An electric dust precipitator internal structure detecting apparatus

Abstract

The utility model relates to a kind of electric dust collector internal structure detection equipment, it includes: detection robot, winch, connecting cable and controller;Detection robot includes first controller, walking mechanism, ranging assembly and shooting assembly, walking mechanism includes rack, two first magnetic wheel, two second magnetic wheel, first drive component, second drive component and steering assembly, rack includes first frame body and second frame body;Ranging assembly and shooting assembly are installed on first frame body or second frame body;One end of connecting cable is connected with first controller, the other end of connecting cable is connected controller via winch, second controller is equipped with around winch, connecting cable is connected second controller via winch, controller is wired connection or wireless connection with second controller.The utility model can replace artificial access to electric dust collector inside to patrol, and whether anode plate can be reliably detected to deform.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, and in particular to a testing device for the internal structure of an electrostatic precipitator. Background Technology

[0002] Large electrostatic precipitators are commonly installed in places like thermal power plants. After prolonged operation, the anode plates and cathode wires of these precipitators may become damaged, and the anode plates may also deform. Therefore, it is necessary to regularly inspect the internal structure of the precipitator, generally checking the integrity of the anode plates and cathode wires, as well as whether the anode plates have deformed. Previously, this inspection was done manually. While checking the integrity of the anode plates and cathode wires is relatively straightforward and easy to spot, deformed anode plates are difficult to detect visually, and there are blind spots in the inspection area, making manual inspection ineffective. Furthermore, manual inspection also poses significant safety hazards and often requires shutting down the machine for inspection, making it relatively cumbersome. Utility Model Content

[0003] The purpose of this invention is to provide an internal structure inspection device for an electrostatic precipitator, which can replace manual inspection of the electrostatic precipitator and reliably detect whether the anode plate is deformed.

[0004] To achieve the above objectives, this utility model discloses an internal structure inspection device for an electrostatic precipitator, comprising: an inspection robot, the inspection robot including a first controller, a walking mechanism, a ranging component, and a shooting component; the walking mechanism including a frame, two first magnetic wheels, two second magnetic wheels, a first drive component, a second drive component, and a steering component; the frame including a first frame and a second frame, both the first and second frames having a flat plate and a protective cover; the two flat plates having the same height and vertical plates fixedly connected to opposite sides of the two flat plates, the two vertical plates being rotatably connected by bearings; wheel frames rotatably connected to the lower sides of the two flat plates; the first drive component mounted on the wheel frames of the flat plate of the first frame; the two first magnetic wheels mounted on both sides of the first drive component, and the first drive component providing power to the first magnetic wheels; the steering component driving the wheel frames to rotate; the second drive component mounted on the wheel frames of the flat plate of the second frame; the second magnetic wheels mounted on both sides of the second drive component, and the second drive component providing power to the second magnetic wheels; The ranging component is mounted on the second frame, and the shooting component is mounted on the first frame; The steering assembly provides power to the wheel frame. The steering assembly includes a servo motor, a transmission gear, and a transmission gear ring. The transmission gear ring is mounted on the wheel frame on a flat plate located on the first frame. The transmission gear meshes with the transmission gear ring. The servo motor provides power to the transmission gear. A winch, one end of which is connected to a first controller via a connecting cable, and the other end of which is connected to a controller.

[0005] With the above setup, the inspection robot can adhere to the anode plates and move around easily. It can replace manual labor to enter the electrostatic precipitator for inspections, and can even reach areas inaccessible to humans. Its ranging component measures the distance between adjacent anode plates, facilitating the assessment of anode plate deformation. Its imaging component captures on-site video or photographs, enabling real-time or subsequent assessment of the integrity of anode plates and cathode wires. The winch allows for easy use and storage of the connecting harness. The robot's movement control, ranging, and imaging operations are wired and controlled via the connecting harness, preventing interference from the electrostatic precipitator. Furthermore, the rotating connection between the first and second frames of the inspection robot allows it to navigate curved surfaces effectively, handling various walking conditions and ensuring reliable magnetic wheel adhesion to the anode plates, thus improving the robot's stability.

[0006] Preferably, the ranging component includes multiple laser ranging sensors mounted on both sides of the protective cover on the second frame. The laser ranging sensors are spaced apart from each other, and the ranging directions of the laser ranging sensors are parallel to each other. By measuring distances simultaneously with multiple laser ranging sensors, the detection efficiency can be improved, and subsequent comprehensive comparison of measurement data can be performed to improve the error tolerance.

