CN113526178A - Thermal power plant ash storehouse cleaning robot system based on differential pressure effect - Google Patents
Thermal power plant ash storehouse cleaning robot system based on differential pressure effect Download PDFInfo
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- CN113526178A CN113526178A CN202010307648.9A CN202010307648A CN113526178A CN 113526178 A CN113526178 A CN 113526178A CN 202010307648 A CN202010307648 A CN 202010307648A CN 113526178 A CN113526178 A CN 113526178A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 133
- 230000000694 effects Effects 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 238000001179 sorption measurement Methods 0.000 claims description 91
- 230000009194 climbing Effects 0.000 claims description 46
- 239000000428 dust Substances 0.000 claims description 28
- 238000012544 monitoring process Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000007790 scraping Methods 0.000 claims description 4
- 238000007664 blowing Methods 0.000 claims description 3
- 230000009193 crawling Effects 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 6
- 239000002956 ash Substances 0.000 description 87
- 239000007789 gas Substances 0.000 description 22
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 239000010881 fly ash Substances 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
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- 230000007246 mechanism Effects 0.000 description 3
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- 239000002131 composite material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 206010017740 Gas poisoning Diseases 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000010883 coal ash Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
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- 230000008021 deposition Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000003546 flue gas Substances 0.000 description 1
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- 239000002440 industrial waste Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/08—Devices for emptying storage spaces as completely as possible
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Abstract
The invention relates to a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect, which comprises a vertical lifting telescopic arm module and a horizontal rotating pair cantilever module, vertical gyration telescopic boom module, wall clearance robot and counter weight cantilever are climbed in the absorption of negative pressure, vertical lift telescopic boom module is fixed at the ash storehouse entry and can be telescopic motion along ash storehouse direction of height, the vice cantilever module of horizontal rotation is fixed in vertical lift telescopic boom module bottom, the vice cantilever module end of horizontal rotation is equipped with the rotatory shafting seat that can be horizontal rotation motion, the flexible arm module of vertical gyration is fixed at rotatory shafting seat end, the flexible arm module of vertical gyration is telescopic motion and can be the rotary motion of vertical direction along its length direction, wall clearance robot movable mounting is climbed in the absorption of negative pressure is terminal at the flexible arm module of vertical gyration, the counter weight cantilever is fixed at the flexible arm module other end of vertical gyration. Compared with the prior art, the system has the advantages of high reliability, good safety, no need of manual operation and wide application range.
Description
Technical Field
The invention relates to a thermal power plant ash storehouse cleaning robot, in particular to a thermal power plant ash storehouse cleaning robot system based on a pressure difference effect.
Background
The coal ash is solid waste collected from flue gas generated in the coal combustion process and is industrial waste residue with heavy pollution. The power plant stores the fly ash in a storage tank and periodically recycles the fly ash as resources. However, due to the influence of various factors such as air humidity and the like, the fly ash in the ash silo is easy to harden and is bonded with the inner wall, so that the volume of the ash silo is reduced. And even blocking the discharge port leads to unsmooth or impossible discharge. In order to not affect the system production of enterprises, power plants need to clean the fly ash storage room regularly. At present, the domestic warehouse cleaning operation mainly adopts manual cleaning, the efficiency is not high, the danger coefficient is high, and the bonded and accumulated fly ash in the ash warehouse always endangers the life safety of ash warehouse workers, such as: (1) there is a risk of collapse of the grey zone: the collapse accident of the ash area can directly threaten the life safety of workers. (2) The hypoxia asphyxia hazard exists: the air enters the storage bin to operate in a limited space, the air circulation is not smooth, and the work of workers in the closed space has the danger of anoxic asphyxia. (3) The gas poisoning hazard exists: toxic and harmful gases such as CO and the like may exist in the storage bin, so that the storage bin is poisoned. (4) The dust hazard exists: the dust material exists in the bin, and the naked skin, eyes, a respiratory system and other organs of an operator are injured. (5) There is a risk of falling at high altitude: the ash storehouse is as high as tens of meters, belongs to high-altitude operation, and has the risk of unexpected high-altitude falling. The manual cleaning mode is adopted, so that the potential safety hazard is high, the working efficiency is low, the labor intensity is high, and the cost is high. Taking 300 tons of ash in a single ash storehouse as an example, a working shift of 6 people in three shifts is required to be cleaned for 15 days.
At present, the machine special for cleaning the large-scale ash storehouse is not available in the market, and no other method is available except manual work, so that the ash storehouse cleaning device which is convenient to install, high in working efficiency, high in environmental suitability, capable of meeting the tank cleaning requirements of different diameters, high in reliability, good in safety, free of manual direct operation and capable of accurately controlling the robot through a detection sensing system is urgently needed to be researched and developed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect.
The purpose of the invention can be realized by the following technical scheme:
a thermal power plant ash storehouse cleaning robot system based on a pressure difference effect comprises a vertical lifting telescopic arm module, a horizontal rotating auxiliary cantilever module, a vertical rotating telescopic arm module, a negative pressure adsorption wall climbing cleaning robot and a counterweight cantilever, wherein the vertical lifting telescopic arm module is fixed at an inlet of an ash storehouse and can do telescopic motion along the height direction of the ash storehouse, the horizontal rotating auxiliary cantilever module is fixed at the bottom end of the vertical lifting telescopic arm module, a rotating shafting base capable of doing horizontal rotating motion is arranged at the tail end of the horizontal rotating auxiliary cantilever module, the vertical rotating telescopic arm module is fixed at the tail end of the rotating shafting base, the vertical rotating telescopic arm module can do telescopic motion along the length direction and can do rotating motion in the vertical direction, and the negative pressure adsorption wall climbing cleaning robot is movably installed at the tail end of the vertical rotating telescopic arm module, and the counterweight cantilever is fixed at the other end of the vertical rotary telescopic arm module.
