CN115854373A - Decomposing furnace crusting cleaning robot - Google Patents
Decomposing furnace crusting cleaning robot Download PDFInfo
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- CN115854373A CN115854373A CN202211477444.5A CN202211477444A CN115854373A CN 115854373 A CN115854373 A CN 115854373A CN 202211477444 A CN202211477444 A CN 202211477444A CN 115854373 A CN115854373 A CN 115854373A
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Abstract
The invention discloses a decomposing furnace crust cleaning robot, which relates to the technical field of decomposing furnace cleaning and comprises a shell, a supporting component turntable and a cleaning frame, wherein the supporting component is arranged on the shell and used for supporting and fixing the robot, the turntable is rotationally connected to the shell, the cleaning frame is hinged on the turntable, and a folding driving mechanism used for controlling the movement of the supporting component and the cleaning frame is arranged on the shell.
Description
Technical Field
The invention relates to the technical field of decomposing furnace cleaning, in particular to a decomposing furnace crust cleaning robot.
Background
The decomposing furnace is a novel thermotechnical device which can simultaneously carry out fuel combustion, heat exchange and decomposition reaction, and in the using process of the decomposing furnace, because the liquid phase is too early in the material, the material is adhered to the inner wall of the decomposing furnace to generate the skinning phenomenon, thereby influencing the reaction effect of the decomposing furnace, and therefore the skinning treatment is carried out on the decomposing furnace regularly. The clearance skinning operation of present decomposing furnace mainly enters into the decomposing furnace through the staff and uses the instrument to clear up, also have a small part to adopt mechanical equipment to enter into the decomposing furnace and clear up, but current mechanical equipment needs the staff to adopt the remote control to control the clearance in real time, the clearance process is comparatively loaded down with trivial details, this mode is lower to the clearance degree of automation of skinning in the decomposing furnace, the efficiency of clearance is lower, and the skinning of easily remaining tiny granule on the decomposing furnace wall in the clearance process, the effect of clearance is relatively poor. Therefore, a crust-removing robot for a decomposing furnace is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a decomposing furnace crust cleaning robot to solve the problems in the prior art proposed in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a decomposing furnace crusts and peels robot, includes casing, supporting component carousel and clearance frame, the supporting component is installed on the casing and is used for supporting the robot fixedly, the carousel rotates to be connected on the casing, the clearance frame articulates on the carousel, be provided with the folding drive mechanism who is used for controlling supporting component and clearance frame motion on the casing, be connected with the clearance actuating mechanism who is used for clearing up the crusts on the clearance frame, install the rotary regulating mechanism who is used for controlling the clearance angle on the clearance actuating mechanism, be provided with the main actuating mechanism who is used for driving clearance actuating mechanism and carousel motion on the carousel.
Preferably, the supporting component comprises a supporting arm, a telescopic rod and a butt joint block, the supporting arm is hinged to the shell at equal intervals of the circumference, the telescopic rod is movably connected in the supporting arm in an embedded mode, the butt joint block is fixedly connected to one end of the telescopic rod, and a first air cylinder used for driving the telescopic rod to do telescopic motion is further connected to the supporting arm.
Preferably, folding actuating mechanism includes second cylinder, lift cover and connecting block, the second cylinder is installed respectively in the upper and lower both sides position of casing, the lift cover is connected on the output of second cylinder, the connecting block rotates to be connected on the lift cover, it has the connecting rod to articulate on the connecting block, the connecting rod of both sides position is articulated mutually with support arm and clearance frame respectively about the casing.
Preferably, the cleaning executing mechanism comprises a mounting box, a reversing gear and a sliding seat, the mounting box is connected to the cleaning frame, the reversing gear is rotatably connected to the inside of the mounting box through a shaft, the sliding seat is respectively and slidably connected to two sides of the mounting box, a reversing rack meshed with the reversing gear is connected to the sliding seat, a cleaning brush is connected to the sliding seat on one side of the mounting box, and a breaking hammer is connected to the sliding seat on the other side of the mounting box.
Preferably, the rotation adjusting mechanism comprises a connecting shaft, a sliding plate and a limiting post, the connecting shaft is fixedly connected to a sliding seat on one side of the mounting box, the sliding plate is connected to the connecting shaft in a sliding manner, the limiting post is arranged on the sliding plate, a compression spring used for pushing the sliding plate to slide is connected to the connecting shaft, a first gear is fixedly connected to the breaking hammer, a limiting hole capable of being matched with the limiting post is formed in the first gear, the breaking hammer is rotatably connected to the connecting shaft, a first rack capable of being meshed with the first gear is connected to the mounting box, and a shifting block used for pushing the sliding plate to slide is further connected to the mounting box.
