A green cleaning device for a waste incinerator water-cooled wall

Abstract

The utility model discloses a kind of green cleaning device for waste incinerator water-cooled wall, comprising: pedestal, stand, actuating mechanism assembly, composite cleaning gun head module and sensor detection module;The actuating mechanism assembly includes vertical lifting mechanism, horizontal rotating mechanism and radial feed mechanism;The composite cleaning gun head module is installed in the execution end of the radial feed mechanism, including dry ice injection head and laser cleaning head;The sensor detection module includes high-temperature-resistant distance sensor and camera.The utility model realizes the safe, efficient, green cleaning of waste incinerator water-cooled wall: on the one hand, through full-automatic remote operation, completely eliminate the risk of artificial entering high-risk environment, on the other hand, by means of the synergistic effect of laser and dry ice and precise distance control, effectively protect the furnace wall while quickly removing various types of coking;Its automated operation mode greatly shortens the shutdown time, and no waste water, no chemical reagent is generated, with economy and environmental protection.

Description

Technical Field

[0001] This utility model relates to the technical field of waste incinerator maintenance equipment, and in particular to a green cleaning device for water-cooled walls of waste incinerators. Background Technology

[0002] After long-term operation, waste incinerators will accumulate molten salt, sintered ash, and unburned carbon deposits (collectively known as "coking") on the furnace walls, flue walls, and heat exchanger tubes. These coking layers will severely reduce heat exchange efficiency, corrode the furnace walls, and even cause shutdown accidents.

[0003] Currently, the commonly used methods for removing coke are manual knocking, high-pressure water jetting, and steam blowing, but all of them have many drawbacks: manual knocking is labor-intensive, creates a harsh environment, and does not clean thoroughly; high-pressure water jetting generates a large amount of wastewater, which may cause rapid cooling and cracking of the refractory materials inside the furnace; and steam blowing has limited ability to remove stubborn and molten coke.

[0004] In existing technologies, both dry ice cleaning and laser cleaning are suitable for removing coke layers, offering advantages such as being wear-free and environmentally friendly. However, the limited space, high temperature, low visibility, and complex coke morphology inside incinerators make manual gun operation virtually impossible. Furthermore, it's impossible to guarantee that the gun tip maintains the optimal process distance and angle with the coke surface, resulting in low cleaning efficiency, energy waste, and potential damage to the furnace walls. Therefore, there is an urgent need for a specialized cleaning device that can replace manual labor and automatically adapt to the complex environment inside the furnace. Utility Model Content

[0005] This invention provides a green cleaning device for water-cooled walls of waste incinerators, which can solve the problems of existing cleaning technologies such as reliance on manual labor, low efficiency, incomplete cleaning, safety hazards, and potential damage to the furnace wall.

[0006] To solve the above-mentioned technical problems, this utility model provides a green cleaning device for the water-cooled wall of a waste incinerator, comprising: Base; The column is fixedly installed on the base; An actuator assembly, mounted on the column, includes a vertical lifting mechanism, a horizontal rotation mechanism, and a radial feed mechanism; The vertical lifting mechanism is installed on the column and driven by the first driving element. Its power output end can reciprocate in the vertical direction. The horizontal rotation mechanism is driven by the second driving element and is fixedly installed on the power output end of the vertical lifting mechanism. Its power output end can rotate in the horizontal plane. The radial feed mechanism is driven by a third drive element and is fixedly installed on the power output end of the horizontal rotation mechanism. Its power output end can perform linear reciprocating motion in a direction perpendicular to the column. A composite cleaning gun head module, installed at the actuating end of the radial feed mechanism, includes a dry ice spray head and a laser cleaning head; A sensor detection module is located adjacent to the composite cleaning gun head module and is used to acquire distance information and visual information between the composite cleaning gun head module and the water-cooled wall surface in real time, so as to adjust the spatial pose of the actuator assembly.

[0007] In a preferred embodiment of this utility model, the vertical lifting mechanism is a precision linear module.

[0008] In a preferred embodiment of the present invention, the precision linear module includes a ball-bearing linear guide rail and a slider that cooperates with it.

[0009] In a preferred embodiment of this utility model, the horizontal rotation mechanism is a precision rotary platform.

[0010] In a preferred embodiment of this utility model, the radial feed mechanism is a cylinder, an electric cylinder, or a ball screw mechanism.