The telescopic arm module of vertical lift include entry fixed block, the telescopic arm of first lift and the telescopic arm of second lift, the entry fixed block be used for fixing on ash storehouse entry, the telescopic arm of first lift and the telescopic arm nested setting of second lift, the telescopic arm top fixed connection entry fixed block of first lift, the telescopic arm bottom fixed connection horizontal rotation pair cantilever module of second lift, the telescopic arm of second lift inside be equipped with its lift electric putter of being concertina movement for the telescopic arm of first lift of drive.
The horizontal rotation pair cantilever module still include motor protection festival, horizontal rotation gear motor, motor mounting flange and shaft coupling, the vertical flexible arm module bottom that goes up and down of motor protection festival one end fixed connection, other end fixed connection motor mounting flange, horizontal rotation gear motor install on motor mounting flange and lie in motor protection festival inside, horizontal rotation gear motor's output shaft set up perpendicularly downwards, rotary shaft system seat set up in motor mounting flange below, rotary shaft system seat one end is through the output shaft of shaft coupling connection horizontal rotation gear motor, the vertical flexible arm module of gyration of other end fixed connection.
The vertical rotary telescopic arm module comprises a vertical rotary motor, a connecting support, a beam connecting seat and a rotary telescopic arm, wherein the connecting support comprises a vertical connecting shaft and a support seat, one end of the vertical connecting shaft is fixedly connected with the rotary shaft base, the other end of the vertical connecting shaft is connected with the support seat, the beam connecting seat is movably arranged in the support seat, the vertical rotary motor is fixed on the side surface of the support seat, an output shaft of the vertical rotary motor is connected with the beam connecting seat through a bearing, the beam connecting seat is driven by the vertical rotary motor to perform vertical rotary motion in the support seat, a counterweight cantilever and the rotary telescopic arm are respectively fixed at two ends of the support seat of the beam connecting seat, and the negative pressure adsorption wall climbing cleaning robot is movably arranged at the tail end of the rotary telescopic arm.
Rotatory flexible arm include first flexible crossbeam and the flexible crossbeam of second, first flexible crossbeam and the nested setting of the flexible crossbeam of second, the flexible crossbeam of second inside be equipped with its crossbeam electric putter who is concertina movement for first flexible crossbeam of drive, the negative pressure adsorb climb wall clearance robot movable mounting at the flexible crossbeam end of second.
The negative pressure adsorption wall-climbing cleaning robot comprises a robot body, a guide mounting handle, a body retracting assembly, a wall-climbing ash removal assembly and a vacuumizing assembly;
the guide mounting handle is fixed at the top of the robot body and movably mounted at the tail end of the vertical rotary telescopic arm module through the body retraction assembly, and when the robot body is retracted by the body retraction assembly, the guide mounting handle is matched with the end part of the vertical rotary telescopic arm module;
the robot car body middle part be equipped with rectangle vacuum adsorption chamber, vacuum adsorption chamber intercommunication evacuation subassembly, wall climbing deashing subassembly set up 2 groups and the symmetry sets up in rectangle vacuum adsorption chamber both sides.
Each group of wall climbing ash removal assemblies comprises a first roller and a second roller, the first roller and the second roller are coaxially mounted on the side wall of the rectangular vacuum adsorption cavity through roller supports respectively, driving motors for driving the first roller and the second roller to rotate are arranged in the first roller and the second roller, spiral hobs which are opposite in rotation direction and used for scraping accumulated ash are arranged on the surfaces of the first roller and the second roller, an ash-gas mixing bin used for mixing the scraped accumulated ash with vacuumized gas is arranged at the positions of the first roller and the second roller on the robot vehicle body, the ash-gas mixing bin is communicated with the vacuumizing assembly, and correspondingly, brushes used for cleaning the accumulated ash to the ash-gas mixing bin are arranged on the surfaces of the first roller and the second roller;
the driving motor controls the steering and rotating speed of the first roller and the second roller, the robot body crawls on the wall surface of the ash storage, meanwhile, in the crawling process, the spiral hobs on the first roller and the second roller on the two sides of the rectangular vacuum adsorption cavity scrape off the ash on the wall surface of the ash storage and bring the ash into the ash-air mixing bin through the hairbrush, and then the ash is discharged through the vacuumizing assembly.
Rectangle vacuum adsorption intracavity still be equipped with and be used for the distance between real-time detection robot automobile body and the ash storehouse inner wall and trigger evacuation subassembly and carry out the determine module of negative pressure control, determine module include camera and laser range finder, camera and laser range finder week side be equipped with and be used for blowing dirt-proof air jet.
The vehicle body retraction assembly comprises a retraction and extension line winch and a retraction and extension line, one end of the vehicle body retraction and extension assembly is connected with the guide mounting handle, and the other end of the vehicle body retraction and extension assembly is connected with the retraction and extension line winch.
The system further comprises a monitoring assembly for monitoring the internal state of the ash warehouse in real time, wherein the monitoring assembly comprises a warehouse top view screen monitor and a warehouse top laser radar, and the warehouse top view screen monitor and the warehouse top laser radar are fixed on the top of the ash warehouse.
