CN208727050U - A kind of flushing robot - Google Patents
A kind of flushing robot Download PDFInfo
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- CN208727050U CN208727050U CN201821254015.0U CN201821254015U CN208727050U CN 208727050 U CN208727050 U CN 208727050U CN 201821254015 U CN201821254015 U CN 201821254015U CN 208727050 U CN208727050 U CN 208727050U
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Abstract
The utility model discloses a kind of flushing robots, including mobile cushion cap, the first visual probe, multiple joint manipulator, manipulator and sensor；Described first visual probe, sensor and multiple joint manipulator are arranged on the mobile cushion cap, and the manipulator is arranged on the multiple joint manipulator；The manipulator includes contact cleaning finger, and the flooding nozzle is arranged on the manipulator.Cleaning robot system is introduced into work tower by the utility model, to improve the safety in operation and reliability of above-mentioned mist eliminator flushing system and demister, is finally reached above-mentioned work tower and a whole set of production system more safety and stability, economic and environment-friendly production purpose.
Description
Technical field
It is specifically a kind of to be used for chemical industry, power environment protection industry and non-electricity the utility model relates to device people field
Environment protection treating industry flushing robot, have flushing, detection, scale removal and the Anti-clogging function of intelligent online.
Background technique
The separation of suspension drop is the environment protection treating industry of above-mentioned chemical industry, power environment protection industry and non-electricity
A critical issue in production process.Consolidate three-phase mass-and heat-transfer unit in gas (vapour) the liquid two-phases such as absorption, desorption or gas (vapour) liquid
It is all the close contact by two-phase or three-phase either using which kind of work tower body, such as spray column, plate column in operation
The transmitting and reaction for promoting alternate component with separating, separating-purifying after reaching the solid every sufficiently transmitting of gas (vapour) liquid and reacting
Purpose.In above-mentioned work tower, the gas (vapour) in tower will necessarily mutually carry the liquid of certain amount, size, stickiness, solid content not etc. secretly
Drop.Above-mentioned these must be separated before leaving above-mentioned work tower by the drop that gas (vapour) body is carried secretly, abbreviation demisting.Tool
There is the device of above-mentioned defrosting function to be referred to as demister.
For the above-mentioned suspension drop containing certain stickiness, solid content, overwhelming majority quilt when through above-mentioned demister
Demister surface is intercepted and be trapped in, and is constantly deposited.The stickiness of material is handled needed for above-mentioned work tower and containing solid
When component is more, the extent of reaction is violent, drop will be easier in above-mentioned demister surface detention and deposit.If above-mentioned demister table
The delay in face and deposit cannot be removed in time, it may occur that fouling will be blocked when deposition and scale forming matter are cumulative
Demister gas (vapour) Xiang Tongdao causes demister two sides gas (vapour) pressure to increase, and gas (vapour) body is accelerated by demister speed, by gas
Then excess passes through demister to the drop of (vapour) body entrainment, is greatly reduced so as to cause demister efficiency, and be to after demister
Bulk cargo, which is set, brings adverse effect.At the same time, the demister influenced by fouling and blocking, circulation area greatly reduce, gas
(vapour) body circulating resistance constantly increases, to cause above-mentioned work tower operation uneconomical, unstable or even dangerous；It is serious,
Above-mentioned demister can also be damaged or be collapsed because depositing and scale forming matter weight is more than its design load, and then directly result in the whole series
Work tower cannot run well, or be forced out of service.In order to guarantee that the smooth of above-mentioned demister gas (vapour) Xiang Tongdao, holding are whole
The operation is stable of a above-mentioned work tower, it is necessary to mist eliminator flushing system is configured with, to remove the deposition on demister surface in time
And scale forming matter, prevent and treat fouling and the generation of stopping state.
Flushing water pipeline and flooding nozzle of traditional mist eliminator flushing system in above-mentioned work tower be it is fixed design and
Arrangement, when demister needs to rinse, flush water pump starting, flushing water valve are opened, and flushing water passes sequentially through above-mentioned fixed
Flushing water pipeline is sprayed by fixed nozzle, is sprayed directly on on corresponding demisting blade unit.
For processing stickiness, traditional mist eliminator flushing system of the drop containing solid phase and demister, deposition and foulant
The generation of matter is the inevitable outcome in production process.A large amount of production practices show that the fouling of above-mentioned demister and blocking are them
The production problem that itself can not be overcome.Under prior art conditions, above-mentioned production problem is mainly by traditional mist eliminator flushing system
The flushing poor prognostic cause of system causes.For example, above-mentioned fixed flushing water pipeline is due to using PP(high polymer polypropylene), PVC(it is poly-
Vinyl chloride) etc. non-metallic materials and easy fracture；Above-mentioned fixed nozzle is easily blocked or is fallen off；Above-mentioned mist eliminator flushing water pressure meeting
It is illegal because of leakage in rinse-system to guarantee normal operating pressure etc..Above bad be substantially all occurs in above-mentioned work tower
Inside is difficult to be found in process of production, and each stoppage in transit Shi Caineng is needed to check to come and repaired.It in this way will certainly shadow
Above-mentioned demister and a whole set of work tower safe operation and reliability are rung, demister is also occurred that when serious and is damaged because blocking is serious
Industrial accident that is bad, collapsing.
It is noted that there is a patent of invention to carry out in this field compared with in-depth study in recent years: the patent (patent No.
