CN114432797B - Straight-through type intelligent bag type dust removal system and working method thereof - Google Patents
Straight-through type intelligent bag type dust removal system and working method thereof Download PDFInfo
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- CN114432797B CN114432797B CN202210362890.5A CN202210362890A CN114432797B CN 114432797 B CN114432797 B CN 114432797B CN 202210362890 A CN202210362890 A CN 202210362890A CN 114432797 B CN114432797 B CN 114432797B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
- B01D46/0095—Means acting upon failure of the filtering system, e.g. in case of damage of the filter elements; Failsafes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
- B01D46/0086—Filter condition indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/02—Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/02—Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
- B01D46/023—Pockets filters, i.e. multiple bag filters mounted on a common frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/02—Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
- B01D46/04—Cleaning filters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/42—Auxiliary equipment or operation thereof
- B01D46/429—Means for wireless communication
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Abstract
The invention discloses a straight-through intelligent bag type dust collector and a working method thereof, which are characterized in that the bag type dust collector comprises a dust collector body, a mobile blowing device, a composite robot, a rescue robot and a computer system; the mobile blowing device is controlled by a computer system to carry out mobile blowing work on a plurality of filter bags in the upper box body of the dust remover body, and the composite robot is controlled by the computer system to carry out mobile maintenance work on the plurality of filter bags in the upper box body of the dust remover body; the bag type dust collector also comprises a robot book which is communicated with the upper box body of the dust collector body and is used for maintaining the composite robot and the rescue robot. The straight-through type intelligent bag type dust removal system has the characteristic of intelligence, the intelligent robot technology is applied to the bag type dust remover for the first time, the intelligent monitoring and maintenance of the bag type dust remover are realized, and compared with the traditional bag type dust remover which is manually maintained, the straight-through type intelligent bag type dust removal system greatly reduces manual personnel ordering and saves operation cost.
Description
Technical Field
The invention relates to the field of bag type dust collectors, in particular to a straight-through type intelligent bag type dust collection system and a working method thereof.
Background
Along with the stricter national environmental protection regulations, the organized discharge is subjected to online detection, the continuous and stable standard discharge becomes the requirement of enterprises, the enterprises can meet the discharge requirement, on one hand, the equipment investment is improved, the energy consumption is increased, the emission is ensured to reach the standard by the big horse-drawn trolley, on the other hand, the emission reaches the standard by frequently and largely indiscriminately replacing the filter bag, and the material replacement cost and the maintenance personnel cost are increased. In the context of "double carbon", such extensive management will be limited to energy control without help in policy, and will also result in the business being at a disadvantage in market competition.
In the aspect of bag type dust removal, as a filter cloth of a main filter medium, the processing technology and the manufacturing level have been greatly developed in the last decade, wherein the application of technologies such as superfine fiber blending, surface coating and the like can improve the filtering precision to be within 5mg and meet the requirement of environmental protection discharge. The filter cloth is a loss piece, the filter cloth is aged and damaged after long-term use, the excessive discharge can be directly caused after the filter cloth is damaged, and meanwhile, the dust removal efficiency can be influenced by replacing the filter bag in the conventional chamber. How to judge the use condition of the filter bag and how to rapidly process the damaged filter bag becomes a hot point of research in the industry at present.
Aiming at the problem of detection of the use condition of a filter bag, the current detection methods are divided into two categories, namely, the damage of the filter bag is judged according to the change of the pressure difference between the inside and the outside of the filter bag; and secondly, judging the damage of the filter bag according to the change of the dust concentration at the outlet of the bag type dust removal system. Two types of detection technologies are developed correspondingly, and mainly include a light sensing method, a charge sensing method, a beta-ray method and differential pressure measurement. However, in practical applications, the bag-type dust removal system rarely uses the filter bag breakage detection devices because most of the filter bag breakage detection instruments have the defects of low adaptability, low reliability, poor stability, high maintenance cost, easy dust pollution of the detection probe and the like, and are not widely popularized and applied.