Compared with the prior art, the invention has the following advantages:
(1) the invention separates a negative pressure adsorption wall-climbing cleaning robot from a mechanical arm, the mechanical arm is mainly used for releasing, installing and recycling the negative pressure adsorption wall-climbing cleaning robot, the negative pressure adsorption wall-climbing cleaning robot can move in all directions on the wall surface to finish the dust cleaning operation, the mechanical arm comprises a vertical lifting telescopic arm module, a vertical rotary telescopic arm module, a counterweight cantilever and a horizontal rotary auxiliary cantilever module, the vertical lifting telescopic arm module realizes the movement of the negative pressure adsorption wall-climbing cleaning robot in the height direction of an ash warehouse, so that the negative pressure adsorption wall-climbing cleaning robot can be lowered to a proper height or recycled to the top of the ash warehouse, the vertical rotary telescopic arm module realizes the rotary movement of the negative pressure adsorption wall-climbing cleaning robot in the vertical direction, the counterweight cantilever realizes the balance of two side gravity when the vertical rotary telescopic arm module is in the horizontal position, the horizontal rotary auxiliary cantilever module realizes the rotary movement of the negative pressure adsorption wall-climbing cleaning robot in the horizontal direction, therefore, when the negative pressure adsorption wall-climbing cleaning robot is lowered to a proper height, the negative pressure adsorption wall-climbing cleaning robot can be adjusted to be aligned with the wall surface of the ash warehouse, so that the release of the adsorption wall-climbing cleaning robot is completed, the feeding requirement of the system under a narrow population can be met in the throwing process (namely, the vertical rotary telescopic arm module is rotated to be parallel to the vertical lifting telescopic arm module when entering the ash warehouse), the robot arm does not act in the working process of the negative pressure adsorption wall-climbing cleaning robot, and the negative pressure adsorption wall-climbing cleaning robot realizes the full-automatic cleaning of the interior of the ash warehouse in an all-round way manner;
(2) the invention relates to a negative pressure adsorption wall-climbing cleaning robot, which integrates a mobile power device and a storehouse body dust cleaning device, the robot can synchronously clean dust while climbing, the robot adopts a climbing mode that the negative pressure is adsorbed on the wall surface of the storehouse body and is driven by a roller capable of rotating automatically, the robot has enough negative pressure adsorption and climbing capacity and can meet the dust cleaning operation requirement in the large-span change range of the diameter in the storehouse, in particular, the mobile power device comprises two pairs of first rollers and a second roller, the negative pressure adsorption wall-climbing cleaning robot realizes the control of stable advancing speed and the robot running direction by depending on the regulation of the rotating speed and the rotating direction of the four rollers in the running process of the horizontal direction and the vertical direction, the storehouse body dust cleaning device comprises a spiral hob, a hairbrush, a dust-air mixing bin and the like, the accumulated dust on the storehouse wall can be scraped off by the spiral hob along with the climbing of the negative pressure adsorption wall-climbing cleaning robot, meanwhile, the dust is carried into a dust and air mixing bin through a brush and is finally discharged;
(3) the negative pressure adsorption wall climbing cleaning robot integrates the dust recovery function and the negative pressure adsorption function, and specifically comprises the following steps: the negative pressure adsorption wall climbing cleaning robot enables the rectangular vacuum adsorption cavity to form a certain vacuum degree through the vacuumizing assembly, so that the rectangular vacuum adsorption cavity is adsorbed on the inner wall of the warehouse body through negative pressure, meanwhile, dust deposited on the warehouse wall enters the dust-air mixing bin, is sucked into the negative pressure bin inside the negative pressure adsorption wall climbing cleaning robot by the negative pressure pump after being fully and uniformly mixed, and mixed dust air is pumped out of the dust bin through an air pipe inside the synthetic cable;
(4) the thermal power plant ash storehouse cleaning robot system based on the differential pressure effect has high control precision and high rigidity, can meet the requirement of precise operation in the storehouse, the vertical lifting telescopic arm module and the vertical rotary telescopic arm module are both composed of two-stage telescopic mechanisms capable of automatically telescoping, ensure that the relative positions of the vertical lifting telescopic arm module and the vertical rotary telescopic arm module are stable and accurate, and can meet the requirement of high control precision of the mechanisms, and the counterweight cantilevers are also configured corresponding to the vertical rotary telescopic arm module;
(5) the invention adopts the vacuum adsorption principle to realize that the robot car body is tightly attached to the inner wall of the warehouse body, the vacuumizing assembly is arranged to provide enough pressure to ensure that the robot car body is reliably attached to the wall surface of the warehouse body, and simultaneously, the first roller and the second roller are reliably contacted with the wall surface of the warehouse body, thereby meeting the requirements of cleaning operation when the robot car body is arranged on the inner wall of the warehouse body under different curvatures and realizing effective dust cleaning;
(6) the negative pressure adsorption wall-climbing cleaning robot is provided with the vehicle body retraction assembly to assist in traction on the negative pressure adsorption wall-climbing cleaning robot, so that the robot is prevented from falling off during wall-climbing cleaning, and the reliability of system operation can be ensured by pulling the robot after recovery work;
(7) the detection assembly arranged in the rectangular vacuum adsorption cavity can monitor the real-time running state of the robot car body, so that the effective adsorption of the robot car body is ensured, and the cleaning efficiency is improved;
(8) the monitoring assembly is used for monitoring the condition in the ash storehouse, monitoring the cleaning work of the ash storehouse in real time and effectively guiding remote control.
Drawings
FIG. 1 is a schematic diagram of the general structure of a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 2 is a schematic structural diagram of a vertical lifting telescopic arm module in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 3 is a schematic structural diagram of a horizontal rotation pair cantilever module in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 4 is an installation explosion diagram of a horizontal rotation pair cantilever module in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 5 is a schematic structural diagram of a vertical rotary telescopic arm module in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 6 is a schematic structural diagram of a negative pressure adsorption wall-climbing cleaning robot in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect;
FIG. 7 is a cross-sectional view of a negative pressure adsorption wall-climbing cleaning robot in a thermal power plant ash storehouse cleaning robot system based on a differential pressure effect according to the present invention;
fig. 8 is a schematic diagram of a release state of the thermal power plant ash storehouse cleaning robot system based on the differential pressure effect.