Preferably, the main driving mechanism comprises a driving disc, a rotating seat and a push-pull rod, the driving disc is rotatably connected to a rotary disc, the rotating seat is rotatably connected to the driving disc, one end of the push-pull rod is hinged to the rotating seat, the other end of the push-pull rod is hinged to a sliding seat, the driving disc is coaxially and key-connected with a second gear, a second rack meshed with the second gear is slidably connected to the rotary disc, a toothed ring is connected to the second rack, a first incomplete gear meshed with the toothed ring is connected to the rotary disc through a shaft, the first incomplete gear is coaxially and key-connected with a first driven gear, a reduction gearbox is installed on the rotary disc, a second motor is installed on the reduction gearbox, a second driven gear is fixedly connected to the lower end of the shell, and a second incomplete gear capable of being meshed with the first driven gear and the second driven gear is key-connected to the output end of the reduction gearbox.
Preferably, the angular rotation range of the breaking hammer is 0 ° to 45 °.
Preferably, the bristles of the cleaning brush are made of steel wires.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, through the arrangement of the cleaning executing mechanism and the main driving mechanism, the automatic rotary cleaning operation of the interior of the decomposing furnace can be realized, manual real-time control is not needed, the labor intensity of workers is reduced, the cleaning efficiency is improved, the crushing hammer and the cleaning brush can automatically switch positions in the cleaning process, the cleaning of granular crusts adhered to the inner wall of the decomposing furnace is realized through the matching of the rotation of the cleaning brush and the rotation of the rotating disc, and the cleaning quality of the crusts in the decomposing furnace is further improved.
2. According to the invention, the automatic adjustment operation of the angle of the breaking hammer can be realized through the arrangement of the rotary adjusting mechanism, the damage of the tip of the breaking hammer to the inner wall of the decomposing furnace can be reduced through the adjustment of the angle of the breaking hammer, the working area of the breaking hammer can be increased, the efficiency of crust clearing is improved, and the effect of assisting crust separation is achieved when the breaking hammer is far away from the inner wall of the decomposing furnace, so that the quality of crust clearing is further improved.
Drawings
Fig. 1 and 2 are schematic views of the overall structure of the present invention from different viewing angles.
Fig. 3 is a schematic structural diagram of the folding driving mechanism of the present invention.
Fig. 4 and 5 are schematic views of the main drive mechanism installation of the present invention.
FIG. 6 is a schematic structural diagram of a cleaning actuator according to the present invention.
FIG. 7 is an enlarged view of a portion of FIG. 6 according to the present invention.
Fig. 8 is a schematic structural view of the invention shown in fig. 6 with the mounting box removed.
Fig. 9 and 10 are schematic views of the installation of the rotation adjustment mechanism of the present invention.
In the figure: 1. a housing; 2. a support assembly; 21. a support arm; 22. a telescopic rod; 23. a butting block; 24. a first cylinder; 3. a turntable; 4. cleaning the frame; 5. a folding drive mechanism; 51. a second cylinder; 52. a lifting sleeve; 53. connecting blocks; 54. a connecting rod; 6. cleaning the actuating mechanism; 61. mounting a box; 62. a reversing gear; 63. a sliding seat; 64. a reversing rack; 65. cleaning with a brush; 66. a breaking hammer; 7. a rotation adjustment mechanism; 71. a connecting shaft; 72. a sliding plate; 73. a limiting post; 74. a compression spring; 75. a first gear; 76. a limiting hole; 77. a first rack; 78. shifting blocks; 8. a main drive mechanism; 81. a drive disc; 82. a rotating base; 83. a push-pull rod; 84. a second gear; 85. a second rack; 86. a toothed ring; 87. a first incomplete gear; 88. a first driven gear; 89. a reduction gearbox; 810. a second motor; 811. a second incomplete gear; 812. a second driven gear.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-10, the present invention provides a technical solution:
the utility model provides a decomposing furnace crusting robot, includes casing 1, supporting component 2 carousel 3 and clearance frame 4, supporting component 2 installs on casing 1 and is used for supporting the robot fixedly, supporting component 2 includes support arm 21, telescopic link 22 and butt piece 23, support arm 21 circumference equidistance articulates on casing 1, telescopic link 22 activity nested connection is in support arm 21, butt piece 23 fixed connection is in the one end of telescopic link 22, still be connected with the first cylinder 24 that is used for driving telescopic link 22 concertina movement on the support arm 21, can be with the stable fixing in the decomposing furnace of whole crusting robot through setting up of supporting component 2, and can be fast convenient adjust the high position to the crusting robot.