The whole filter bag damage condition of dust remover is judged to the pressure variation exportable dust concentration of current traditional bag collector mainly through monitoring dust remover system, can't pinpoint to concrete broken filter bag. The maintenance worker is required to open the box for inspection of the dust remover, find the broken filter bag and then manually replace the broken filter bag. The method has high maintenance cost, long working time and large influence on production, and is not suitable for the requirements of the existing intelligent factory.
Disclosure of Invention
The invention provides a straight-through intelligent bag type dust removal system and a working method thereof.
The above purpose is realized by the following technical scheme:
a straight-through type intelligent bag type dust collector is characterized by comprising a dust collector body, a mobile blowing device, a composite robot, a rescue robot and a computer system; the mobile blowing device is controlled by a computer system to perform mobile blowing work on a plurality of filter bags in the upper box body of the dust remover body, and the composite robot is controlled by the computer system to perform mobile maintenance work on the plurality of filter bags in the upper box body of the dust remover body; the bag type dust collector also comprises a robot foundation which is communicated with the upper box body of the dust collector body and is used for maintaining a composite robot and a rescue robot.
The straight-through type intelligent bag type dust collector is characterized in that the dust collector body comprises a plurality of bag type dust collectors, the upper portions of the bag type dust collectors are directly communicated to form the upper box body, and therefore the mobile blowing device, the composite robot and the rescue robot can move in the upper box body without obstacles.
The straight-through type intelligent bag type dust collector is characterized in that the mobile blowing device comprises a track, a mobile platform, a blowing mechanism and a dust detection mechanism; the rail is fixedly arranged in the upper box body, the movable platform moves along the rail, and the blowing mechanism and the dust detection mechanism are both fixedly arranged on the movable platform; and an overhaul station is also arranged in the upper box body and is used for maintaining the movable blowing device.
The straight-through type intelligent bag type dust collector is characterized in that the track is matched with the moving platform through a gear rack, and the moving platform is servo-controlled by the computer system; a buffer shock absorber is arranged between the blowing mechanism and the moving platform; the dust detection mechanism is a plurality of groups of electrostatic dust detectors for detecting the dust concentration when the blowing mechanism moves for blowing.
The straight-through type intelligent bag type dust collector is characterized in that the composite robot comprises a first movable chassis, a cooperation robot, an electric finger and a plugging tool, the cooperation robot is arranged on the first movable chassis and moves in the upper box body along with the first movable chassis, the electric finger is arranged on the cooperation robot, and the electric finger can grab the plugging tool arranged on the first movable chassis and place the plugging tool at a damaged filter bag opening.
The straight-through type intelligent bag type dust collector is characterized in that the electric finger comprises an image recognition mechanism, a vision guide mechanism, a clamping mechanism and a pumping type dust detector; the image recognition mechanism can shoot an image in the filter bag, and the computer system is used for judging whether the filter bag is damaged or not; the pump suction type dust detector detects the dust concentration above the filter bag opening; the visual guide mechanism can identify the position of the damaged filter bag through the photo taken by the image identification mechanism and guide the clamping mechanism to move above the damaged filter bag; and the clamping mechanism is used for grabbing and placing the plugging tool.
The straight-through intelligent bag type dust collector is characterized in that the rescue robot comprises a second movable chassis and a rescue device, when the composite robot breaks down and cannot move, the computer system controls the second movable chassis to drive the rescue device to move behind the composite robot, and the rescue device grabs the composite robot and drags the composite robot to the inside of a home camp of the robot for maintenance.
The straight-through type intelligent bag type dust collector is characterized in that the computer system intelligently plans a traveling route of the first mobile chassis or the second mobile chassis by using an SLAM technology, an RFID technology and a visual guidance technology, so that the first mobile chassis or the second mobile chassis can automatically move in the upper box body, and the composite robot can complete the identification and blocking work of damaged filter bags or complete the rescue work of a failed composite robot.
The straight-through intelligent bag type dust collector is characterized by comprising a control center, a wireless charging device, a robot cleaning device and a lifting cabin, wherein the control center receives instructions of a computer system to remotely control the composite robot, the rescue robot and the mobile blowing device, the wireless charging device wirelessly charges the composite robot and the rescue robot, the robot cleaning device cleans the composite robot and the rescue robot, and the lifting cabin connects the robot with an upper box body.