In the figure, 1 is a vertical lifting telescopic arm module, 101 is an inlet fixing block, 102 is a first lifting telescopic arm, and 103 is a second lifting telescopic arm;
2, a vertical rotary telescopic arm module, 201, a vertical rotary motor, 202, a connecting support, 203, a beam connecting seat, 204, a first telescopic beam, 205, a second telescopic beam, 206 a robot connecting disc and 207 are composite cables;
3, a negative pressure adsorption wall climbing cleaning robot, 301, a robot body, 302, a guide mounting handle, 303, a first roller, 304, a second roller, 305, a first ash gas mixing bin, 306, a second ash gas mixing bin, 307, a synthetic cable mounting channel, 308, an exhaust port, 309, a camera, 310, a laser range finder, 311, a roller bracket and 312 air nozzles;
4 is a counterweight cantilever;
5, a horizontal rotation pair cantilever module, 501, a motor protection joint, 502, a flange connecting piece, 503, a rotation shaft base, 504, a horizontal rotation speed reducing motor, 505, a motor mounting flange and 506, a coupler;
6 is a top view screen detector; 7 is a storeroom top laser radar; 8 is a vacuum pumping assembly; and 9 is a take-up and pay-off winch.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
As shown in figure 1, the thermal power plant ash storehouse cleaning robot system based on the pressure difference effect comprises a vertical lifting telescopic arm module 1, a horizontal rotating auxiliary cantilever module 5, a vertical rotating telescopic arm module 2, a negative pressure adsorption wall climbing cleaning robot 3 and a counterweight cantilever 4, wherein the vertical lifting telescopic arm module 1 is fixed at an ash storehouse inlet and can do telescopic motion along the height direction of an ash storehouse, the horizontal rotating auxiliary cantilever module 5 is fixed at the bottom end of the vertical lifting telescopic arm module 1, the tail end of the horizontal rotating auxiliary cantilever module 5 is provided with a rotating shaft system seat 503 capable of doing horizontal rotating motion, the vertical rotating telescopic arm module 2 is fixed at the tail end of the rotating shaft system seat 503, the vertical rotating telescopic arm module 2 does telescopic motion along the length direction and can do rotating motion along the vertical direction, the negative pressure adsorption wall climbing cleaning robot 3 is movably installed at the tail end of the vertical rotating telescopic arm module 2, the counterweight cantilever 4 is fixed at the other end of the vertical rotary telescopic arm module 2. The system further comprises a monitoring component for monitoring the internal state of the ash warehouse in real time, wherein the monitoring component comprises a warehouse top view screen monitor 7 and a warehouse top laser radar 7, and the warehouse top view screen monitor 7 and the warehouse top laser radar 7 are fixed on the top of the ash warehouse. The monitoring component monitors the ash storehouse cleaning work in real time and effectively guides remote control.
Generally speaking, the system separates a negative pressure adsorption wall-climbing cleaning robot 3 from a mechanical arm, the mechanical arm is mainly used for releasing, installing and recycling the negative pressure adsorption wall-climbing cleaning robot 3, the negative pressure adsorption wall-climbing cleaning robot 3 can complete dust cleaning operation in all directions of a wall surface, the mechanical arm comprises a vertical lifting telescopic arm module 1, a vertical rotary telescopic arm module 2, a horizontal rotary auxiliary cantilever module 5 and a counterweight cantilever 4, the vertical lifting telescopic arm module 1 realizes the movement of the negative pressure adsorption wall-climbing cleaning robot 3 in the height direction of an ash warehouse, so that the negative pressure adsorption wall-climbing cleaning robot 3 can be lowered to a proper height or recycled to the top of the ash warehouse, the vertical rotary telescopic arm module 2 realizes the rotary movement of the negative pressure adsorption wall-climbing cleaning robot 3 in the vertical direction, and the counterweight cantilever 4 realizes the balance of two sides of gravity when the vertical rotary telescopic arm module 2 is in the horizontal position, the horizontal rotation pair cantilever mould 5 realizes that the negative pressure adsorbs the rotary motion of 3 horizontal directions of wall climbing cleaning robot, thereby the negative pressure adsorbs wall climbing cleaning robot 3 and can adjust the negative pressure to the wall position of aiming at the ash storehouse when transferring to suitable height, realize the input of negative pressure adsorption wall climbing cleaning robot 3 from this, adsorb 3 operation in-process of wall climbing cleaning robot at the negative pressure, the robot arm does not move, the negative pressure adsorbs wall climbing cleaning robot 3 and realizes the inside full-automatic clearance of ash storehouse all-round.
Specifically, as shown in fig. 2, the vertical lifting telescopic arm module 1 includes an entrance fixing block 101, a first lifting telescopic arm 102, and a second lifting telescopic arm 103. Wherein, entry fixed block 101 comprises with the axle center nestification of two-layer drum inside and outside by, and fixed together, and evenly open four screw holes in outermost drum radial direction, four screw holes are used for inserting fixing bolt, there is a space between two-layer drum, a cooperation location for entry fixed block 101 and ash storehouse jar body entrance structure, there is a flange on the terminal surface of bottommost, be used for connecting with first flexible arm 102 that goes up and down, there is a round hole at the bottom terminal surface, be used for passing through synthetic cable 207, utilize clamping mechanism to install entry fixing device fast, in order to improve work efficiency.
First flexible arm 102 of going up and down and second flexible arm 103 are inside cavity, the wall thickness homogeneous phase of each part is the same, the cross sectional dimension of each flexible arm reduces in proper order, and guarantee that can nested cooperation form extending structure between the flexible arm, there is a circular flange that is used for connecting at the other end of first flexible arm 102 of going up and down, there is a circular flange second flexible arm 103's end, be used for connecting the vice cantilever module 5 of horizontal rotation, be equipped with an electric putter in the flexible arm 103 of second going up and down, first flexible arm 102 of going up and down is connected with entry fixed block 101, electric putter can stretch out and draw back under control and drive the flexible arm 103 of second going up and down and stretch out and draw back and realize the flexible control of vertical flexible arm module 1 of going up and down, in order to realize equipment's vertical lift demand.