[0007] Preferably, the laser rangefinders are arranged in an array; this arrangement facilitates the comprehensive comparison of measurement data.

[0008] Preferably, the shooting component includes a first camera mounted on the protective cover of the first frame and an angle adjustment component for adjusting the angle of the first camera; this configuration allows the angle of the first camera to be changed to take photos of the scene from multiple angles, especially for taking photos of fault points from multiple angles, which can help relevant personnel to better understand the situation and facilitate subsequent maintenance.

[0009] Preferably, the angle adjustment component is a three-axis turntable.

[0010] Preferably, both the first drive assembly and the second drive assembly include a drive motor and a differential. The output shaft of the drive motor is connected to the input end of the differential via a connecting shaft. The output end of the differential corresponding to the first drive assembly is connected to the first magnetic wheel via a connecting shaft. The output end of the differential corresponding to the second drive assembly is connected to the second magnetic wheel via a connecting shaft.

[0011] The first drive assembly, second drive assembly, and steering assembly described above have simple structures, which facilitate assembly and maintenance.

[0012] Preferably, both the first and second frames are equipped with attitude sensors, which are electrically connected to the first controller. By using attitude sensors, the walking path of the walking mechanism can be corrected, ensuring the walking accuracy of the device. In addition, the sensors can provide good feedback when the device is walking on a non-planar surface, avoiding misjudgment of distance measurement data.

[0013] Preferably, the protective cover of the first frame is equipped with a lighting element and a second camera on the side away from the second frame. The lighting element and the second camera are electrically connected to the first controller. The controller is equipped with a display element for displaying the feedback image from the second camera. The lighting element illuminates the interior of the electrostatic precipitator, providing a light source for the second camera to ensure the acquisition of effective images. The display element shows the feedback image from the second camera in real time, facilitating the monitoring of the robot's movement control.

[0014] Preferably, the winch is equipped with a wire fixing and adjustment assembly for organizing the connecting wire harness; this facilitates the storage of the connecting wire harness.

[0015] Preferably, the wire fixing adjustment assembly is equipped with a length counter for detecting the length of the connecting wire harness entering and exiting the circuit, and the length counter is electrically connected to the second controller; by measuring the length of the connecting wire harness entering and exiting the circuit, the walking distance of the detection robot can be known, thereby enabling the positioning of the detection robot and facilitating the marking of fault points.

[0016] This utility model has the following beneficial effects: The inspection robot of this invention can move by adhering to the anode plate and is easy to turn. The inspection robot can replace human personnel to enter the interior of the electrostatic precipitator for inspection, and can travel to blind spots that are difficult for humans to reach. The ranging component on it can measure the distance between adjacent anode plates, thus facilitating the judgment of whether the anode plates are deformed. The shooting component on it can collect on-site video or photos, thus facilitating the real-time or subsequent judgment of whether the anode plates and cathode wires are intact. The connecting wire harness can be easily used and stored by the winch for winding or releasing. The movement control, ranging and shooting operations of the inspection robot are connected and controlled by wired connection through the connecting wire harness, which can prevent shielding interference caused by the electrostatic precipitator. The winch is used to wind up or release the connecting cable. A cable fixing and adjustment assembly can be added to the winch to facilitate the storage of the connecting cable harness. A length counter for measuring the length of the connecting cable entering and exiting is installed on the winch or the cable fixing and adjustment assembly. The length counter is connected to a second controller, which is located next to the winch. The winch, cable fixing and adjustment assembly, and length counter are also connected to the second controller. The remote control is wirelessly connected to the second controller for easy operation. Alternatively, the remote control and the second controller can be integrated into one unit. Attached Figure Description Fig. 1 This is a schematic diagram of the internal structure testing equipment for an electrostatic precipitator according to the present invention.

[0017] Fig. 2 This is a control principle diagram of an electrostatic precipitator internal structure detection device according to the present invention.

[0018] Fig. 3 This is a schematic diagram of the winch structure.

[0019] Fig. 4 This is a schematic diagram of the structure of the inspection robot.

[0020] Fig. 5 This is a structural diagram of the lower side of the inspection robot.

[0021] Fig. 6 This is a schematic diagram of the structure inside the robot and its protective casing.

[0022] Fig. 7 This is a schematic diagram of the internal structure of the robot being inspected.

