CN207230585U - A kind of abnormity climbing type chimney cleaning robot - Google Patents

Abstract

It the utility model is related to a kind of special-shaped climbing type chimney cleaning robot, the cleaning robot includes cleaning mechanism, upper strata supporting mechanism, lower layer support mechanism are connected with by telescopic screw rod respectively in the top of cleaning mechanism, lower part, the top of upper strata supporting mechanism is equipped with driving control system；Auxiliary body includes auxiliary ropes, auxiliary ropes connect assistance for lifting motor by multiple pulley one end, the other end connect upper strata supporting mechanism, the driving control system respectively with upper strata supporting mechanism, cleaning mechanism, lower layer support mechanism, the electronic mechatronics of assistance for lifting；What the robot leaned on is that the holding power of stiction and inner wall of stack can be run up and down with overcoming complete machine gravity, realizes mechanization, the intelligent automation operation of large-scale chimney internal cleaning work, special-shaped climbing type is compact-sized, easy for installation.

Description

A kind of abnormity climbing type chimney cleaning robot

Technical field

It the utility model is related to machinery field, more particularly to a kind of special-shaped climbing type chimney cleaning robot.

Background technology

The enterprises such as many steel plant, power plant, chemical plant produce substantial amounts of exhaust gas in the industrial production, these exhaust gas are all Emitted by chimney, dust and other solids are easily saved bit by bit through after funnel inner wall after a while, if when long Between without cleaning will cause the service life of the discharge efficiency of local occlusive effects flue gas and chimney inside chimney, Jin Erying Ring the production efficiency of product.At the same time containing substantial amounts of renewable material in flue dust, clearing up chimney in time can not only improve Production efficiency, but also with reclaiming material resource can be made to be fully used, there is very big realistic meaning.

The cleaning of chimney at present uses manual cleaning form mostly, and manual cleaning can not carry out in the case of a high temperature, must After must waiting until that stack temperature is reduced to room temperature, worker dresses work clothes, breathing mask, and carrying dust removing tool, which enters inside chimney, to be passed through Aerial suspension operating type is cleaned.In deashing process, the condition very severe of work, seriously endangers deashing scale removal worker's Health, and efficiency is very low.

Although also there is the mechanism that related patents introduce chimney cleaning at present, such as cleared up using high pressure water, injection dry ice, so And the problems such as cleaning is not thorough, cleaning area is limited, inefficiency still occurs in scale removal process；And due to most of chimney Mostly cement mixing structure, and cleaning plant when creeping on it, contacts by the way of aspiration is attached with wall more mostly now, But inner wall of stack surface attachment has many dusts, and dust is mostly unconsolidated material, and the absorption for being unfavorable for cleaning plant is stablized.

Utility model content

For above-mentioned technical problem, the utility model embodiment aims to provide a kind of special-shaped climbing type chimney of easy cleaning Clear up robot.

To realize above-mentioned technical purpose, the utility model adopts the following technical solution：

A kind of abnormity climbing type chimney cleaning robot, the cleaning robot includes cleaning mechanism, in cleaning mechanism Top, lower part are connected with upper strata supporting mechanism, lower layer support mechanism by telescopic screw rod respectively, upper strata supporting mechanism it is upper Portion is equipped with driving control system；Auxiliary body includes auxiliary ropes, and auxiliary ropes connect assistance for lifting by multiple pulley one end Motor, other end connection upper strata supporting mechanism；The driving control system respectively with upper strata supporting mechanism, cleaning mechanism, lower floor The electronic mechatronics of supporting mechanism, assistance for lifting；

The cleaning mechanism includes central revolving platform body, arranged on the multiple scalable of central revolving platform body surrounding Clean end；The upper strata supporting mechanism includes upper strata support revolution body, supports revolution the multiple of body surrounding can arranged on upper strata Flexible superior layer positions support leg；The lower layer support mechanism includes lower layer support revolution body, turns round body arranged on lower layer support Multiple scalable lower floor's positioning support legs of surrounding；

Wherein, upper strata support revolution body, central revolving platform body, lower layer support revolution body interior are equipped with rotation Motor.