The rotary table 3 is rotatably connected to the shell 1, the cleaning frame 4 is hinged to the rotary table 3, a folding driving mechanism 5 used for controlling the support assembly 2 and the cleaning frame 4 to move is arranged on the shell 1, the folding driving mechanism 5 comprises a second air cylinder 51, a lifting sleeve 52 and a connecting block 53, the second air cylinder 51 is respectively installed at the upper side and the lower side of the shell 1, the lifting sleeve 52 is connected to the output end of the second air cylinder 51, the connecting block 53 is rotatably connected to the lifting sleeve 52, a connecting rod 54 is hinged to the connecting block 53, the connecting rod 54 at the upper side and the lower side of the shell 1 is respectively hinged to the support arm 21 and the cleaning frame 4, the support arm 21 and the cleaning frame 4 can be folded and unfolded through the folding driving mechanism 5, so that the transverse size of the whole robot is reduced, and the robot can conveniently enter the furnace from the opening at the top of the decomposing furnace.
The cleaning frame 4 is connected with a cleaning executing mechanism 6 for cleaning the crusts, the cleaning executing mechanism 6 comprises a mounting box 61, a reversing gear 62 and a sliding seat 63, the mounting box 61 is connected to the cleaning frame 4, the reversing gear 62 is rotatably connected to the inside of the mounting box 61 through a shaft, the sliding seat 63 is respectively and slidably connected to two sides of the mounting box 61, a reversing rack 64 meshed with the reversing gear 62 is connected to the sliding seat 63, a cleaning brush 65 is connected to the sliding seat 63 on one side of the mounting box 61, bristles of the cleaning brush 65 are made of steel wires, a breaking hammer 66 is connected to the sliding seat 63 on the other side of the mounting box 61, the angular rotation range of the breaking hammer 66 is 0-45 degrees, and the crusts in the decomposing furnace can be broken and cleaned through the arrangement of the cleaning executing mechanism 6, so that the cleanliness for cleaning the crusts in the decomposing furnace is guaranteed.
The cleaning executing mechanism 6 is provided with a rotation adjusting mechanism 7 for controlling a cleaning angle, the rotation adjusting mechanism 7 comprises a connecting shaft 71, a sliding plate 72 and a limiting column 73, the connecting shaft 71 is fixedly connected to the sliding seat 63 on one side of the mounting box 61, the sliding plate 72 is slidably connected to the connecting shaft 71, the sliding plate 72 is provided with the limiting column 73, the connecting shaft 71 is connected with a compression spring 74 for pushing the sliding plate 72 to slide, the breaking hammer 66 is fixedly connected with a first gear 75, the first gear 75 is provided with a limiting hole 76 capable of being matched with the limiting column 73, the breaking hammer 66 is rotatably connected to the connecting shaft 71, the mounting box 61 is connected with a first rack 77 capable of being meshed with the first gear 75, the mounting box 61 is further connected with a shifting block 78 for pushing the sliding plate 72 to slide, one end side surface of the connecting shaft 71 is prism-shaped, the sliding plate 72 is provided with a mounting hole matched with the connecting shaft 71, the sliding plate 72 is ensured not to rotate in the sliding process, the arrangement of the rotation adjusting mechanism 7 can be used for adjusting the breaking furnace wall 66 in the cleaning process, the furnace wall damage can be reduced, and the furnace wall damage of the breaking hammer can be conveniently separated from the furnace wall, and the furnace wall can be conveniently formed when the breaking hammer in the reverse working process, and the cracking hammer.
The automatic descaling device is characterized in that a main driving mechanism 8 used for driving the cleaning executing mechanism 6 and the rotary disc 3 to move is arranged on the rotary disc 3, the main driving mechanism 8 comprises a driving disc 81, a rotary seat 82 and a push-pull rod 83, the driving disc 81 is rotationally connected to the rotary disc 3, the rotary seat 82 is rotationally connected to the driving disc 81, one end of the push-pull rod 83 is hinged to the rotary seat 82, the other end of the push-pull rod 83 is hinged to a sliding seat 63, the driving disc 81 is coaxially connected with a second gear 84, a second rack 85 meshed with the second gear 84 is slidably connected to the rotary disc 3, a toothed ring 86 is connected to the second rack 85, a first incomplete gear 87 meshed with the toothed ring 86 is connected to the rotary disc 3 through a shaft, the first incomplete gear 87 is coaxially connected with a first driven gear 88, a reduction gearbox 89 is installed on the rotary disc 3, a second motor 810 is installed on the reduction gearbox 89, a second driven gear 812 is fixedly connected to the lower end of the casing 1, a second incomplete gear 811 meshed with the first driven gear 88 and the second driven gear 812 is connected to the reduction gearbox 89, the driving mechanism is connected to the rotary disc 8, the rotary disc 3, the intermittent cleaning mechanism can be automatically switched between a certain cleaning angle, and the cleaning hammer can be automatically operated, and the cleaning hammer, so that the inner furnace can be cleaned.