[0023] Explanation of symbols for main components: Inspection robot 10; First frame 11; Second frame 12; Bearing 13; Flat plate 14; Vertical plate 15; Wheel frame 16; Protective cover 17; Servo motor 21; transmission gear 22; transmission gear ring 23; First magnetic wheel 31; first drive assembly 32; second magnetic wheel 33; second drive assembly 34; drive motor 35; differential 36; Laser rangefinder sensor 40; First camera 51; Angle adjustment component 52; Illumination element 61; Second camera 62; 70. Winch; 71. Wire fixing adjustment assembly; 72. Length counter; First controller 81; Second controller 82; Remote controller 83; Display element 84; Connecting cable 90. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] like Figs. 1-7 As shown, this utility model discloses an internal structure testing device for an electrostatic precipitator, which includes a testing robot 10, a winch 70, a connecting cable 90, and a controller 83. The winch 70 is used to wind up or release the connecting cable 90. The winch 70 can refer to utility model patents with patent numbers 201720411509.4 or 201721844718.4. A cable fixing and adjustment component 71 for organizing the connecting cable harness can be added to the winch 70 to facilitate the storage of the connecting cable harness. A length counter 72 for measuring the length of the connecting cable 90 is set on the winch 70 or the cable fixing and adjustment component 71. The length counter 72 is connected to a second controller 82, which is located next to the winch 70. The winch 70, the cable fixing and adjustment component 71, and the length counter 72 are also connected to the second controller 82. The remote controller 83 is wirelessly connected to the second controller 82 for convenient operation. Alternatively, the remote controller 83 and the second controller 82 can be integrated into one unit.

[0026] The inspection robot 10 includes a first controller 81, a walking mechanism, a ranging component, and a shooting component. One end of a connecting cable 90 is connected to the first controller 81, and the other end of the connecting cable 90 is connected to a second controller 82 via a winch 70. The walking mechanism, the ranging component, and the shooting component are connected to the first controller 81. Alternatively, the second controller 82 can be located next to the winch 70, and the connecting cable 90 is connected to the second controller 82 via the winch 70. The controller can be connected to the second controller 82 via wired or wireless connection.

[0027] The traveling mechanism includes a frame, two first magnetic wheels 31, two second magnetic wheels 33, a first drive assembly 32, a second drive assembly 34, and a steering assembly. The frame includes a first frame 11 and a second frame 12. Both the first frame 11 and the second frame 12 include a flat plate 14 and a vertical plate 15. One end of the flat plate 14 is welded to one end of the vertical plate 15 to form an L-shaped structure. Diagonal braces can be set between the flat plate 14 and the vertical plate 15 to enhance strength. The vertical plate 15 corresponding to the first frame 11 and the vertical plate 15 corresponding to the second frame 12 are parallel to each other and rotatably connected by bearings 13. The flat plate 14 corresponding to the first frame 11 and the flat plate 14 corresponding to the second frame 12 can be on the same plane. In addition, protective covers 17 can be added to the first frame 11 and the second frame 12 to protect the components and parts loaded on them.

[0028] Both the first frame 11 and the second frame 12 are provided with a flat plate 14 and a protective cover 17. The two flat plates 14 are of the same height and vertical plates 15 are fixedly connected to opposite sides of the two flat plates 14. The two vertical plates 15 are rotatably connected to each other through a bearing 13. Wheel frames 16 are rotatably connected to the lower sides of the two flat plates 14. The first drive assembly 32 is mounted on the wheel frame 16 of the flat plate 14 of the first frame 11. Two first magnetic wheels 31 are mounted on both sides of the first drive assembly 32 and the first drive assembly 32 provides power to the first magnetic wheels 31. The steering assembly drives the wheel frame 16 to rotate. The second drive assembly 34 is mounted on the wheel frame 16 of the flat plate 14 of the second frame 12. The second magnetic wheels 33 are mounted on both sides of the second drive assembly 34 and the second drive assembly 34 provides power to the second magnetic wheels 33. A corresponding wheel frame 16 is rotatably connected to the flat plate 14 corresponding to the first frame 11. The rotation surface of the wheel frame 16 is parallel to the flat plate 14 corresponding to the first frame 11. The steering assembly drives the wheel frame 16 to rotate. Specifically, the steering assembly includes a servo motor 21, a transmission gear 22, and a transmission gear ring 23. The transmission gear ring 23 is disposed on the wheel frame 16. The transmission gear 22 meshes with the transmission gear ring 23. The servo motor 21 drives the transmission gear 22 to rotate. The servo motor 21 is connected to the first controller 81.