Preferably, in the cleaning mechanism, it is 3 to clean end number, in the upper strata supporting mechanism, upper strata positioning support Leg number is 3, and in the lower layer support mechanism, lower floor's positioning support leg number is 3；Or above-mentioned cleaning end, upper strata Position support leg, the number of lower floor's positioning support leg is at least three.

Preferably, the cleaning end includes Telescopic hydraulic cylinder and the cleaning wheel arranged on Telescopic hydraulic cylinder outer end, cleans Wheel, which is equipped with, cleans motor；The upper strata positioning support leg includes Telescopic hydraulic cylinder and arranged on the upper of Telescopic hydraulic cylinder outer end Layer clamping pulley；Lower floor's positioning support leg includes Telescopic hydraulic cylinder and lower floor's clamping arranged on Telescopic hydraulic cylinder outer end Wheel；The upper strata clamping pulley, cleaning wheel, lower floor's clamping pulley are equipped with pressure sensitive sensor.

In another embodiment, the cleaning end includes Telescopic hydraulic cylinder and the cleaning arranged on Telescopic hydraulic cylinder outer end Brush.

It is further preferred that the Telescopic hydraulic cylinder in the cleaning mechanism and the cleaning arranged on Telescopic hydraulic cylinder outer end Wheel is located at diverse location plane.

Preferably, in the upper strata supporting mechanism, ball strand is provided between Telescopic hydraulic cylinder and upper strata clamping pulley；Under this In layer supporting mechanism, ball strand is provided between Telescopic hydraulic cylinder and lower floor's clamping pulley；In the cleaning mechanism, in scalable liquid Ball is equipped between cylinder pressure and cleaning wheel to twist.

Preferably, the driving control system be internally provided with controller and be electrically connected with the controller respectively camera, Lighting device, ultrasonic detection device, the controller respectively with the rotation motor, clean motor, assistance for lifting motor, Pressure sensitive sensor is electrically connected.

Preferably, it is additionally provided with swivel joint on the auxiliary ropes.

The technical solution of the utility model can include the following benefits：

What 1. the robot of the utility model leaned on be stiction and inner wall of stack holding power with overcome complete machine gravity from And can run up and down, if inner wall of stack out-of-flatness is likely to occur the danger fallen suddenly, therefore on the top of chimney Portion is provided with auxiliary device, can guided robot moved along the axis of chimney, and do not have to concern cleaning robot in chimney In the danger fallen.In addition, it can also automatically adjust itself posture to adapt to the diameter change of chimney.

2. the method that the robot of the utility model uses high-speed rotating cleaning wheel, the side with injection dry ice and high pressure water Method is compared, will not react with the dust dirt in chimney, clean up thoroughly, efficiency it is higher.

3. compared with manual cleaning, the robot of the utility model can be after stack temperature be reduced to a certain extent, just It can enter and deashing operation is carried out in chimney, significantly reduce the working strength of staff, improve the work of staff Environment, improves the work efficiency in the field, reduces the cost of chimney cleaning, its security, reliability and its economical and practical Property is preferable.

4. realizing mechanization, the intelligent automation operation of large-scale chimney internal cleaning work, special-shaped climbing type structure is tight Gather, is easy for installation, whole scale removal process can be quickly finished in use, related technical personnel are, it will be observed that it can Using storage battery power supply, need to only use the storage battery of large capacity, you can realize the operation in higher chimney, this is different in addition Shape climbing type chimney cleaning robot can realize that (such as cross sectional shape is cylinder, taper or hyperbola chimney to a variety of chimneys Deng) prune job of form.

Although preferred embodiment uses driven by power, the local embodiment using hydraulic device driving is not excluded for, is such as adopted Expanding-contracting action is completed with hydraulic pressure/electric power top rod driving scissor-type mechanism.Meanwhile the driving motor of cleaning wheel is not only limited to preferably Embodiment illustrate in motor assembly method and pattern, such as the motor can be that vertical machine may also be horizontal machine, also may be used To be hub-type motor that such as electric car uses.Therefore, the necessity of abnormity climbing type chimney cleaning robot and application Prospect is higher.

The aspect and advantage that the application adds will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by the practice of the application.It should be appreciated that the general description and following detailed description of the above are only It is exemplary and explanatory, the application can not be limited.