[0011] In a preferred embodiment of this utility model, the laser cleaning head and the dry ice jet head are arranged side by side or coaxially integrated.

[0012] In a preferred embodiment of the present invention, the first driving element, the second driving element, and the third driving element are servo motors or stepper motors.

[0013] In a preferred embodiment of this utility model, the sensor detection module includes a high-temperature resistant distance sensor and a camera.

[0014] In a preferred embodiment of this utility model, the high-temperature resistant distance sensor is a laser rangefinder.

[0015] In a preferred embodiment of the present invention, a control system is further included, which is electrically connected to the first driving element, the second driving element, the third driving element, the laser cleaning head, the dry ice jet head, and the sensor detection module.

[0016] The beneficial effects of this utility model are as follows: This utility model provides a green cleaning device for water-cooled walls of waste incinerators. Through the coordinated operation of a composite cleaning nozzle module, a three-degree-of-freedom actuator, and a sensor detection system module, it achieves safe, efficient, and green cleaning of water-cooled walls in waste incinerators. On the one hand, fully automatic remote operation completely eliminates the risk of manual entry into high-risk environments. On the other hand, with the synergistic effect of laser and dry ice and precise distance control, it effectively protects the furnace wall while quickly removing various types of coking. Its automated operation mode significantly shortens downtime and generates no wastewater or chemical agents, combining economic efficiency and environmental friendliness. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of a preferred embodiment of a green cleaning device for water-cooled walls of a waste incinerator according to the present invention; Figure 2 yes Figure 1 A schematic diagram of the side view structure; Figure 3 yes Figure 1 A schematic diagram of the rear view structure; The components in the attached diagram are labeled as follows: 10. Base; 20. Column; 30. Vertical lifting mechanism; 31. Ball-type linear slide rail; 32. Slider; 40. Horizontal rotation mechanism; 50. Radial feed mechanism; 60. Composite cleaning gun head module; 61. Dry ice spray head; 62. Laser cleaning head; 70. Sensor detection module. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0019] Please see Figure 1-3 As shown, the embodiments of this utility model include: This utility model discloses a green cleaning device for water-cooled walls of waste incinerators, which mainly includes a base 10, a column 20, an actuator assembly (including a vertical lifting mechanism 30, a horizontal rotation mechanism 40 and a radial feeding mechanism 50), a composite cleaning gun head module 60, a sensor detection module 70 and a control system.

[0020] Specifically, the base 10 is a platform structure with sufficient rigidity and stability. The column 20 is fixedly installed on the base 10, serving as the supporting foundation for the entire actuator assembly.

[0021] The actuator assembly is responsible for driving the composite cleaning gun head module 60 and the sensor detection module 70 to achieve three degrees of freedom of spatial movement. The vertical lifting mechanism (Z-axis) 30 employs a precision linear module driven by a servo motor (first drive element). The fixed portion of this linear module is securely mounted on the column 20 via a mounting plate. The power output of the vertical lifting mechanism 30 is a slider that can move along the Z-axis. Specifically, the precision linear module includes a ball-bearing linear guide rail 31 and a precisely fitted slider 32 to ensure smooth and high-precision movement. The vertical lifting mechanism (Z-axis) 30 can control the vertical height of the entire end effector to accommodate coking areas at different heights.

[0022] The horizontal rotation mechanism (C-axis) 40 employs a precision rotary platform driven by a servo motor (second drive element). The power output end of the horizontal rotation mechanism 40 is its turntable. The base of this turntable is fixedly mounted on the slider 32 of the vertical lifting mechanism 30 via a connecting plate. Therefore, when the slider moves up and down, it drives the entire horizontal rotation mechanism 40 to rise and fall together. The power output end of the rotary platform is its turntable, which can perform continuous rotational motion from 0-360° in the horizontal plane, thereby enabling the nozzle in the composite cleaning nozzle module 60 to rotate and scan within the horizontal plane from 0-360°, improving the cleaning effect.