The straight-through intelligent bag type dust collector is characterized in that the first mobile chassis or the second mobile chassis carries out 3D holographic scanning on the upper box body, establishes map data of a working area and transmits the map data of the working area to a computer system; the computer system processes the map data of the working area, compares the map data with the existing data of the database and classifies the map data, and when the composite robot or the rescue robot needs to move to the target area, the computer system automatically calculates the shortest path from the composite robot or the rescue robot to the target area.
The working method of the straight-through type intelligent bag type dust collector is characterized by comprising the following steps:
step S1: the movable injection device runs in the upper box body to inject the filter bags in each area, meanwhile, the dust detection mechanism detects the dust concentration in the injection area, when the dust concentration detected by the dust detection mechanism exceeds a limit value, the damaged filter bags exist in the corresponding injection area, and the movable injection device feeds back the position area of the damaged filter bags to the computer system;
step S2: the computer system analyzes the information of the position area of the damaged filter bag and map data of the working area of the upper box body to generate a composite robot advancing planning route, the composite robot advances to the damaged filter bag area according to the planning route, an image recognition mechanism is used for shooting all filter bags in the damaged filter bag area, the shot images and filter bag images in a database of the computer system are subjected to analog analysis, the damaged filter bag is judged, and the accurate position of the damaged filter bag is recorded;
Step S3: the composite robot places the plugging tool at the position of a filter bag opening of a damaged filter bag to plug the damaged filter bag to enable the damaged filter bag to be offline, and a pump suction type dust detector of the composite robot detects the dust concentration above the damaged filter bag after plugging to judge whether the damaged filter bag is offline;
step S4: after the computer system collects a large amount of working data, the recognition accuracy of the image recognition device on the damaged filter bag can be improved, a pump suction type dust detector is not needed for detection, and the time for judging the damaged filter bag is shortened.
The working method of the straight-through type intelligent bag type dust collector is characterized in that the computer system uses artificial intelligence and machine learning technology, and can compare the internal image of the filter bag shot by the image recognition mechanism with the data measured by the dust detection device to generate a characteristic model of the internal image of the filter bag and the crushing degree of the filter bag.
The invention has the beneficial effects that:
according to the straight-through type bag dust collector, the concept of 'industrial endoscope' is applied to a bag type dust collection system, and the composite robot and the mobile blowing device are used, so that the bag type dust collector similar to a 'black box' and incapable of being entered by personnel in the prior art has the functions of real-time intelligent monitoring, real-time intelligent maintenance and the like, the mysterious veil of the bag type dust collector in the working process is thoroughly uncovered, and the technical basis and support are provided for the optimal design of the bag type dust collection system in the future. The straight-through bag type dust collector has advanced technology, and introduces artificial intelligence technology into a mobile intelligent detection link added to the dust collector, so that the dust collector has the capability of automatically identifying the damage of a filter bag and positioning and overhauling on line for the first time. Compared with a method for manually arriving at a site and opening a box to search for a damaged filter bag in the operation process of a traditional dust remover, the method has higher detection accuracy and instantaneity. The staff can be long-range through network communication, sees the operating condition of dust remover, the service behavior of dust remover installation filter bag and the position of damaged filter bag on the display, will reduce maintainer's work load and working strength by a wide margin, when reducing industry cost of enterprise, also will solve the realistic condition of its industry workman shortage that faces.
Meanwhile, the bag type dust collector adopts a through type structure, the upper parts of a plurality of bag type dust collectors are directly communicated to form an upper box body, the resistance of a bag type dust collection system can be reduced, the problem of real-time online maintenance caused by the through type can be solved by applying an intelligent technology, and meanwhile, the intelligent technology also needs space support of the through type structure, and the through type structure and the intelligent technology supplement each other to form an organic whole.
The composite robot uses the technologies of artificial intelligence, image recognition, machine learning, visual guidance, dust detection and the like, and through integration development, a set of intelligent detection system is established, the composite robot reaches the damaged filter bag area, the filter bags are detected one by one, whether the filter bags are damaged or not is judged and positioned, the real-time monitoring of the damage of the filter bags of the bag type dust collector is realized, the damaged filter bags are rechecked and processed, and the real-time standard reaching of the emission of the dust removal system is ensured.
