Mechanical arm for cleaning the heating surface of a boiler in a thermal power plant

Abstract

The utility model relates to mechanical arm technical field, and disclose the thermal power plant boiler heating surface dust cleaning mechanical arm, including base plate and mechanical arm, be provided with adjusting assembly between base plate and mechanical arm, the working end of mechanical arm is provided with switching component, adjusting assembly includes the installation groove of opening in the top of base plate, the inner bottom wall movable joint of installation groove has the mounting plate. That thermal power plant boiler heating surface dust cleaning mechanical arm, adjusting assembly is formed planetary transmission structure through the meshing of first motor drive gear and fixed tooth ring, drives mounting plate and mechanical arm to make the circular motion with the pivot of swivel bar, combines the design that mechanical arm is installed at the place far from the centre of mounting plate, realized the radius rotation of global coverage, cooperated the stable guarantee of support gear, swivel bar and baffle ring, not only greatly enlarged the operation range, avoided the cleaning blind area, still can keep stable operation in the complex environment in the boiler, reduces the equipment adjustment time, has improved the dust cleaning coverage efficiency remarkably.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm for cleaning the heating surfaces of boilers in thermal power plants. Background Technology

[0002] In the process of power generation in thermal power plants, the cleanliness of the boiler's heating surface directly affects the boiler's thermal efficiency, power generation cost, and equipment safety. The core function of a thermal power plant boiler is to generate high-temperature flue gas through fuel combustion, transfer heat to the working fluid in the heating surface, and thus achieve energy conversion. However, during long-term operation, impurities such as fly ash and slag in the high-temperature flue gas will adhere to the surface of the heating surface, forming an ash layer. This phenomenon not only brings a series of problems but also promotes the iterative upgrading of ash removal technology.

[0003] However, existing robotic arms for cleaning the heating surfaces of thermal power plant boilers have the following drawbacks:

[0004] (1) Traditional boiler cleaning equipment in thermal power plants often has a fixed working position or a narrow adjustment range, making it difficult to cover the annular area and radial far end of the boiler heating surface, resulting in a large amount of ash remaining in the cleaning blind area;

[0005] (2) Traditional ash removal methods often rely on a single tool. When faced with the coexistence of soft ash and hard slag on the boiler heating surface, either the ash removal is not thorough due to insufficient tool adaptability, or manual shutdown and disassembly of the tool are required, which is time-consuming, laborious, and easy to scratch the heating surface due to improper operation.

[0006] Therefore, this utility model provides a robotic arm for cleaning the ash-receiving surfaces of boilers in thermal power plants. Utility Model Content

[0007] (a) Technical problems to be solved

[0008] The problem solved by this utility model is to provide a highly practical robotic arm for cleaning the heating surface of a thermal power plant boiler, which solves the problems mentioned in the background art, such as the difficulty in covering the annular area and radial far end of the boiler heating surface, and the reliance of traditional cleaning methods on a single tool.

[0009] (II) Technical Solution

[0010] To achieve the above objectives, this utility model is implemented through the following technical solution: a robotic arm for cleaning the heating surface of a boiler in a thermal power plant, comprising a base plate and a robotic arm, wherein an adjustment component is provided between the base plate and the robotic arm, and a switching component is provided at the working end of the robotic arm;

[0011] The adjustment assembly includes a mounting groove on the top of the substrate, a mounting plate movably connected to the inner bottom wall of the mounting groove, a robotic arm mounted on the top end of the mounting plate away from the center, a cavity inside the mounting plate, a first motor fixedly connected to the inner top wall of the cavity, a first transmission rod splinedly connected to the output end of the first motor, a gear mounted on the surface of the first transmission rod, and a gear ring mounted on the inner side wall of the mounting groove, the surface of the gear meshing with the inner side wall of the gear ring.

[0012] The switching assembly includes a mounting housing installed on the working end of the robotic arm. A second motor is fixedly connected to the inner side of the mounting housing. A second transmission rod is splinedly connected to the output end of the second motor. A mounting plate is fixedly connected to one end of the second transmission rod. A pneumatic gripper is installed on the top of the mounting plate, and an electric brush roller is installed on the bottom of the mounting plate.

[0013] Optionally, a support gear is installed at one end of the mounting plate. The surface of the support gear meshes with the inner wall of the gear ring. The support gear and the gear ring are meshed together, forming a two-point symmetrical support structure with the drive gear. This can effectively distribute the gravitational load of the mounting plate and the robotic arm, prevent the mounting plate from tilting or jamming due to uneven force during rotation, and significantly improve the smoothness of the rotational movement of the adjustment component and the overall load-bearing capacity of the structure.