Brief description of the drawings

Using attached drawing, the utility model is described in further detail, but the embodiment in attached drawing is not formed to the utility model Any restrictions, without creative efforts, can also be according to following attached for those of ordinary skill in the art Figure obtains other attached drawings.

Fig. 1 is that the special-shaped climbing type chimney of the utility model embodiment clears up the operating diagram of robot；

Fig. 2 is that the special-shaped climbing type chimney of the utility model embodiment clears up the schematic elevation view of robot；

Fig. 3 is that the special-shaped climbing type chimney of the utility model embodiment clears up the schematic top plan view of robot；

Fig. 4 is the cleaning wheel schematic diagram that robot is cleared up according to the chimney of the utility model embodiment；

Fig. 5 is smoke extractor schematic diagram；

Wherein, 1- upper stratas supporting mechanism, 2- cleaning mechanisms, 3- lower layer supports mechanism, 4- screw rods, 5- driving control systems, 7- balls twist, 8- smoke extractors,

11- upper stratas support revolution body, 12- upper stratas positioning support leg, 13- hydraulic cylinders, 14- upper stratas clamping pulley,

21- centers revolving platform body, 22- cleanings end, 23- hydraulic cylinders, 24- cleaning wheels, 25- clean motor,

31- lower layer supports revolution body, 32- lower floors positioning support leg, 33- hydraulic cylinders, 34- lower floors clamping pulley,

61- pulleys, 62- swivel joints, 63- auxiliary ropes, 64- assistance for lifting motor.

Embodiment

It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer Each embodiment of type is explained in detail.It is however, it will be understood by those skilled in the art that each in the utility model In embodiment, many ins and outs are proposed in order to make reader more fully understand the utility model.But even if without this A little ins and outs and many variations based on following embodiment and modification, can also realize each claim of the utility model Technical solution claimed.

The technical solution of the utility model relates in one aspect to a kind of special-shaped climbing type chimney cleaning robot, with reference to Fig. 1, figure 2, the cleaning robot includes cleaning mechanism 2, is connected respectively by telescopic screw rod 4 in the top of cleaning mechanism 2, lower part There are upper strata supporting mechanism 1, lower layer support mechanism 3, the top of upper strata supporting mechanism 1 is equipped with driving control system 5；Auxiliary body wraps Auxiliary ropes 63 are included, auxiliary ropes 63 connect assistance for lifting motor 64, other end connection upper strata by multiple 61 one end of pulley Supporting mechanism 1；The driving control system 5 respectively with upper strata supporting mechanism 1, cleaning mechanism 2, lower layer support mechanism 3, assistance for lifting Motor 64 is electrically connected；The cleaning mechanism 2 includes central revolving platform body 21, arranged on central 21 surrounding of revolving platform body It is multiple it is scalable cleaning ends 22, it is similar, the upper strata supporting mechanism 1 include upper strata support revolution body 11, arranged on upper strata Multiple scalable upper strata positioning support legs 12 of support revolution 11 surrounding of body, it is similar, under the lower layer support mechanism 3 includes Layer support revolution body 31, multiple scalable lower floor's positioning support legs 32 arranged on lower layer support revolution 31 surrounding of body；It is described Upper strata positioning support leg 12 has the supporting structure for being suitable for inner wall of stack, and lower floor's positioning support leg 32, which has, is suitable for cigarette The supporting structure of chimney inner wall；Wherein, upper strata support revolution body 11, central revolving platform body 21, lower layer support turn round this Body 31 is internally provided with rotation motor.

Preferably, above-mentioned cleaning end 22, upper strata positioning support leg 12, lower floor positioning 32 numbers of support leg be 3 or At least three.

By said structure, when clearing up chimney, multiple positioning support legs are supported on chimney for the robot of the utility model Inner wall on, which is driven by the rotation of central revolving platform body 21 cleans the rotation of end 22 so as to carry out deashing Operation；The upper strata supporting mechanism 1 and lower layer support mechanism 3 form abnormity climbing walking mechanism, and it is dual with supporting to play guiding Effect；The upper strata positioning support leg 12, lower floor's positioning support leg 32 are by frictional force and the holding power of chimney lining, alternative expression The overall feed motion along chimney pitch direction of cleaning robot is realized in rotary motion, that is, realizes climbing of the complete machine in inner wall of stack Action, realization move up and down and then complete the automation prune job to inner wall of stack；The auxiliary body drives climbing vehicle with walking machine Structure, cleaning mechanism are moved along chimney axis direction together, and do not have to concern the phenomenon that cleaning robot slides in chimney.