When the composite robot breaks down, the robot sends out a rescue instruction to order the rescue robot to rescue the broken robot. The salvation robot needs to finish arriving at the rear part of the fault composite robot, the fault machine is hauled to a robot overhaul room by using the salvation device, and salvation process information is fed back to the robot overhaul room in real time.
The robot is a big robot and a computer system, can realize the functions of cooperation work, fault treatment, communication, equipment charging and maintenance, deep learning of maintenance programs and the like of all equipment in the system, and ensures the stable and efficient operation of the system.
The movable blowing device can realize accurate positioning and vibration prevention in the motion process, meets the blowing precision requirement, can judge the damaged filter bag area, and provides important basis for the division of the working area of the composite robot.
Drawings
FIG. 1 is a schematic structural diagram of a straight-through intelligent bag type dust collector of the invention.
Fig. 2 is a schematic structural diagram of the mobile blowing device of the straight-through intelligent bag type dust collector.
Fig. 3 is a schematic structural diagram of the straight-through intelligent bag type dust collector compound robot.
Fig. 4 is a schematic structural diagram of a straight-through intelligent bag filter rescue robot of the invention.
Fig. 5 is a schematic structural diagram of a straight-through intelligent bag type dust collector robot of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and fully with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be understood that the terms "comprises/comprising," "consisting of … …," or any other variation, are intended to cover a non-exclusive inclusion, such that a product, device, process, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product, device, process, or method if desired. Without further limitation, an element defined by the phrases "comprising/including … …," "consisting of … …," or "comprising" does not exclude the presence of other like elements in a product, device, process, or method that comprises the element.
It will be further understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship as shown in the drawings, which is meant only to facilitate describing the invention and to simplify the description, and do not indicate or imply that the referenced device, component, or structure must have a particular orientation, be constructed or operated in a particular orientation, and is not to be construed as limiting the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to fig. 1 to 3.
As shown in fig. 1, the bag type dust collector of the present invention includes a dust collector body 1, a mobile blowing device 2, a compound robot 3, a rescue robot 4, and a computer system. The movable injection device 2 is controlled by a computer system to perform movable injection work on a plurality of filter bags in the upper box body of the dust remover body 1, and the composite robot 3 is controlled by the computer system to perform movable maintenance work on the plurality of filter bags in the upper box body of the dust remover body. The bag type dust collector also comprises a robot capital tent 5 which is communicated with the upper box body of the dust collector body and is used for maintaining a composite robot and a rescue robot. Specifically, a perforated plate 6 is arranged in an upper box body of the dust collector body 1, and filter bag openings of a plurality of filter bags are fixedly connected with a plurality of hole sites 7 which are transversely and longitudinally arranged on the perforated plate. The filter bag may also be arranged in other ways in the dust collector, which is not limited by the invention.
Furthermore, the dust collector body comprises a plurality of bag-type dust collectors, the upper parts of the bag-type dust collectors are directly communicated to form an upper box body, and the movable blowing device 2, the composite robot 3 and the rescue robot 4 can move in the upper box body without obstacles. The straight-through type intelligent bag-type dust removal system adopts a straight-through type, so that the resistance of the bag-type dust removal system can be reduced.
As shown in fig. 2, the movable blowing device 2 includes a rail 21, a movable platform 22, a blowing mechanism 23, and a dust detection mechanism 24. The track 21 is fixedly arranged in the upper box body, the moving platform 22 moves along the track 21, and the blowing mechanism 23 and the dust detection mechanism 24 are both fixedly arranged on the moving platform 22. Meanwhile, the interior of the upper box body is also provided with a maintenance station 25 for maintaining the 4 mobile blowing device 2. The movable injection device 2 is aligned with the hole position 7 of the perforated plate 6, namely the mouth of the filter bag, to perform movable injection. Typically, the blowing pattern is pulsed blowing. The movable pulse blowing mode is used for replacing the conventional fixed pulse blowing mode, so that the wind resistance coefficient of the pulse type industrial bag type dust collector system is reduced.