The working process of the invention is as follows:
when needs are cleared up the crusts in the decomposing furnace, hang into the decomposing furnace with this skinning robot through lifting device, start second cylinder 51 and drive lift cover 52 and connecting block 53 motion, connecting block 53 drives support arm 21 and clearance frame 4 through connecting rod 54 and expandes, restart first cylinder 24 and drive telescopic link 22 and stretch out for butt 23 butt of butt on the inner wall of decomposing furnace, the realization is fixed this skinning robot.
When the second incomplete gear 811 is meshed with the first driven gear 88, the second incomplete gear 811 drives the first incomplete gear 87 to rotate through the first driven gear 88, so that the first incomplete gear 87 drives the second rack 85 to slide through the gear ring 86, the second rack 85 drives the driving disc 81 to rotate through the second gear 84, the driving disc 81 drives the sliding seat 63 to slide through the rotating seat 82 and the push-pull rod 83, the sliding seat 63 drives the breaking hammer 66 to move, the operation of breaking and removing crusts is realized, after one-time breaking and removing is completed, the breaking hammer 66 moves towards the direction far away from the inner wall of the decomposing furnace, at the moment, the cleaning brush 65 extends out and is in contact with the inner wall of the decomposing furnace under the action of the reversing rack 64 and the reversing gear 62, and one-time reciprocating movement action of the breaking hammer 66 can be realized every time when the second incomplete gear 811 rotates for one circle; the second incomplete gear 811 rotates to be meshed with the second driven gear 812, the second incomplete gear 811 rotates to enable the rotary disc 3 to rotate relative to the shell 1, the cleaning frame 4 is automatically deflected by a certain angle, and the cleaning brush 65 cleans residual particle crusts on the inner wall of the decomposing furnace, so that the automatic cleaning operation of the whole circumference in the decomposing furnace is facilitated; after the cleaning of the whole circumference in the decomposing furnace is completed, the height position of the robot is adjusted until the cleaning of the whole decomposing furnace is completed.
When the first gear 75 is meshed with the first rack 77 in the process that the breaking hammer 66 approaches the inner wall of the decomposing furnace, the breaking hammer 66 starts to rotate in the advancing process, the damage of the tip of the breaking hammer 66 to the inner wall of the decomposing furnace can be reduced in the process, and the working area of the breaking hammer 66 can be increased; when the breaking hammer 66 rotates to a certain angle, namely the first gear 75 is disengaged from the first rack 77, the limiting column 73 on the sliding plate 72 enters the limiting hole 76 on the first gear 75, the breaking hammer 66 is locked and does not rotate, and when the breaking hammer 66 moves away from the inner wall of the decomposing furnace, the breaking hammer 66 and the mounting box 61 form a hook shape, so that the crusts can be conveniently pulled down from the inner wall of the decomposing furnace, the falling of the crusts is assisted, and the quality of the crusts is improved; when the breaking hammer 66 moves for a certain distance, namely the first gear 75 is about to be meshed with the first rack 77, the shifting block 78 shifts the sliding plate 72, so that the limiting column 73 is separated from the limiting hole 76, at the moment, the first gear 75 is meshed with the first rack 77, and the breaking hammer 66 is reset and rotated in the moving process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a decomposing furnace crusting robot, its characterized in that includes casing (1), supporting component (2) carousel (3) and clearance frame (4), supporting component (2) are installed on casing (1) and are used for supporting the robot fixedly, carousel (3) are rotated and are connected on casing (1), clearance frame (4) articulate on carousel (3), be provided with folding actuating mechanism (5) that are used for controlling supporting component (2) and clearance frame (4) motion on casing (1), be connected with clearance actuating mechanism (6) that are used for clearing up the crusting on clearance frame (4), install rotation regulation mechanism (7) that are used for controlling the clearance angle on clearance actuating mechanism (6), be provided with main drive mechanism (8) that are used for driving clearance actuating mechanism (6) and carousel (3) motion on carousel (3).
2. The decomposing furnace crust removing robot as claimed in claim 1, wherein: support assembly (2) are including support arm (21), telescopic link (22) and butt piece (23), support arm (21) circumference equidistance articulates on casing (1), telescopic link (22) activity nested connection is in support arm (21), butt piece (23) fixed connection is in the one end of telescopic link (22), still be connected with first cylinder (24) that are used for driving telescopic link (22) concertina movement on support arm (21).