As shown in fig. 3 and 4, the cantilever module 5 of the horizontal rotation pair further includes a motor protection section 501, a horizontal rotation speed reducing motor 504, a motor mounting flange 505 and a coupling 506, the motor protection section 501 is a hollow cylinder, two ends of the motor protection section are respectively provided with a circular flange, one end of the motor protection section 501 is connected with the circular flange of the second lifting telescopic arm 103, the other end of the motor protection section is connected with the motor mounting flange 505, the horizontal rotation speed reducing motor 504 is mounted on the motor mounting flange 505 and placed inside the motor protection section 501 for protecting the horizontal rotation speed reducing motor 504 from dust, the flange connecting member 502 is a hollow cylinder, two ends of the motor protection section 501 are respectively provided with a circular flange, one end of the flange connecting member 502 is connected with the flange of the motor mounting flange 505, and the other end of the flange connecting member 502 is connected with the flange of the rotating shafting base 503. One end of a rotating shaft base 503 is connected with an output shaft of the horizontal rotating speed reducing motor 504 through a coupler 506, the other end of the rotating shaft base 503 is fixedly connected with the vertical rotary telescopic arm module 2, specifically, the rotating shaft base 503 is composed of a pair of angular contact bearings and a connecting shaft, one end of the rotating shaft base is an output shaft, the other end of the rotating shaft base is a circular connecting flange 502, one end of the circular flange is connected with the circular flange of the connecting support 202, the coupler 506 is a hollow cylinder, one end of the coupler 506 is connected with an input shaft of the rotating shaft base 503, and the other end of the coupler 506 is connected with an output shaft of the horizontal rotating speed reducing motor 504.
As shown in fig. 5, the vertical rotary telescopic arm module 2 includes a vertical rotary motor 201, a connecting support 202, a beam connecting seat 203 and a rotary telescopic arm, the connecting support 202 includes a vertical connecting shaft and a support seat, a vertical connecting shaft one end is fixedly connected with a rotary shaft base 503, another end is connected with the support seat 202, the beam connecting seat 203 is movably arranged in the support seat, the vertical rotary motor 201 is fixed on the side of the support seat, an output shaft of the vertical rotary motor 201 is connected with the beam connecting seat 203 through a bearing, under the driving of the vertical rotary motor 201, the beam connecting seat 203 does vertical rotary motion in the support seat, a counterweight cantilever 4 and the rotary telescopic arm are respectively fixed at two ends of the support seat of the beam connecting seat 203, and a negative pressure adsorption climbing wall cleaning robot 3 is movably mounted at the tail end of the rotary telescopic arm. The rotary telescopic arm comprises a first telescopic cross beam 204 and a second telescopic cross beam 205, the first telescopic cross beam 204 and the second telescopic cross beam 205 are nested, a cross beam electric push rod for driving the second telescopic cross beam 205 to do telescopic motion relative to the first telescopic cross beam 204 is arranged inside the second telescopic cross beam 205, and the negative pressure adsorption wall climbing cleaning robot 3 is movably arranged at the tail end of the second telescopic cross beam 205. The counterweight cantilever 4 is in a round bar shape, one end of the counterweight cantilever is provided with a circular flange, and the flange is connected with the circular flange at one end of the beam connecting seat 203 and used for realizing gravity balance at two sides.
Specifically, the first telescopic cross beam 204 and the second telescopic cross beam 205 are hollow, the wall thickness of each part is the same, the cross-sectional dimensions of the cross beams are sequentially reduced, the cross beams can be nested and matched to form a telescopic structure, and a circular flange for connecting the cross beam connecting seat 203 is arranged at the other end of the first telescopic cross beam 204; the end of the second telescopic cross beam 205 is provided with a circular flange for connecting the robot connecting disc 206; the beam electric push rod is placed in the second telescopic beam 205, the first telescopic beam 204 is connected with the connecting support 202, and the beam electric push rod can stretch and retract under control to drive the second telescopic beam 205 to stretch and retract so as to realize the stretching and retracting control of the high-rigidity mechanical telescopic arm, so that the transverse stretching and retracting requirements of the working device are met.
As shown in fig. 6 and 7, the negative pressure adsorption wall-climbing cleaning robot 3 includes a robot body 301, a guide mounting handle 302, a body retraction assembly, a wall-climbing ash removal assembly, and a vacuum-pumping assembly 8. The robot car body 301 is a thin-walled component, the side view of the robot car body is an isosceles trapezoid, the guide mounting handle 302 is fixed on the top of the robot car body 301 and used for being connected with the robot connecting disc 206, when the car body retraction assembly releases the robot car body 301, the guide mounting handle 302 is separated from the robot connecting disc 206 at the end part of the vertical rotary telescopic arm module 2, and when the car body retraction assembly retracts the robot car body 301, the guide mounting handle 302 is matched with the robot connecting disc 206 at the end part of the vertical rotary telescopic arm module 2. Through the form that the guide mounting handle 302 is matched with the robot connecting disc 206, the negative pressure adsorption wall-climbing cleaning robot 3 is quickly mounted or detached. The guide installation handle 302 is internally provided with a composite cable installation channel 307, the middle part of the robot body 301 is provided with a rectangular vacuum adsorption cavity, the vacuum adsorption cavity is communicated with the vacuumizing assembly 8, and the wall climbing ash removal assemblies are arranged in 2 groups and symmetrically arranged on two sides of the rectangular vacuum adsorption cavity.
Every group climbs wall deashing subassembly and all includes first cylinder 303 and second cylinder 304, and first cylinder 303 and second cylinder 304 are equipped with its pivoted driving motor of drive through cylinder support 311 coaxial arrangement respectively on the rectangular vacuum adsorption cavity lateral wall, first cylinder 303 and second cylinder 304 are inside, and four cylinders and according to adjusting inside motor speed and the direction of placing and realizing advancing, retreating, reciprocating. Spiral hobs which are opposite in rotation direction and used for cleaning dust accumulated on the inner wall of the dust storage are arranged on the surfaces of the first roller 303 and the second roller 304, an ash-gas mixing bin used for mixing dust accumulated on the scraping of the spiral hobs with vacuumized gas is arranged at the positions of the first roller 303 and the second roller 304 on the robot body 301, the ash-gas mixing bin is communicated with the vacuuming assembly 8, and correspondingly, brushes used for cleaning the dust accumulated to the ash-gas mixing bin are arranged on the first roller 303 and the second roller 304. Specifically, the ash-gas mixing bin comprises a first ash-gas mixing bin 305 and a second ash-gas mixing bin 306, the first ash-gas mixing bin 305 is used for uniformly mixing the ash deposited at the scraping position of the spiral hob with the vacuumized gas, the mixture enters the second ash-gas mixing bin 306 and is uniformly mixed again, and the mixture sequentially enters the gas pipe inside the synthetic cable 207 through the gas outlet 308 and the synthetic cable installation channel 307, so that the mixed ash gas is pumped out of the ash storage.