[0023] The radial feed mechanism (R-axis) 50 is a cylinder, with its cylinder body fixedly mounted on the turntable of the horizontal rotating mechanism 40. The power output end of the radial feed mechanism 50 is a piston rod / push rod / nut. Alternatively, the radial feed mechanism 50 can also be an electric cylinder, with its cylinder body also mounted on the turntable. Furthermore, the radial feed mechanism 50 can also be a ball screw mechanism, with its nut seat mounted on the turntable and driven to rotate by a servo motor (third drive element), thereby causing the nut and its connected components to move linearly. Regardless of the method, its power output end (such as the piston rod of a cylinder, the piston rod of an electric cylinder, or the nut of a ball screw) can perform linear reciprocating motion in a direction perpendicular to the column 20 (i.e., the radial direction of the furnace body), used to quickly approach or move away from the furnace chamber, and dynamically maintain a constant optimal working distance during the cleaning process.

[0024] The composite cleaning nozzle module 60 is an end effector, installed at the actuating end of the radial feed mechanism 50. This composite cleaning nozzle module 60 integrates a dry ice jet head 61 and a laser cleaning head 62. The dry ice jet head 61 and the laser cleaning head 62 are integrated side-by-side, allowing their working areas to overlap or be adjacent for synergistic cleaning. The laser cleaning head 62 emits pulsed laser light, causing the stubborn coking layer to crack and peel off due to thermal stress. The dry ice jet head 61 utilizes the kinetic energy impact and low-temperature embrittlement effect of dry ice particles to accelerate the shedding of the cracked coking layer and remove surface dust.

[0025] The sensor detection module 70 includes a high-temperature resistant laser rangefinder and a high-temperature resistant camera. The sensor detection module 70 is mounted on the upper side of the composite cleaning gun head module 60 via a bracket. The detection direction of the high-temperature resistant distance sensor (laser rangefinder) is parallel to or at a fixed angle to the beam direction of the laser cleaning head 62, and the optical axis of the camera faces the cleaning area. The laser rangefinder is used to measure the instantaneous distance between the gun head and the coking surface of the water-cooled wall in real time and with high accuracy. The camera is used to monitor the cleaning environment and coking state in real time, capture visual images of the cleaning area, and provide visual feedback to the control system to adjust the spatial pose of the actuator.

[0026] The control system can be integrated into the electrical control box on the base 10, or connected to an external main control cabinet via cables. The control system is electrically connected to the first drive element, the second drive element, the third drive element, the laser cleaning head 62, the dry ice jet head 61, the laser rangefinder, and the camera via cables. The control system receives distance and video signals from the sensors, processes them according to a preset algorithm, and outputs control commands to drive the motors / cylinders of the three mechanisms and the two cleaning heads to coordinate their movements, thereby achieving automated scanning path planning and maintaining a constant optimal working distance.

[0027] The working principle or process of this utility model of a green cleaning device for water-cooled walls of waste incinerators is as follows: Initial positioning: Move the cleaning device to the vicinity of the area to be cleaned in the waste incinerator, ensuring that the composite cleaning nozzle module can reach the cleaning position of the water-cooled wall inside the furnace.

[0028] When the control system is powered on, the laser rangefinder and camera are activated to monitor the initial distance between the composite cleaning gun head module 60 and the coking surface in real time, providing accurate distance data for subsequent cleaning operations and monitoring the cleaning environment.

[0029] Cleaning begins: Based on feedback from the laser rangefinder, the control system first moves the composite cleaning gun head module 60 to the starting position at the optimal working distance from the water-cooled wall through three-axis linkage.

[0030] Collaborative cleaning: The control system can first activate the dry ice jet head 61 according to a preset program, using the kinetic energy of dry ice particles to impact and pre-clean the loose floating dust on the surface; then activate the laser cleaning head 62 to emit pulsed laser to irradiate the stubborn coking layer on the water-cooled wall, using thermal stress to crack and loosen it; activate the dry ice jet head 61 again, using the kinetic energy impact and low-temperature embrittlement effect of dry ice particles to accelerate the detachment of the cracked coking layer, thus achieving complete removal of the coking layer.

[0031] Scanning Coverage: During the cleaning process, based on the distance data fed back by the laser rangefinder and the height of the area to be cleaned, the vertical lifting mechanism 30 driven by the servo motor moves the end effector up and down to adjust it to a suitable height, so that the end effector can cover the coking areas at different heights, ensuring that the gun head can accurately aim at the area to be cleaned.

[0032] After the vertical height is adjusted appropriately, the rotary motor of the horizontal rotation mechanism 40 is started to drive the precision rotary platform to rotate, so that the gun head can perform a 0-360° rotational scan in the horizontal plane, thereby cleaning the water-cooled wall in all directions and expanding the cleaning coverage.