Above-mentioned cleaning mechanism 2, upper strata supporting mechanism 1, lower layer support mechanism 3 respectively by scalable cleaning end 22, on Layer positioning support leg 12, lower floor's positioning support leg 32 realize that the contact with inner wall of stack is adjusted, which can make Cross sectional shape change and different operation industrial and mineral (such as clamping, cleaning, rotary and lifting) that the robot adapts to chimney are obtained, Meet to realize steady transmission while function needs.

Above-mentioned auxiliary ropes 63 use high strength wire rope, and those skilled in the art understand that, more preferable to reach Guide effect, auxiliary body be fixed in chimney top, the auxiliary body further include fixed frame, set on throat it is more A fixing bolt, fixed mount setting have multiple slip the bolt pin, and slip the bolt pin is connected with fixing bolt；The multiple pulley 61 It is arranged on fixed frame；The working condition progress that the assistance for lifting motor 64 clears up robot according to special-shaped climbing type is positive and negative Turn, auxiliary ropes 63 guide upper strata supporting mechanism 1, cleaning mechanism 2, lower layer support mechanism 3 to be moved together along chimney axis direction.

In a preferred embodiment, with reference to Fig. 2, Fig. 3, Fig. 4, in above-mentioned cleaning mechanism 2, the cleaning end 22 is wrapped Include Telescopic hydraulic cylinder 23 and the cleaning wheel 24 arranged on 23 outer end of Telescopic hydraulic cylinder, cleaning wheel 24 using clamping locking mechanism with Corresponding Telescopic hydraulic cylinder 23 connects, and to facilitate the replacement of cleaning wheel 24, cleaning wheel 24, which is equipped with, cleans motor 25；Cleaning wheel 24 With certain elastic bristle brush, by the high speed rotation of cleaning wheel 24 and the rotation of central revolving platform body 21, to make attached The dust dirt in inner wall of stack is hit by hairbrush, and shock moment makes Fouling surfaces catalysis come off.Different from injection dry ice and The method for cleaning of high pressure water, using high-speed rotating cleaning wheel, it will not react with the dust dirt in chimney, clean dry It is net thorough, efficient, and the problem of can be good at removing hardened dust.

It is further preferred that with reference to Fig. 2, the Telescopic hydraulic cylinder 23 and the cleaning arranged on 23 outer end of Telescopic hydraulic cylinder Wheel 24 is located at diverse location plane.Those skilled in the art understand that, be located at diverse location plane by cleaning wheel 24, can Expand sweep-out pattern, so as to improve sweeping efficiency.

In above-mentioned upper strata supporting mechanism 1, upper strata positioning support leg 12 includes Telescopic hydraulic cylinder 13 and arranged on can The upper strata clamping pulley 14 of 13 outer end of telescopic hydraulic cylinder；In above-mentioned lower layer support mechanism 3, lower floor's positioning support leg 32 includes Telescopic hydraulic cylinder 33 and lower floor's clamping pulley 34 arranged on 33 outer end of Telescopic hydraulic cylinder；The upper strata clamping pulley 14, cleaning wheel 24th, lower floor's clamping pulley 34 is equipped with pressure sensitive sensor, the pressure sensitive sensor can ensure clamping pulley or cleaning wheel with Inner wall of stack comes into full contact with, and prevents that robot from coming off downslide, and obtain good cleaning effect.

Those skilled in the art understand that, can ensure its work equipped with retaining mechanism inside above-mentioned Telescopic hydraulic cylinder Stability.

In another embodiment, it can include Telescopic hydraulic cylinder and arranged on Telescopic hydraulic cylinder outer end to clean end 22 Cleaning brush (not shown), the cleaning brush form the cleaning end with Telescopic hydraulic cylinder.During cleaning, by Telescopic hydraulic cylinder Telescopic movable, and drive cleaning brush to realize cleaning by the rotation of the central revolving platform body 21 in cleaning mechanism 2.