The rectangle vacuum adsorption intracavity still is equipped with and is used for the distance between real-time detection robot automobile body 301 and the ash storehouse inner wall and triggers evacuation subassembly 8 to carry out the determine module of negative pressure control, and determine module includes camera 309 and laser range finder 310, and camera 309 and laser range finder 310 week side are equipped with and are used for blowing dirt-proof air jet 312. The air jet 312 is used for forming an air wall to prevent the laser range finder 310 and the camera 309 from being polluted by dust, and the laser range finder 310 is fixed in the middle of the vehicle body and used for detecting the distance between the vehicle body and the wall in real time in the working engineering so as to realize dynamic sensing adjustment of cleaning work; the camera 309 is fixed inside the vehicle body and used for monitoring the working state of the robot in real time in the working engineering and monitoring the cleaning condition in real time so as to realize negative pressure control of the robot in the process of cleaning the wall.
The vehicle body retraction assembly comprises a retraction and extension line winch 9 and a retraction and extension line, one end of the vehicle body retraction and extension line winch is connected with the guide mounting handle 302, and the other end of the vehicle body retraction and extension line winch 9 is connected with the retraction and extension line. The paying-off winch is fixed to the top of the ash storehouse and used for collecting and releasing the synthetic cable 207 and providing a traction effect when the recovery negative pressure adsorption wall-climbing cleaning robot 3 is recovered. Synthetic cable 207 is connected to the one end of robot automobile body 301 for when negative pressure adsorbs wall clearance robot 3 operating condition and crawls, receive and release line capstan winch 9 and can emit or retrieve synthetic cable 207 along with the position of crawling of robot, guarantee the robot normal operating and reset. When the negative pressure adsorption wall-climbing cleaning robot 3 needs to be recovered, the paying-off winch 9 is collected, the synthetic cable is recovered, the robot is pulled to the robot connecting disc 206, and the conical clamping handle at the top of the negative pressure adsorption wall-climbing cleaning robot 3 is attached to the conical surface of the robot connecting disc 206 in a guiding mode. The synthetic cable 207 also passes through the inside of the second beam and can freely pass through, the synthetic cable 207 is composed of a vacuumizing air pipe, a safety steel wire rope and an insulating cable, one end of the synthetic cable is connected with a negative-pressure vacuumizing device outside the warehouse body and a wire take-up and pay-off winch 9, and the other end of the synthetic cable is connected with the negative-pressure adsorption wall-climbing cleaning robot 3 and used for providing negative pressure, electric power and safety for the negative-pressure adsorption wall-climbing cleaning robot 3.
The negative pressure adsorption wall climbing cleaning robot 3 has the following two characteristics:
(1) the negative pressure adsorption wall-climbing cleaning robot 3 integrates a mobile power device and a storehouse body dust cleaning device, the robot can synchronously clean dust while climbing, specifically, the mobile power device consists of two pairs of first rollers 303 and second rollers 304, the negative pressure adsorption wall-climbing cleaning robot 3 realizes the control of stable advancing speed and robot operation direction by means of the adjustment of the rotating speed and the rotating direction of the four rollers in the operation process of the horizontal direction and the vertical direction, the storehouse body dust cleaning device consists of a spiral hob, a hairbrush, an ash mixing bin and the like, accumulated ash on the storehouse wall can be scraped by the spiral hob in the climbing process of the negative pressure adsorption wall-climbing cleaning robot 3, and is brought into the ash mixing bin through the hairbrush and finally discharged;
(2) the negative pressure adsorption wall climbing cleaning robot 3 integrates the dust recovery function and the negative pressure adsorption function, and specifically comprises the following steps: the negative pressure adsorbs climbing wall cleaning robot 3 makes the rectangle vacuum adsorption chamber form certain vacuum through evacuation subassembly 8 to adsorb at storehouse internal wall through the negative pressure, meanwhile the deposition of storehouse wall gets into ash gas mixing storehouse and the negative pressure storehouse inside the negative pressure adsorption climbing wall cleaning robot 3 is inhaled by evacuation subassembly 8's negative pressure pump after the intensive mixing, takes mixed ash gas out the ash storehouse through the inside trachea of synthetic cable 207.
The working principle and the process of the thermal power plant ash storehouse cleaning robot system based on the differential pressure effect are as follows:
before the system installation work, put into with storehouse top view screen monitor 7 and storehouse top laser radar 7 through a plurality of detection mouths that distribute at the storehouse top earlier, through releasing the monitoring subassembly in advance in order to realize monitoring the environment of ash storehouse inside and make reasonable clearance scheme and the urgent scheme of handling of potential safety hazard, in addition, the monitoring subassembly is put in most first and can also be effectively to the equipment fixing that gets off and carry out real-time monitoring, in order to realize the control overall coverage to installation and working process, can guide the safe orderly of ash removal work overall process to go on effectively.
And then putting in the negative pressure adsorption wall climbing cleaning robot 3, sleeving the inlet fixing block 101 on the annular cylinder protruding outwards at the inlet of the ash silo tank body, and then locking and fixing the inlet fixing block 101 at the inlet of the ash silo tank body, so that the main body component is quickly fixed to meet the requirement of high working efficiency, wherein the putting state of the negative pressure adsorption wall climbing cleaning robot 3 is shown in fig. 8.