[0029] The first magnetic wheel 31 and the first drive assembly 32 are mounted on the wheel frame 16 corresponding to the first frame 11. The first drive assembly 32 drives the first magnetic wheel 31 to rotate. The second gear and the second drive assembly 34 are mounted on the flat plate 14 of the second frame 12. The second drive assembly 34 drives the second magnetic wheel 33 to rotate. Both the first drive assembly 32 and the second drive assembly 34 include a drive motor 35 and a differential 36. The drive motor 35 is connected to the first controller 81. The output shaft of the drive motor 35 is connected to the input end of the differential 36. The output end of the differential 36 corresponding to the drive assembly 32 is connected to the first magnetic wheel 31 via a connecting shaft, and the output end of the differential 36 corresponding to the second drive assembly 34 is connected to the second magnetic wheel 33 via a connecting shaft. When the rolling directions of the first magnetic wheel 31 and the second magnetic wheel 33 are parallel to each other, the plate 14 corresponding to the first frame 11 and the plate 14 corresponding to the second frame 12 are on the same plane. At this time, the wheel bottoms of the first magnetic wheel 31 and the second magnetic wheel 33 are on the same plane, and this plane is parallel to the plate 14 corresponding to the first frame 11.

[0030] By setting the first magnetic wheel 31 and the second magnetic wheel 33, the device can be reliably attached to the anode plate. Driven by the drive motor 35, the magnetic wheels rotate, allowing the device to move on the anode plate. By controlling the servo motor 21, the device can turn and rotate. To ensure the accuracy of the device's movement, at least one attitude sensor is also provided, connected to the first controller 81. Preferably, attitude sensors are installed on both the first frame 11 and the second frame 12. This way, when the device moves on a non-planar surface, the feedback data from the attitude sensors on the first frame 11 and the second frame 12 will deviate, thus characterizing the device's movement status.

[0031] The walking mechanism can move automatically along a predetermined path because the internal structure of the electrostatic precipitator is fixed. The walking path can be preset by planning its design drawings. Alternatively, it can be manually controlled. A lighting element 61 and a second camera 62 can be installed at the head of the frame. The lighting element 61 and the second camera 62 are connected to the first controller 81. The controller is equipped with a display element 84 for displaying the feedback image from the second camera 62. Alternatively, the display element 84 can be set up separately and connected to the second controller 82. Setting up the display element 84 separately is more convenient for the operator to view, and the latter is preferred. The lighting element 61 can illuminate the inside of the electrostatic precipitator to provide a light source for the second camera 62 to ensure that effective images are obtained. The display element 84 displays the feedback image from the second camera 62 in real time, which can facilitate the monitoring of the walking control of the robot 10.

[0032] The ranging component is mounted on the second frame 12. The ranging component includes multiple laser ranging sensors 40, which are spaced apart from each other. The ranging directions of these laser ranging sensors 40 are parallel to each other and located on the same plane. In this case, the ranging component is equipped with four laser ranging sensors 40, which are arranged in an array. The laser ranging sensors 40 are connected to the first controller 81. With this configuration, the simultaneous ranging by multiple laser ranging sensors 40 can improve the detection efficiency and also improve the error tolerance by performing comprehensive comparison of the measurement data.

[0033] The shooting assembly is mounted on the first frame 11. The shooting assembly includes a first camera 51 and an angle adjustment component 52 for adjusting the angle of the first camera 51. Both the first camera 51 and the angle adjustment component 52 are connected to the first controller 81. Preferably, the angle adjustment component 52 can be a three-axis turntable, a single-axis turntable, or a dual-axis turntable. By setting the angle adjustment component 52, the angle of the first camera 51 can be changed to take photos of the scene from multiple angles. This is especially useful for taking photos of fault points from multiple angles, allowing relevant personnel to better understand the situation and facilitating subsequent maintenance and repair.

[0034] In use, the detection robot 10, connecting cable 90, and second controller 82 are pre-wound and connected sequentially. After connection, the detection robot 10 is placed inside the electrostatic precipitator at its starting position. Taking manual remote control of the detection robot 10 as an example, the robot is controlled by the controller to move from the starting position and traverse the anode plate at the current position. During this process, the imaging component transmits video back, and the ranging component is also activated to measure distances. When a fault point is encountered, the first camera 51 can be adjusted to take pictures from multiple angles to better determine the type of fault and facilitate subsequent maintenance.