[0033] During the horizontal rotation scanning process, the radial feed mechanism 50, based on real-time feedback from the laser rangefinder, controls the nozzle to dynamically "advance" or "retreat" along the furnace radius via cylinder drive, making fine adjustments to compensate for the unevenness of the water-cooled wall surface and maintain a constant optimal cleaning distance. On the one hand, it can quickly approach the furnace wall to begin cleaning; on the other hand, during the cleaning process, it dynamically maintains a constant optimal working distance according to the actual situation, ensuring the cleaning effect while avoiding damage to the water-cooled wall.

[0034] Operation completed: After the predetermined area is cleaned, the control system sequentially shuts down the laser cleaning head 62 and the dry ice spray head 61, and controls the vertical lifting mechanism 30, the horizontal rotation mechanism 40 and the radial feed mechanism 50 to move the composite cleaning gun head module 60 to the initial position or a safe area, completing the entire cleaning device's workflow and preparing for the next cleaning task or equipment maintenance.

[0035] This utility model has the following effects: (1) Extreme safety: It realizes fully automatic remote operation, keeping personnel completely away from the high temperature, toxic and dusty furnace environment, eliminating personal safety accidents.

[0036] (2) Excellent cleaning effect: Through the automatic adjustment of the three axes, the process parameters (especially the working distance and incident angle) are accurate and stable throughout the cleaning process. It can effectively remove stubborn coking and loose ash, clean evenly and thoroughly, and protect the furnace wall refractory materials to the maximum extent.

[0037] (3) Extremely high operating efficiency: The automated operation is highly continuous, the cleaning speed is stable, and the synergistic effect of laser and dry ice (first dry ice cleaning, then laser pyrolysis, and then dry ice impact removal) is far more efficient than a single method or manual operation, which can greatly shorten the shutdown maintenance time.

[0038] (4) Economic and environmental protection: No wastewater, no chemical agents, dry ice volatilization leaves no residue, low overall operating cost, and meets environmental protection requirements.

[0039] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A green cleaning device for water-cooled walls of a waste incinerator, characterized in that, include: Base; The column is fixedly installed on the base; An actuator assembly, mounted on the column, includes a vertical lifting mechanism, a horizontal rotation mechanism, and a radial feed mechanism; The vertical lifting mechanism is installed on the column and driven by the first driving element. Its power output end can reciprocate in the vertical direction. The horizontal rotation mechanism is driven by the second driving element and is fixedly installed on the power output end of the vertical lifting mechanism. Its power output end can rotate in the horizontal plane. The radial feed mechanism is driven by a third drive element and is fixedly installed on the power output end of the horizontal rotation mechanism. Its power output end can perform linear reciprocating motion in a direction perpendicular to the column. A composite cleaning gun head module, installed at the actuating end of the radial feed mechanism, includes a dry ice spray head and a laser cleaning head; A sensor detection module is located adjacent to the composite cleaning gun head module and is used to acquire distance information and visual information between the composite cleaning gun head module and the water-cooled wall surface in real time, so as to adjust the spatial pose of the actuator assembly.

2. The apparatus according to claim 1, characterized in that, The vertical lifting mechanism is a precision linear module.

3. The apparatus according to claim 2, characterized in that, The precision linear module includes a ball-bearing linear guide and a corresponding slider.

4. The apparatus according to claim 1, characterized in that, The horizontal rotation mechanism is a precision rotary platform.

5. The apparatus according to claim 1, characterized in that, The radial feed mechanism is a pneumatic cylinder, an electric cylinder, or a ball screw mechanism.

6. The apparatus according to claim 1, characterized in that, The laser cleaning head and the dry ice jet head are arranged side by side or coaxially integrated.

7. The apparatus according to claim 1, characterized in that, The first driving element, the second driving element, and the third driving element are servo motors or stepper motors.

8. The apparatus according to claim 1, characterized in that, The sensor detection module includes a high-temperature resistant distance sensor and a camera.

9. The apparatus according to claim 8, characterized in that, The high-temperature resistant distance sensor is a laser rangefinder.

10. The apparatus according to claim 1, characterized in that, It also includes a control system, which is electrically connected to the first driving element, the second driving element, the third driving element, the laser cleaning head, the dry ice jet head, and the sensor detection module.

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