After the initial putting-in state of the negative pressure adsorption wall-climbing cleaning robot 3 is completed, the vertical lifting telescopic arm module 1 located on the inlet fixing block 101 is driven by the motor, the second lifting telescopic arm 103 extends out, after the second lifting telescopic arm 103 is stable in place, the vertical rotary telescopic arm module 2 driven by the vertical rotary motor located on the connecting support 202 rotates, the first telescopic cross beam 204 and the second telescopic cross beam 205 form an angle of 90 degrees with the lifting connecting rod, and meanwhile, the horizontal rotary speed reducing motor 504 in the horizontal rotary auxiliary cantilever module 5 rotates, so that the vertical rotary telescopic arm module 2 rotates in the horizontal direction, the negative pressure adsorption wall-climbing cleaning robot 3 is enabled to face the wall surface of the ash warehouse, and the preparation work before work is completed. When the working is started, the second telescopic cross beam 205 of the vertical rotary telescopic arm module 2 is controlled to extend, in the working engineering of the vertical rotary telescopic arm module 2, the wire take-up and pay-off winch 9 positioned outside the ash silo tank body works simultaneously to enable the synthetic cable 207 to keep a certain length all the time, the vertical rotary telescopic arm module 2 is unfolded, the second telescopic cross beam 205 extends out, the negative pressure adsorption wall climbing cleaning robot 3 is placed on the wall surface of the silo body, the vacuumizing assembly 8 works at the moment, the negative pressure adsorption wall climbing cleaning robot 3 receives negative pressure and adsorbs the negative pressure on the wall surface of the silo body, the second telescopic cross beam 205 is contracted and reset at the moment, the guide mounting handle 302 on the negative pressure adsorption wall climbing cleaning robot 3 is separated from the robot connecting disc 206 on the vertical rotary telescopic arm module 2, the first roller 303 and the second roller 304 on the negative pressure adsorption wall climbing cleaning robot 3 rotate, the wire take-up winch 9 starts to cooperate with the robot to creep and release the synthetic cable 207, negative pressure adsorbs climbing wall cleaning robot 3 begins to clear up the wall along the horizontal direction, negative pressure adsorbs climbing wall cleaning robot 3 inside still is provided with camera 309 and laser range finder 310, evacuation subassembly 8, camera 309 and laser range finder 310 combined work, can realize all-round detection robot position state, camera 309 can also detect the aassessment to the wall after the clearance in real time simultaneously, whether clean up with looking over the ash block, thereby effectively guide the cleaning work, realize blind operation in order to satisfy the requirement that the course of the work need not artifical entering operation.
After the layer is cleaned, when the layer needs to move downwards, the rotating speed and the steering direction of the first roller 303 and the second roller 304 are adjusted, the negative pressure adsorption wall-climbing cleaning robot 3 stops after moving downwards for a section vertically, the robot restarts cleaning the layer, the layer moves downwards after being cleaned, the operation is repeatedly executed, and the cleaning of the wall surface of the whole warehouse body is completed.
After the cleaning of completion ash storehouse wall, rotate through vertical rotating electrical machines 201 and drive whole vertical gyration telescopic boom module 2 and rotate, put down the negative pressure again after vertical gyration telescopic boom module 2 becomes vertical state and adsorb wall cleaning robot 3 that climbs, the robot crawls and cleans bottom the ash storehouse, can sweep out the remaining dust in bottom the ash storehouse from the ash hole, realizes the clearance to the bottom of the storehouse.
Accomplish whole ash storehouse clearance back, when 3 need retrieve of negative pressure absorption wall climbing clearance robot, at first, start the synthetic cable 207 of receiving and releasing line capstan winch 9 recovery, 3 to robot connection pad 206 of negative pressure absorption wall climbing clearance robot, 302 and robot connection pad 206 conical surface direction laminating are installed in the direction at 3 tops of negative pressure absorption wall climbing clearance robot, then, keep vertical gyration telescopic boom module 2 to be vertical state, the flexible arm 103 withdrawal of second lift of vertical lift telescopic boom module 1, it upwards promotes near moving to ash storehouse jar body entry to drive 3 of negative pressure absorption wall climbing clearance robot, realize retrieving.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (10)
1. A thermal power plant ash storehouse cleaning robot system based on a differential pressure effect is characterized by comprising a vertical lifting telescopic arm module (1), a horizontal rotating pair cantilever module (5), a vertical rotating telescopic arm module (2), a negative pressure adsorption wall climbing cleaning robot (3) and a counterweight cantilever (4), wherein the vertical lifting telescopic arm module (1) is fixed at an ash storehouse inlet and can do telescopic motion along the height direction of an ash storehouse, the horizontal rotating pair cantilever module (5) is fixed at the bottom end of the vertical lifting telescopic arm module (1), a rotating shaft system seat (503) capable of doing horizontal rotating motion is arranged at the tail end of the horizontal rotating pair cantilever module (5), the vertical rotating telescopic arm module (2) is fixed at the tail end of the rotating shaft system seat (503), the vertical rotating telescopic arm module (2) does telescopic motion along the length direction and can do rotating motion in the vertical direction, the negative pressure adsorption wall climbing cleaning robot (3) is movably mounted at the tail end of the vertical rotary telescopic arm module (2), and the counterweight cantilever (4) is fixed at the other end of the vertical rotary telescopic arm module (2).
2. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect according to claim 1, characterized in that the vertical lifting telescopic arm module (1) comprises an inlet fixing block (101), a first lifting telescopic arm (102) and a second lifting telescopic arm (103), the inlet fixing block (101) is used for being fixed on an inlet of an ash storehouse, the first lifting telescopic arm (102) and the second lifting telescopic arm (103) are arranged in a nested mode, the top end of the first lifting telescopic arm (102) is fixedly connected with the inlet fixing block (101), the bottom end of the second lifting telescopic arm (103) is fixedly connected with the horizontal rotation auxiliary cantilever module (5), and a lifting electric push rod for driving the second lifting telescopic arm (103) to do telescopic motion relative to the first lifting telescopic arm (102) is arranged inside the second lifting telescopic arm (103).