Further, a rack and pinion is matched between the track 21 and the mobile platform 22, and a computer system servo-controls the mobile platform; a buffer shock absorber is arranged between the blowing mechanism 23 and the moving platform 22; the dust detection mechanism 24 is a plurality of sets of electrostatic dust detectors that detect the dust concentration when the blowing mechanism moves to blow. When the moving mechanism is used for blowing, the moving mechanism can generate vibration under the action of reverse impact force. A buffer shock absorber is arranged between the blowing mechanism and the moving platform, so that the moving platform is protected from being influenced by direct vibration, and the precision of the moving platform moving along the track is ensured.
As shown in fig. 3, the composite robot 3 includes a first moving chassis 31, a cooperative robot 32, an electric finger 33 and a plugging tool 34, the cooperative robot 32 is disposed on the first moving chassis 31 and moves in the upper box along with the first moving chassis 31, the electric finger 33 is disposed on the cooperative robot 32, and the electric finger 33 can grab the plugging tool 34 disposed on the first moving chassis and place the plugging tool 34 at a damaged filter bag opening (i.e., the plugging tool is plugged into a hole site of a perforated plate where the damaged filter bag is located).
Further, the electric finger 33 includes an image recognition mechanism 331, a visual guide mechanism 332, a gripping mechanism 333, and a pump suction type dust detector 334; the image recognition mechanism 331 can capture an image of the interior of the filter bag, and determine whether the filter bag is damaged by a computer system. The pump suction type dust detector 334 detects the dust concentration above the mouth of the filter bag, and can be used for further judging whether the filter bag is damaged or not, and can also be used for confirming whether the damaged filter bag is effectively blocked or not and confirming that the damaged filter bag is offline after the filter bag is blocked. The visual guide mechanism 332 can recognize the position of the broken filter bag by the photograph taken by the image recognition mechanism 331, and guide the gripping mechanism 333 to move above the broken filter bag. The gripping and placing of the plugging tool 34 are performed by the gripping mechanism 333.
As shown in fig. 4, the rescue robot 4 includes a second movable chassis 41 and a rescue device 42, when the composite robot fails and cannot move, the computer system controls the second movable chassis to drive the rescue device to move behind the composite robot, and the rescue device grabs the composite robot and pulls it into the robot camp for maintenance.
According to the intelligent bag type dust collector, the computer system uses the SLAM technology, the RFID technology and the visual guidance technology to intelligently plan the travelling route of the first mobile chassis or the second mobile chassis, so that the first mobile chassis or the second mobile chassis can automatically move in the upper box body, and a composite robot can complete the recognition and blocking work of damaged filter bags or a rescue robot can complete the rescue work of a failed composite robot.
As shown in fig. 5, the robot camp 5 includes a control center 51, a wireless charging device 52, a robot cleaning device 53 and a lifting cabin 54, the control center receives instructions of a computer system to remotely control the composite robot, the rescue robot and the mobile blowing device, the wireless charging device wirelessly charges the composite robot and the rescue robot, the robot cleaning device cleans the composite robot and the rescue robot, and the lifting cabin connects the robot camp with an upper box.
The first mobile chassis or the second mobile chassis can carry out 3D holographic scanning on the upper box body, establish map data of a working area and transmit the map data of the working area to the computer system; the computer system processes the map data of the working area, and analogizes and classifies the map data with the existing data of the database, and when the composite robot or the rescue robot needs to move to the target area, the computer system automatically calculates the shortest path from the composite robot or the rescue robot to the target area.
The working method of the straight-through type intelligent bag type dust collector is characterized by comprising the following steps:
step S1: the movable injection device travels in the upper box body to inject the filter bags in each area, meanwhile, the dust detection mechanism detects the dust concentration in the injection area, when the dust concentration detected by the dust detection mechanism exceeds a limit value, the damaged filter bags exist in the area, and the movable injection device feeds back the position area of the damaged filter bags to the computer system;
step S2: the computer system analyzes the information of the position area of the damaged filter bag and the map data of the working area of the upper box body to generate a composite robot advancing planning route, the composite robot advances to the damaged filter bag area according to the planning route, an image recognition mechanism is used for shooting all filter bags in the area, the shot image and the filter bag image in the database of the computer system are subjected to analog analysis, the damaged filter bag is judged, and the accurate position of the damaged filter bag is recorded;
Step S3: the composite robot places the plugging tool at the filter bag opening of the damaged filter bag to plug the filter bag to enable the filter bag to be off-line, and a pump suction type dust detector of the composite robot detects the dust concentration above the damaged filter bag after plugging to judge whether the damaged filter bag is off-line or not;
step S4: after the computer system collects a large amount of working data, the recognition accuracy of the image recognition device on the damaged filter bag can be improved, a pump suction type dust detector is not needed for detection, and the time for judging the damaged filter bag is shortened.
