with a handle and a pre-reserved area for handle operation; The upper cover of the battery module is connected to the lower surface of the brush base, avoiding the handle and the handle operation reserved area.

6. The dust removal robot capable of cathode wire dust removal according to claim 3, characterized in that, Also includes: Based on the shape of the cathode wire and the preset walking route of the dust removal robot, a brush matrix is ​​set up; The bristle matrix includes a bristle matrix with a swallowtail-shaped outline.

7. The dust removal robot capable of cathode wire dust removal according to claim 6, characterized in that, The bristle matrix also includes: The bristle matrix consists of type I bristles and type II bristles; The first type of bristles and the second type of bristles are distinguished by their hardness, roughness, length, density and / or cross-sectional shape.

8. The dust removal robot capable of cathode wire dust removal according to claim 7, characterized in that, The bristles include: Core and scraping layer; The lower end of the core is connected to the upper surface of the brush base, and the upper end of the core is connected to the scraper layer.

9. The dust removal robot capable of cathode wire dust removal according to claim 8, characterized in that, Also includes: The cross-sectional area of ​​the lower end of the bone core is larger than that of the upper end of the bone core.

10. The dust removal robot capable of cathode wire dust removal according to claim 7, characterized in that, Also includes: The type differences can be distinguished by the hardness, roughness, length, density and / or cross-sectional shape of the scraped layer; Among them, the first type of bristles are set on the periphery or front row of the bristle matrix to break up the dust caking. The second type of bristles is positioned in the inner perimeter or rear row of the bristle matrix to disrupt dust adhesion.

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