[0014] Optionally, a fixing block is fixedly connected to the surface of the substrate, and a countersunk hole is provided on the top of the fixing block. The design of the fixing block on the surface of the substrate and the countersunk hole on the top can be used to firmly install the entire robotic arm in a preset position inside the boiler by bolts, so as to avoid equipment displacement caused by the movement of the robotic arm itself or residual vibration of the boiler during the ash cleaning operation.

[0015] Optionally, a rotating rod is installed on the inner bottom wall of the mounting groove, and a circular hole adapted to the rotating rod is opened at the center of the bottom of the mounting plate. A retaining ring is fitted on the surface of the rotating rod, and the bottom of the retaining ring contacts the top of the mounting plate. The rotating rod cooperates with the circular hole at the bottom of the mounting plate, providing precise center positioning for the rotation of the mounting plate and ensuring a stable rotation trajectory.

[0016] Optionally, a limiting ring is fixedly connected to one side of the mounting plate, and an annular groove is formed on the surface of the limiting ring. L-shaped plates are fixedly connected to both sides of the mounting shell. Limiting blocks that are adapted to the annular groove are installed on the opposite sides of the two L-shaped plates. The limiting ring on one side of the mounting plate and the limiting block on the L-shaped plate form a sliding fit. The limiting block is embedded in the annular groove, which can effectively limit the radial displacement of the mounting plate and ensure the positional accuracy of the pneumatic gripper and electric brush roller during operation.

[0017] Optionally, a recording plate is mounted on the robotic arm by screws. The front of the recording plate has a groove. The recording plate on the robotic arm and its front groove can be used to place equipment identification, maintenance record cards or operation parameter labels, so that operators can quickly identify equipment information, check maintenance history and current operation parameters, and improve the convenience of equipment management.

[0018] (III) Beneficial Effects

[0019] This utility model provides a robotic arm for cleaning the heating surfaces of boilers in thermal power plants, which has the following advantages:

[0020] 1. The ash removal robotic arm for the boiler heating surface of this thermal power plant uses a planetary transmission structure formed by the meshing of the gear driven by the first motor and the fixed gear ring. This drives the mounting plate and the robotic arm to make circular motion around the rotating rod as the axis. Combined with the design of the robotic arm being installed on the mounting plate far from the center, it achieves full-area coverage of the radius rotation. With the stability guarantee of the supporting gear, rotating rod and retaining ring, it not only greatly expands the working range and avoids blind spots in cleaning, but also maintains stable operation in the complex environment inside the boiler, reduces equipment adjustment time and significantly improves ash removal coverage efficiency.

[0021] 2. The robotic arm for cleaning the heating surface of the boiler in this thermal power plant uses a second motor to drive the mounting plate to rotate, enabling rapid switching between the top pneumatic gripper and the bottom electric brush roller. The electric brush roller is suitable for removing soft ash, while the pneumatic gripper can handle harder slag or blocky deposits. It can adapt to different types of ash cleaning needs without manual intervention, ensuring thorough cleaning while protecting the heating surface equipment. It also significantly reduces tool change time, improves the continuity of operation, and is well adapted to the actual scenario of boiler ash cleaning in thermal power plants. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the substrate structure of this utility model;

[0024] Figure 3 This is a cross-sectional view of the mounting plate of this utility model;

[0025] Figure 4 This utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0026] In the diagram: 1. Base plate; 101. Robotic arm; 2. Adjustment component; 201. Mounting plate; 202. First motor; 203. Gear; 204. Gear ring; 3. Switching component; 301. Mounting shell; 302. Second motor; 303. Mounting disc; 304. Pneumatic gripper; 305. Electric brush roller; 4. Support gear; 5. Fixing block; 6. Rotating rod; 7. Retaining ring; 8. Limiting ring; 9. L-shaped plate; 10. Limiting block; 11. Recording plate. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0028] Please see Figures 1 to 4 The present invention provides a technical solution: a robotic arm for cleaning the heating surface of a boiler in a thermal power plant, comprising a base plate 1 and a robotic arm 101, an adjustment component 2 is provided between the base plate 1 and the robotic arm 101, and a switching component 3 is provided at the working end of the robotic arm 101.