In the working method of the straight-through type intelligent bag type dust collector, the computer system uses artificial intelligence and machine learning technology, and can compare the internal image of the filter bag shot by the image recognition mechanism with the data measured by the dust detection device to generate a characteristic model of the internal image of the filter bag and the crushing degree of the filter bag.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (4)
1. A straight-through type intelligent bag type dust collector is characterized by comprising a dust collector body, a mobile blowing device, a composite robot, a rescue robot and a computer system; the mobile blowing device is controlled by a computer system to perform mobile blowing work on a plurality of filter bags in the upper box body of the dust remover body, and the composite robot is controlled by the computer system to perform mobile maintenance work on the plurality of filter bags in the upper box body of the dust remover body; the bag type dust collector also comprises a robot large camp which is communicated with the upper box body of the dust collector body and is used for maintaining the compound robot and the rescue robot;
the dust remover body comprises a plurality of bag type dust removers, the upper parts of the bag type dust removers are directly communicated to form the upper box body, so that the mobile blowing device, the compound robot and the rescue robot can move in the upper box body without obstacles;
the movable blowing device comprises a track, a movable platform, a blowing mechanism and a dust detection mechanism; the rail is fixedly arranged in the upper box body, the movable platform moves along the rail, and the blowing mechanism and the dust detection mechanism are both fixedly arranged on the movable platform; the upper box body is internally provided with a maintenance station for maintaining the movable blowing device;
The track is matched with the moving platform through a gear rack, and the moving platform is servo-controlled by the computer system; a buffer shock absorber is arranged between the blowing mechanism and the moving platform; the dust detection mechanism is a plurality of groups of electrostatic dust detectors for detecting the dust concentration when the blowing mechanism moves for blowing;
the combined robot comprises a first moving chassis, a cooperative robot, an electric finger and a plugging tool, wherein the cooperative robot is arranged on the first moving chassis and moves in the upper box along with the first moving chassis, the electric finger is arranged on the cooperative robot, and the electric finger can grab the plugging tool arranged on the first moving chassis and place the plugging tool at a damaged filter bag opening;
the electric finger comprises an image recognition mechanism, a visual guide mechanism, a clamping mechanism and a pump suction type dust detector; the image recognition mechanism can shoot images inside the filter bag, and the computer system is used for judging whether the filter bag is damaged or not; the pump suction type dust detector detects the dust concentration above the filter bag opening; the visual guide mechanism can identify the position of the damaged filter bag through the picture taken by the image identification mechanism and guide the clamping mechanism to move to the position above the damaged filter bag; the clamping mechanism is used for grabbing and placing the plugging tool;
The rescue robot comprises a second movable chassis and a rescue device, when the composite robot breaks down and cannot move, the computer system controls the second movable chassis to drive the rescue device to move behind the composite robot, and the rescue device grabs the composite robot and drags the composite robot to the inside of a home of the robot for maintenance;
the computer system intelligently plans a traveling route of the first mobile chassis or the second mobile chassis by using an SLAM technology, an RFID technology and a visual guidance technology, so that the first mobile chassis or the second mobile chassis automatically moves in the upper box body, the composite robot completes the identification and blocking work of damaged filter bags, or the rescue robot completes the rescue work of the composite robot with faults;
the robot is big this camp including control center, wireless charging device, robot belt cleaning device and lift cabin, control center accepts computer system's instruction carries out remote control to compound robot, rescue robot and removal jetting device, wireless charging device carries out wireless charging to compound robot and rescue robot, robot belt cleaning device washs compound robot and rescue robot, the lift cabin with the robot is big camp with go up the box and link up.