3. The skinning robot for decomposing furnace as claimed in claim 2, wherein: folding actuating mechanism (5) include second cylinder (51), lift cover (52) and connecting block (53), second cylinder (51) are installed respectively in the upper and lower both sides position of casing (1), lift cover (52) are connected on the output of second cylinder (51), connecting block (53) rotate to be connected on lift cover (52), it has connecting rod (54) to articulate on connecting block (53), connecting rod (54) of both sides position about casing (1) are articulated mutually with support arm (21) and clearance frame (4) respectively.
4. The decomposing furnace crust removing robot as claimed in claim 1, wherein: the cleaning executing mechanism (6) comprises a mounting box (61), a reversing gear (62) and a sliding seat (63), the mounting box (61) is connected to the cleaning frame (4), the reversing gear (62) is rotatably connected to the inside of the mounting box (61) through a shaft, the sliding seat (63) is respectively and slidably connected to the two sides of the mounting box (61), a reversing rack (64) meshed with the reversing gear (62) is connected to the sliding seat (63), a cleaning brush (65) is connected to the sliding seat (63) on one side of the mounting box (61), and a breaking hammer (66) is connected to the sliding seat (63) on the other side of the mounting box (61).
5. The skinning robot for decomposing furnace as claimed in claim 4, wherein: the rotary adjusting mechanism (7) comprises a connecting shaft (71), a sliding plate (72) and a limiting column (73), the connecting shaft (71) is fixedly connected to a sliding seat (63) on one side of the mounting box (61), the sliding plate (72) is slidably connected to the connecting shaft (71), the limiting column (73) is arranged on the sliding plate (72), a compression spring (74) used for pushing the sliding plate (72) to slide is connected to the connecting shaft (71), a first gear (75) is fixedly connected to the breaking hammer (66), a limiting hole (76) matched with the limiting column (73) is formed in the first gear (75), the breaking hammer (66) is rotatably connected to the connecting shaft (71), a first rack (77) capable of being meshed with the first gear (75) is connected to the mounting box (61), and a shifting block (78) used for pushing the sliding plate (72) to slide is further connected to the mounting box (61).
6. The skinning robot for decomposing furnace as claimed in claim 4, wherein: the main driving mechanism (8) comprises a driving disc (81), a rotating seat (82) and a push-pull rod (83), the driving disc (81) is rotatably connected to a rotary disc (3), the rotating seat (82) is rotatably connected to the driving disc (81), one end of the push-pull rod (83) is hinged to the rotating seat (82), the other end of the push-pull rod (83) is hinged to a sliding seat (63), the driving disc (81) is coaxially and key-connected with a second gear (84), the rotary disc (3) is slidably connected with a second rack (85) meshed with the second gear (84), a gear ring (86) is connected to the second rack (85), the rotary disc (3) is connected with a first incomplete gear (87) meshed with the gear ring (86) through a shaft, the first incomplete gear (87) is coaxially and key-connected with a first driven gear (88), the rotary disc (3) is provided with a reduction gearbox (89), a second motor (810) is arranged on the reduction gearbox (89), the lower end of the housing (1) is fixedly connected with a second incomplete gear (812), and an output end of the second incomplete gear (89) and an output end of the second driven gear (811) and the second incomplete gear (812) can be meshed with the second incomplete gear (88).
7. The skinning robot for decomposing furnace as claimed in claim 5, wherein: the angular rotation range of the breaking hammer (66) is 0 DEG to 45 deg.
8. The decomposition furnace crust cleaning robot of claim 7, wherein: the brush hair of the cleaning brush (65) is made of steel wire materials.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211477444.5A CN115854373B (en) | 2022-11-23 | 2022-11-23 | Decomposing furnace leather cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211477444.5A CN115854373B (en) | 2022-11-23 | 2022-11-23 | Decomposing furnace leather cleaning robot |
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| CN115854373A true CN115854373A (en) | 2023-03-28 |
| CN115854373B CN115854373B (en) | 2023-07-21 |
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| KR20220093823A (en) * | 2020-12-28 | 2022-07-05 | 정하익 | Cleaning, blasting, coating, painting, treatment equipment and method for facility, tank |
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| CN113172646A (en) * | 2021-05-10 | 2021-07-27 | 安徽恒创智能装备有限公司 | Breaking-in robot for decomposing furnace |
| CN114769248A (en) * | 2022-05-23 | 2022-07-22 | 郑州大学 | Cleaning device for magnesium smelting reduction tank |
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| CN115854373B (en) | 2023-07-21 |
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