[0029] The adjustment assembly 2 includes a mounting groove on the top of the base plate 1. The inner bottom wall of the mounting groove is movably connected to a mounting plate 201, which supports the mounting base of the robotic arm 101. The robotic arm 101 changes its working position by rotating itself. The cavity inside provides installation space for transmission components such as the first motor 202. The robotic arm 101 is installed at the end of the top of the mounting plate 201 away from the center. The inside of the mounting plate 201 has a cavity. The inner top wall of the cavity is fixedly connected to the first motor 202, which is the power source of the adjustment assembly 2 and provides rotational driving force. The output torque drives the first transmission rod and gear 203 to rotate. The output end of the first motor 202 is splined connected to the first transmission rod. The surface of the first transmission rod is equipped with a gear 203, which meshes with the gear ring 204 to form a transmission pair. The rotational motion of the motor is converted into a revolution motion around the center of the gear ring 204, which drives the mounting plate 201 and the robotic arm 101 to rotate as a whole. The inner side wall of the mounting groove is equipped with a gear ring 204, and the surface of the gear 203 meshes with the inner side wall of the gear ring 204.

[0030] The switching component 3 includes a mounting shell 301 installed on the working end of the robotic arm 101. A second motor 302 is fixedly connected to the inner side of the mounting shell 301. This motor is the power source of the switching component 3, providing the rotational power required for tool switching. It drives the second transmission rod and the mounting plate 303 to rotate by outputting torque. The output end of the second motor 302 is splinedly connected to the second transmission rod. One end of the second transmission rod is fixedly connected to the mounting plate 303. A pneumatic gripper 304 is installed on the top of the mounting plate 303. This is one of the ash removal execution tools. It achieves the gripping action through pneumatic drive and is mainly used to treat harder slag or blocky attachments on the boiler heating surface. It removes stubborn impurities by gripping and crushing. An electric brush roller 305 is installed at the bottom of the mounting plate 303. This is one of the ash removal execution tools. It achieves the rotating brushing action through motor drive and is mainly used to remove soft ash from the surface of the heating surface. It peels off the surface ash by brushing.

[0031] A support gear 4 is installed at one end of the mounting plate 201. The surface of the support gear 4 meshes with the inner wall of the toothed ring 204. The support gear 4 and the toothed ring 204 are meshed together, forming a two-point symmetrical support structure with the drive gear 203. This can effectively distribute the gravitational load of the mounting plate 201 and the robotic arm 101, and prevent the mounting plate 201 from tilting or jamming due to uneven force during rotation. This significantly improves the smoothness of the rotational motion of the adjustment component 2 and the overall load-bearing capacity of the structure.

[0032] A fixing block 5 is fixedly connected to the surface of the substrate 1. A countersunk hole is provided on the top of the fixing block 5. The design of the fixing block 5 on the surface of the substrate 1 and the countersunk hole on the top can be used to firmly install the entire robotic arm 101 in a preset position inside the boiler by bolts, so as to avoid equipment displacement caused by the movement of the robotic arm 101 itself or the residual vibration of the boiler during the ash cleaning operation.

[0033] A rotating rod 6 is installed on the inner bottom wall of the mounting slot. A round hole adapted to the rotating rod 6 is opened at the center of the bottom of the mounting plate 201. A retaining ring 7 is fitted on the surface of the rotating rod 6. The bottom of the retaining ring 7 contacts the top of the mounting plate 201. The rotating rod 6 cooperates with the round hole at the bottom of the mounting plate 201, providing precise center positioning for the rotation of the mounting plate 201 and ensuring stable rotation trajectory.

[0034] A limiting ring 8 is fixedly connected to one side of the mounting plate 303. The surface of the limiting ring 8 is provided with an annular groove. Both sides of the mounting shell 301 are fixedly connected to L-shaped plates 9. On the opposite side of the two L-shaped plates 9, a limiting block 10 adapted to the annular groove is installed. The limiting ring 8 on one side of the mounting plate 303 and the limiting block 10 on the L-shaped plate 9 form a sliding fit. The limiting block 10 is embedded in the annular groove, which can effectively limit the radial displacement of the mounting plate 303 and ensure the positional accuracy of the pneumatic gripper 304 and the electric brush roller 305 during operation.

[0035] A recording plate 11 is mounted on the robotic arm 101 by screws. The front of the recording plate 11 has a groove. The recording plate 11 and its front groove on the robotic arm 101 can be used to place equipment identification, maintenance record cards or operation parameter labels, so that operators can quickly identify equipment information, check maintenance history and current operation parameters, and improve the convenience of equipment management.