3. The thermal power plant ash storehouse cleaning robot system based on the differential pressure effect as claimed in claim 1, wherein the horizontal rotation pair cantilever module (5) further comprises a motor protection joint (501), a horizontal rotation speed reduction motor (504), a motor mounting flange (505) and a shaft coupling (506), one end of the motor protection joint (501) is fixedly connected with the bottom end of the vertical lifting telescopic arm module (1), the other end of the motor protection joint is fixedly connected with the motor mounting flange (505), the horizontal rotation speed reduction motor (504) is mounted on the motor mounting flange (505) and is positioned inside the motor protection joint (501), an output shaft of the horizontal rotation speed reduction motor (504) is vertically arranged downwards, the rotation shaft system base (503) is arranged below the motor mounting flange (505), one end of the rotation shaft system base (503) is connected with the output shaft of the horizontal rotation speed reduction motor (504) through the shaft coupling (506), the other end is fixedly connected with a vertical rotary telescopic arm module (2).
4. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect as claimed in claim 1, wherein the vertical rotary telescopic arm module (2) comprises a vertical rotary motor (201), a connecting bracket (202), a beam connecting seat (203) and a rotary telescopic arm, the connecting bracket (202) comprises a vertical connecting shaft and a bracket seat, one end of the vertical connecting shaft is fixedly connected with the rotary shaft base (503), the other end of the vertical connecting shaft is connected with the bracket seat, the beam connecting seat (203) is movably arranged in the bracket seat, the vertical rotary motor (201) is fixed on the side surface of the bracket seat, an output shaft of the vertical rotary motor (201) is connected with the beam connecting seat (203) through a bearing, the beam connecting seat (203) does vertical rotary motion in the bracket seat under the driving of the vertical rotary motor (201), the balance weight cantilever (4) and the rotary telescopic arm are respectively fixed at two ends of a support of the beam connecting seat (203), and the negative pressure adsorption wall climbing cleaning robot (3) is movably installed at the tail end of the rotary telescopic arm.
5. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect according to claim 4, characterized in that the rotary telescopic arm comprises a first telescopic cross beam (204) and a second telescopic cross beam (205), the first telescopic cross beam (204) and the second telescopic cross beam (205) are nested, a cross beam electric push rod for driving the second telescopic cross beam (205) to do telescopic motion relative to the first telescopic cross beam (204) is arranged inside the second telescopic cross beam (205), and the negative pressure adsorption wall climbing cleaning robot (3) is movably installed at the tail end of the second telescopic cross beam (205).
6. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect is characterized in that the negative pressure adsorption wall-climbing cleaning robot (3) comprises a robot body (301), a guide mounting handle (302), a body retraction assembly, a wall-climbing ash removal assembly and a vacuum pumping assembly (8);
the guide mounting handle (302) is fixed at the top of the robot car body (301) and movably mounted at the tail end of the vertical rotary telescopic arm module (2) through the car body retraction assembly, and when the robot car body (301) is retracted by the car body retraction assembly, the guide mounting handle (302) is matched with the end part of the vertical rotary telescopic arm module (2);
the robot is characterized in that a rectangular vacuum adsorption cavity is arranged in the middle of the robot body (301), the vacuum adsorption cavity is communicated with a vacuumizing assembly (8), and the wall climbing ash removal assemblies are arranged in 2 groups and symmetrically arranged on two sides of the rectangular vacuum adsorption cavity.
7. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect according to claim 6, wherein each group of wall-climbing ash cleaning assemblies comprises a first roller (303) and a second roller (304), the first roller (303) and the second roller (304) are coaxially mounted on the side wall of the rectangular vacuum adsorption cavity through roller supports (311), driving motors for driving the first roller (303) and the second roller (304) to rotate are arranged inside the first roller (303) and the second roller (304), spiral hobbing cutters with opposite rotation directions are arranged on the surfaces of the first roller (303) and the second roller (304) and used for scraping accumulated ash, an ash gas mixing bin used for mixing the scraped accumulated ash with vacuumized gas is arranged on the position of the first roller (303) and the position of the second roller (304) on the robot body (301), and the ash gas mixing bin is communicated with the vacuumized assembly (8), correspondingly, the surfaces of the first roller (303) and the second roller (304) are provided with brushes for cleaning deposited ash to an ash-air mixing bin;
the driving motor controls the rotation direction and the rotation speed of the first roller (303) and the second roller (304), the robot body (301) crawls on the wall surface of the ash storage, meanwhile, in the crawling process, the spiral hobs on the first roller (303) and the second roller (304) on two sides of the rectangular vacuum adsorption cavity scrape off the accumulated ash on the wall surface of the ash storage, bring the accumulated ash into the ash-air mixing bin through the hairbrush, and then discharge the accumulated ash through the vacuumizing assembly (8).
8. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect according to claim 6, characterized in that a detection assembly used for detecting the distance between a robot body (301) and the inner wall of the ash storehouse in real time and triggering a vacuumizing assembly (8) to perform negative pressure control is further arranged in the rectangular vacuum adsorption cavity, the detection assembly comprises a camera (309) and a laser range finder (310), and an air nozzle (312) used for blowing air and preventing dust is arranged on the periphery of the camera (309) and the laser range finder (310).
9. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect as claimed in claim 6, wherein the vehicle body retraction assembly comprises a take-up and pay-off winch (9) and a take-up and pay-off wire, one end of the vehicle body retraction assembly is connected with the guide mounting handle (302), and the other end of the vehicle body retraction assembly is connected with the take-up and pay-off winch (9).
10. The thermal power plant ash storehouse cleaning robot system based on the pressure difference effect is characterized by further comprising a monitoring assembly for monitoring the internal state of the ash storehouse in real time, wherein the monitoring assembly comprises a top view screen monitor (6) and a top laser radar (7), and the top view screen monitor (6) and the top laser radar (7) are fixed on the top of the ash storehouse.
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