It is unfavorable for the problem of cleaning plant absorption is stablized for inner wall of stack, in the utility model, using scalable hydraulic pressure The design of cylinder combination clamping pulley, by the holding power of the frictional force and inner wall of stack of clamping pulley and chimney, machine is supported by upper strata Structure 1, the 3 alternative expression rotary motion of lower layer support mechanism realize the overall feed motion along pitch direction of robot, that is, realize machine Climbing motion of the device people complete machine in inner wall of stack.

In another preferred embodiment, with reference to Fig. 2, in order to preferably realize upper strata supporting mechanism 1, lower layer support machine The guiding of structure 3 and positioning supporting role, ball is both provided between the Telescopic hydraulic cylinder and clamping pulley of each and twists 7, the ball Twisting 7 can ensure to clear up stability of the robot in motion process is cleared up；Similarly, with reference to Fig. 4, in cleaning mechanism 2, can stretch Ball is equipped between contracting hydraulic cylinder 23 and cleaning wheel 24 and twists 7.

In addition, the driving control system 5 is internally provided with controller, and be connected respectively with controller camera, Lighting device, ultrasonic detection device.In work, it is able to detect that using camera and lighting device and ultrasonic detection device Dust distribution situation inside chimney, and information is fed back in controller.Rotation motor, clean motor 25, assistance for lifting electricity Motivation 64, pressure sensitive sensor are electrically connected with the controller respectively, are controlled by the controller, are adjusted rotation motor, clean The rotary speed of motor 25, to reach the requirement to chimney cleaning tidiness.

In order to ensure to clear up the stabilization during machine is manually made, prevent in the utility model cleaning robot lifting process Rock, swivel joint 62 is additionally provided with the auxiliary ropes.

On the other hand technical solutions of the utility model are related to the method that chimney cleaning is carried out using above-mentioned cleaning robot, bag Include following steps：

Step 1, auxiliary body is installed in chimney top first, then by robot body in chimney internal ground over-assemble Complete, auxiliary ropes are connected on the upper strata supporting mechanism of robot followed by auxiliary body；

Step 2, connect after hours,

The Telescopic hydraulic cylinder of 2.1 lower layer support mechanisms is stretched out, strutted, while lower floor's clamping pulley contacts inner wall of stack and blocks Tightly；

Telescopic hydraulic cylinder in 2.2 middle level cleaning mechanisms, which stretches out, to be strutted, while central revolving platform body and cleaning wheel Rotating ash removal；

The Telescopic hydraulic cylinder of 2.3 upper strata supporting mechanisms is stretched out, strutted, while upper strata clamping pulley contact inner wall of stack, on Layer support revolution body and the rotation of upper strata clamping pulley, so can make upper strata supporting mechanism along pitch using frictional force and reaction force Direction rises a distance；

2.4 upper stratas support revolution body and upper strata clamping pulley rotation stop, upper strata clamping pulley clamping, clear up structure in can Telescopic hydraulic cylinder is retracted, and the Telescopic hydraulic cylinder of lower layer support mechanism is retracted while lower layer support revolution body and lower floor's clamping pulley Rotation, lower layer support mechanism rise same distance, then lower floor's clamping pulley clamping along pitch direction；

2.5 repeat 2.1-2.4, until cleaning to chimney top；Decline process is similar；Wherein each rise/fall is hung down Straight distance is the working width of cleaning wheel.

Further, the method that chimney cleaning is carried out using above-mentioned cleaning robot of the utility model embodiment is also wrapped Include：Ultrasonic detection device monitors the work of upper strata supporting mechanism, lower layer support mechanism, cleaning mechanism in real time.The utility model The camera that the method for embodiment further includes inside by driving control system monitors cleaning situation and robot operating condition simultaneously By picture Real-time Feedback to user.User can be such as Party B operating personnel and Party A.The method of the utility model embodiment Further including Telescopic hydraulic cylinder can be according to the respective collapsing length of the change adjust automatically of stack cross section, when robot reaches specified Behind position, the scale removal process of repeat step 2.