[0035] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A device for detecting the internal structure of an electrostatic precipitator, characterized in that, include: The detection robot (10) includes a first controller (81), a walking mechanism, a ranging component, and a shooting component. The walking mechanism includes a frame, two first magnetic wheels (31), two second magnetic wheels (33), a first drive component (32), a second drive component (34), and a steering component. The frame includes a first frame (11) and a second frame (12). Both the first frame (11) and the second frame (12) are provided with a flat plate (14) and a protective cover (17). The two flat plates (14) are of the same height, and vertical plates (15) are fixedly connected to opposite sides of the two flat plates (14). The two vertical plates (15) are rotatably connected by a bearing (13). Each of the aforementioned flat plates (14) is rotatably connected to a wheel frame (16). The first drive assembly (32) is mounted on the wheel frame (16) of the flat plate (14) located on the first frame (11). Two first magnetic wheels (31) are mounted on both sides of the first drive assembly (32), and the first drive assembly (32) provides power to the first magnetic wheels (31). The steering assembly drives the wheel frame (16) to rotate. The second drive assembly (34) is mounted on the wheel frame (16) of the flat plate (14) located on the second frame (12). The second magnetic wheels (33) are mounted on both sides of the second drive assembly (34), and the second drive assembly (34) provides power to the second magnetic wheels (33). The ranging component is mounted on the second frame (12), and the shooting component is mounted on the first frame (11); The steering assembly provides power to the wheel frame (16). The steering assembly includes a servo motor (21), a transmission gear (22), and a transmission ring gear (23). The transmission ring gear (23) is mounted on the wheel frame (16) on the flat plate (14) of the first frame (11). The transmission gear (22) meshes with the transmission ring gear (23). The servo motor (21) provides power to the transmission gear (22). A winch (70) is provided, one end of which is connected to a first controller (81) via a connecting cable (90), and the other end of which is connected to a controller.

2. The electrostatic precipitator internal structure testing equipment according to claim 1, characterized in that: The ranging assembly includes multiple laser ranging sensors (40) mounted on both sides of a protective cover (17) on the second frame (12). The laser ranging sensors (40) are spaced apart from each other, and the ranging directions of the laser ranging sensors (40) are parallel to each other.

3. The electrostatic precipitator internal structure testing device according to claim 2, characterized in that: The laser rangefinder (40) is arranged in an array.

4. The electrostatic precipitator internal structure testing equipment according to claim 1, characterized in that: The shooting assembly includes a first camera (51) mounted on a cover (17) located on the first frame (11) and an angle adjustment assembly (52) for adjusting the angle of the first camera (51).

5. The electrostatic precipitator internal structure testing equipment according to claim 4, characterized in that: The angle adjustment component (52) is a three-axis rotary table.

6. The electrostatic precipitator internal structure testing device according to claim 1, characterized in that: The first drive assembly (32) and the second drive assembly (34) both include a drive motor (35) and a differential (36). The output shaft of the drive motor (35) is connected to the input end of the differential (36) via a connecting shaft. The output end of the differential (36) corresponding to the first drive assembly (32) is connected to the first magnetic wheel (31) via a connecting shaft. The output end of the differential (36) corresponding to the second drive assembly (34) is connected to the second magnetic wheel (33) via a connecting shaft.

7. The electrostatic precipitator internal structure testing equipment according to claim 1, characterized in that: Both the first frame (11) and the second frame (12) are equipped with attitude sensors, which are electrically connected to the first controller (81).

8. The electrostatic precipitator internal structure testing equipment according to claim 1, characterized in that: The first frame (11) has a protective cover (17) on the side away from the second frame (12) with a lighting element (61) and a second camera (62). The lighting element (61) and the second camera (62) are electrically connected to the first controller (81). The controller is equipped with a display element (84) for displaying the feedback image of the second camera (62).

9. The electrostatic precipitator internal structure testing device according to claim 1, characterized in that: The winch (70) is equipped with a wire fixing adjustment assembly (71) for organizing the connecting wire harness.

10. The electrostatic precipitator internal structure testing device according to claim 9, characterized in that: The wire adjustment assembly (71) is equipped with a remote control (83) and a length counter (72) for detecting the length of the connecting wire harness entering and exiting, and the length counter (72) is electrically connected to the second controller (82).

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