[0036] In this invention, the working steps of the device are as follows:

[0037] First step: The first motor 202 serves as the drive source and is installed in the cavity inside the mounting plate 201. The output torque of the first motor 202 is transmitted to the gear 203 through the first transmission rod, causing the gear 203 to rotate. Since the gear 203 meshes with the gear ring 204 fixed on the inner side wall of the mounting groove, a planetary gear 203 transmission structure is formed. The gear ring 204 is fixed, and the rotational motion of the gear 203 is converted into its own revolution around the center of the gear ring 204. This revolution causes the entire mounting plate 201 to make circular motion in the mounting groove. Since the robotic arm 101 is installed at the top of the mounting plate 201 away from the center, it realizes the radius rotation with the rotating rod 6 as the axis, significantly expanding the working range.

[0038] The second step: The second motor 302 is fixed inside the mounting shell 301 and serves as the power source for tool switching. The output torque of the second motor 302 is transmitted to the mounting plate 303 through the second transmission rod, causing the mounting plate 303 to rotate. The mounting plate 303 adopts a double-sided design, with a pneumatic gripper 304 installed on the top and an electric brush roller 305 installed on the bottom. By driving the mounting plate 303 to rotate through the second motor 302, the positions of the two tools can be interchanged. The electric brush roller 305 is suitable for removing soft ash from the surface of the heated surface by rotating and brushing. The pneumatic gripper 304 is suitable for handling harder slag or lumpy attachments by clamping and crushing them.

[0039] It should be noted that the device structure and accompanying drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, under the premise that those skilled in the art understand the principle of the above utility model, the specific details of its power mechanism, power supply system and control system can be clearly understood. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming.

[0040] All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0041] It will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for cleaning ash from the heating surface of a thermal power plant boiler, comprising a base plate (1) and a robotic arm (101), characterized in that: An adjustment component (2) is provided between the base plate (1) and the robotic arm (101), and a switching component (3) is provided at the working end of the robotic arm (101). The adjustment assembly (2) includes a mounting groove on the top of the base plate (1), a mounting plate (201) is movably connected to the inner bottom wall of the mounting groove, the robotic arm (101) is mounted on the top of the mounting plate (201) away from the center, the mounting plate (201) has a cavity inside, a first motor (202) is fixedly connected to the inner top wall of the cavity, the output end of the first motor (202) is splined connected to a first transmission rod, a gear (203) is mounted on the surface of the first transmission rod, a gear ring (204) is mounted on the inner side wall of the mounting groove, and the surface of the gear (203) meshes with the inner side wall of the gear ring (204). The switching assembly (3) includes a mounting shell (301) installed on the working end of the robotic arm (101). A second motor (302) is fixedly connected to the inner side of the mounting shell (301). A second transmission rod is splined to the output end of the second motor (302). A mounting plate (303) is fixedly connected to one end of the second transmission rod. A pneumatic gripper (304) is installed on the top of the mounting plate (303). An electric brush roller (305) is installed on the bottom of the mounting plate (303).

2. The robotic arm for cleaning the heating surface of a thermal power plant boiler according to claim 1, characterized in that: A support gear (4) is mounted on one end of the mounting plate (201), and the surface of the support gear (4) meshes with the inner wall of the gear ring (204).

3. The robotic arm for cleaning the heating surface of a thermal power plant boiler according to claim 1, characterized in that: A fixing block (5) is fixedly connected to the surface of the substrate (1), and a countersunk hole is provided on the top of the fixing block (5).

4. The robotic arm for cleaning the heating surface of a thermal power plant boiler according to claim 1, characterized in that: A rotating rod (6) is installed on the inner bottom wall of the mounting groove. A round hole adapted to the rotating rod (6) is opened at the center of the bottom of the mounting plate (201). A retaining ring (7) is fitted on the surface of the rotating rod (6). The bottom of the retaining ring (7) is in contact with the top of the mounting plate (201).

5. The robotic arm for cleaning the heating surface of a thermal power plant boiler according to claim 1, characterized in that: A limiting ring (8) is fixedly connected to one side of the mounting plate (303). An annular groove is provided on the surface of the limiting ring (8). L-shaped plates (9) are fixedly connected to both sides of the mounting shell (301). A limiting block (10) adapted to the annular groove is installed on the opposite side of the two L-shaped plates (9).

6. The robotic arm for cleaning the heating surface of a thermal power plant boiler according to claim 1, characterized in that: A recording plate (11) is mounted on the robotic arm (101) by screws, and a groove is provided on the front of the recording plate (11).

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