Further, the method that chimney cleaning is carried out using above-mentioned cleaning robot of the utility model embodiment further includes The dust cleared up is absorbed from chimney bottom with high-power smoke extractor and is cleared up.

The foregoing is merely the preferred mode of the utility model, it is not intended to limit the utility model, it is all new in this practicality Within the spirit and principle of type, any modification, equivalent replacement, improvement and so on, should be included in the protection of the utility model Within the scope of.

Claims (9)

1. a kind of abnormity climbing type chimney cleaning robot, it is characterised in that the cleaning robot includes cleaning mechanism, clear Manage the top of mechanism, lower part is connected with upper strata supporting mechanism, lower layer support mechanism, upper strata support by telescopic screw rod respectively The top of mechanism is equipped with driving control system；Auxiliary body includes auxiliary ropes, and auxiliary ropes are connected by multiple pulley one end Assistance for lifting motor, other end connection upper strata supporting mechanism；The driving control system respectively with upper strata supporting mechanism, descaling machine Structure, lower layer support mechanism, the electronic mechatronics of assistance for lifting；

The cleaning mechanism includes central revolving platform body, multiple scalable cleanings arranged on central revolving platform body surrounding End；

The upper strata supporting mechanism includes upper strata support revolution body, the multiple scalable of revolution body surrounding is supported arranged on upper strata Upper strata positions support leg, and the upper strata positioning support leg has the supporting structure for being suitable for inner wall of stack；

The lower layer support mechanism includes lower layer support revolution body, arranged on the multiple scalable of lower layer support revolution body surrounding Lower floor positions support leg, and lower floor's positioning support leg has the supporting structure for being suitable for inner wall of stack；

Wherein, upper strata support revolution body, central revolving platform body, lower layer support revolution body interior are equipped with rotation horse Reach.

A kind of 2. special-shaped climbing type chimney cleaning robot according to claim 1, it is characterised in that the cleaning end, Upper strata positioning support leg, the number of lower floor's positioning support leg are 3 or at least three.

A kind of 3. special-shaped climbing type chimney cleaning robot according to claim 1, it is characterised in that cleaning end bag Telescopic hydraulic cylinder and the cleaning wheel arranged on Telescopic hydraulic cylinder outer end are included, cleaning wheel, which is equipped with, cleans motor.

A kind of 4. special-shaped climbing type chimney cleaning robot according to claim 1, it is characterised in that the upper strata positioning Support leg includes Telescopic hydraulic cylinder and the upper strata clamping pulley arranged on Telescopic hydraulic cylinder outer end.

A kind of 5. special-shaped climbing type chimney cleaning robot according to claim 1, it is characterised in that lower floor's positioning Support leg includes Telescopic hydraulic cylinder and lower floor's clamping pulley arranged on Telescopic hydraulic cylinder outer end.

6. according to any a kind of special-shaped climbing type chimney cleaning robot in claim 3,4,5, it is characterised in that institute State upper strata clamping pulley, cleaning wheel, lower floor's clamping pulley and be equipped with pressure sensitive sensor.

7. according to any a kind of special-shaped climbing type chimney cleaning robot in claim 3,4,5, it is characterised in that should In the supporting mechanism of upper strata, ball strand is provided between Telescopic hydraulic cylinder and upper strata clamping pulley；In the lower layer support mechanism, can Ball strand is provided between telescopic hydraulic cylinder and lower floor's clamping pulley；In the cleaning mechanism, between Telescopic hydraulic cylinder and cleaning wheel Twisted equipped with ball.

A kind of 8. special-shaped climbing type chimney cleaning robot according to claim 3, it is characterised in that the cleaning mechanism In Telescopic hydraulic cylinder and cleaning wheel arranged on Telescopic hydraulic cylinder outer end be located at diverse location plane.

A kind of 9. special-shaped climbing type chimney cleaning robot according to claim 3, it is characterised in that the drive control Internal system is provided with controller and the camera being connected respectively with controller, lighting device, ultrasonic detection device, controller It is electrically connected rotation motor, cleans motor, assistance for lifting motor, pressure sensitive sensor；It is additionally provided with the auxiliary ropes Swivel joint.