2. The pass-through intelligent bag house of claim 1, wherein the first mobile chassis or the second mobile chassis performs 3D holographic scanning of the upper box, creates work area map data, and transmits the work area map data to a computer system; the computer system processes the map data of the working area, and analogizes and classifies the map data with the existing data of the database, and when the composite robot or the rescue robot needs to move to the target area, the computer system automatically calculates the shortest path from the composite robot or the rescue robot to the target area.
3. A method of operating a flow-through smart bag house according to claim 2, comprising the steps of:
step S1: the movable injection device runs in the upper box body to inject the filter bags in each area, meanwhile, the dust detection mechanism detects the dust concentration in the injection area, when the dust concentration detected by the dust detection mechanism exceeds a limit value, the damaged filter bags exist in the corresponding injection area, and the movable injection device feeds back the position area of the damaged filter bags to the computer system;
step S2: the computer system analyzes the information of the position area of the damaged filter bag and map data of the working area of the upper box body to generate a composite robot advancing planning route, the composite robot advances to the damaged filter bag area according to the planning route, an image recognition mechanism is used for shooting all filter bags in the damaged filter bag area, the shot images and filter bag images in a database of the computer system are subjected to analog analysis, the damaged filter bag is judged, and the accurate position of the damaged filter bag is recorded;
Step S3: the composite robot places the plugging tool at the position of a filter bag opening of a damaged filter bag to plug the damaged filter bag to enable the damaged filter bag to be offline, and a pump suction type dust detector of the composite robot detects the dust concentration above the damaged filter bag after plugging to judge whether the damaged filter bag is offline;
step S4: after the computer system collects a large amount of working data, the recognition accuracy of the image recognition device on the damaged filter bag can be improved, a pump suction type dust detector is not needed for detection, and the time for judging the damaged filter bag is shortened.
4. A method as claimed in claim 3, wherein the computer system uses artificial intelligence and machine learning techniques to compare the internal image of the filter bag captured by the image recognition means with the data detected by the dust detection device, and generates a characteristic model of the internal image of the filter bag and the degree of breakage of the filter bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07328363A (en) * | 1994-06-15 | 1995-12-19 | Kobe Steel Ltd | Damaged filter cloth sensing method for bag filter |
| JP3538238B2 (en) * | 1994-10-03 | 2004-06-14 | 進和テック株式会社 | Moving pulse jet type bag filter |
| CN102539091A (en) * | 2011-12-21 | 2012-07-04 | 合肥工业大学 | Filter bag breakage detector for bag type dust remover |
| CN105169828A (en) * | 2015-08-26 | 2015-12-23 | 邯郸新兴特种管材有限公司 | WINCC-based bag filter control system and control method |
| CN207030805U (en) * | 2017-06-28 | 2018-02-23 | 安徽盛运环保工程有限公司 | Purlin car is moved in portable maintenance for sack cleaner |
| CN114931810A (en) * | 2017-11-28 | 2022-08-23 | 山东微克环保科技有限公司 | Bag collector ash removal device |
| CN209108823U (en) * | 2018-11-07 | 2019-07-16 | 中冶节能环保有限责任公司 | A kind of sack cleaner apparatus for examination and repair |
| CN109126322B (en) * | 2018-11-07 | 2024-03-15 | 中冶节能环保有限责任公司 | Maintenance device and method for bag type dust collector |
| CN109999583A (en) * | 2019-05-14 | 2019-07-12 | 山东优纳特环境科技有限公司 | A kind of bag-type dust removing system and method for diagnosing faults based on cloud platform |
| CN211836809U (en) * | 2020-02-21 | 2020-11-03 | 福建龙净脱硫脱硝工程有限公司 | Bag collector and broken bag plugging device thereof |
| CN214680640U (en) * | 2021-03-19 | 2021-11-12 | 盐城市兰丰环境工程科技有限公司 | Bag collector of online control |
| CN113230768B (en) * | 2021-06-09 | 2024-09-06 | 中冶节能环保有限责任公司 | Maintenance system and maintenance method for bag type dust collector |
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