ZL201610368795.0 " a kind of fume treatment tower and processing system ") is disclosed, the core of the patent is located at flue gas
The movin gdetector of Li Tanei, the detector by Multi-layer supporting beam, pavement platform and the ladder set up in treating column or
Slope surface is moved on demister, carries out approaching observation, fault scatter to demister.But under actual condition, the patent
Have the disadvantage that (1) above-mentioned movin gdetector is moved to demister top from demister lower part, or on the contrary, then necessary
In the aperture of demister surface so that above-mentioned detector passes through, and perforated area is greater than the full-size of detector, so not
But demister can be damaged, also will cause and take guttiferous gas (vapour) body largely from tapping escape, certainly will be greatly reduced
The working efficiency of demister.(2) above-mentioned movin gdetector work directly contacts, if removed on demister surface with demister
Day with fog not instead of horizontal arranges, gull formula or ridge type, non-horizontal or rectilinear arrangement, then above-mentioned detector is by nothing
Method realization works normally on demister surface.(3) demister is usually made of non-metallic materials such as PP, PVC, above-mentioned detector
For a long time in its apparent motion, friction, can different degrees of abrasion or damage demister, so that reduce demister uses the longevity
Life.(4) above-mentioned treating column still uses traditional fixed mist eliminator flushing pipeline and fixed nozzle, thus can not overcome biography
The interior leakage problem for mist eliminator flushing system of uniting, to have the defects that not can guarantee normal washing pressure.(5) above-mentioned traditional
Fixed wash tub pipe and nozzle need to be arranged in the position with above-mentioned demister surface short distance, otherwise not can guarantee flushing matter
Amount, when above-mentioned detector is when demister surface works, the mechanical arm extended must pay attention to preventing from colliding at the moment
Above-mentioned fixed wash tub pipe and nozzle, not only increase the manipulation difficulty of above-mentioned mechanical arm in this way, certainly will also reduce above-mentioned
The permission activity space of detector sacrifices its valuable flexibility, its working efficiency is made to have a greatly reduced quality, also greatly increase because
The risk that mechanical arm false hit causes above-mentioned fixed wash tub pipe and nozzle to damage, to directly reduce above-mentioned demister
The safety and reliability of rinse-system.(6) probe of above-mentioned mobile detector is placed in detector body, is not had on mechanical arm
There is setting to pop one's head in, in above-mentioned fume treatment tower under dark, bad environments operating conditions, detector body just must be constantly
The mobile visiting work to complete better quality, the movement that on the one hand cannot give full play to mechanical arm in this way is quick, work surface
The work characteristics such as the big space advantage and high sensitivity of product, Effect on Detecting be good, another aspect can also be continuous because of detector body
Stability and service efficiency mobile and that substantially reduce above-mentioned detector entirety, in addition, if demister area is far longer than
When stating the size of movin gdetector, the work load of above-mentioned movin gdetector will be multiplied, failure rate will also increase therewith
Greatly.(7) video acquisition device of above-mentioned movin gdetector configuration is mainly played to above-mentioned treating column internal work environment
Monitoring effect, without be equipped with visual information Special artificial intelligence software, algorithm, Relational database, and with internet cloud
Software and hardware of communication etc., thus do not have the intelligent vision identification of cleaning robot system, machine and intelligent algorithm,
Big data processing and the abilities such as excavation, autonomous machine study, and adaptive work.(8) above-mentioned patent is just for fume treatment
Tower and processing system do not account for chemical industry, the environment protection treating industry of other non-electricities in addition to power environment protection industry
Etc. a variety of industrial circles, so its application range and practicability are limited to.
Summary of the invention
Technical problem to be solved in the utility model is in view of the deficiency of the prior art, and to provide a kind of tool
There is the cleaning robot system of online flushing, detection, scale removal and Anti-clogging function.To improve the operational safety of demister
Property and reliability, be finally reached above-mentioned work tower and a whole set of production system more safety and stability, economic and environment-friendly production purpose.
In order to solve the above-mentioned technical problem, the following technical solution is employed for the utility model:
A kind of flushing robot, including mobile cushion cap, the first visual probe, multiple joint manipulator, manipulator and sensor；
Described first visual probe, sensor and multiple joint manipulator are arranged on the mobile cushion cap, and the manipulator setting exists
On the multiple joint manipulator；It is characterized by: being provided with contact cleaning finger and flooding nozzle on the manipulator.
The second visual probe is additionally provided in the manipulator.
At least two flooding nozzles are provided on each manipulator, the flooding nozzle and contact cleaning finger are in
Circle distribution is on the installation end face of the front of the manipulator.
Described second visual probe is located in the circumference that the flooding nozzle and contact cleaning finger are formed.
In the mobile cushion cap setting, there are four the multiple joint manipulators, and four multiple joint manipulators are in rectangular layout,
Described first visual probe is located at rectangular centre.
The multiple joint manipulator is mounted on the shell of the mobile cushion cap, the multiple joint manipulator include multiaxial joint,
Servo motor and speed reducer.
Sensor includes operating ambient temperature in tower, humidity, gas (vapour) pressure sensor；Master control borad and controller operating temperature
Sensor；Mobile cushion cap wheel hub or track drive motor temperature, multiple joint manipulator servo motor temperature, speed reducer temperature sensing
Device；Mobile cushion cap wheel hub and crawler belt position, multiple joint manipulator position, manipulator three-dimensional coordinate position sensor；Flushing water hydraulic pressure,
Water flow, water temperature sensor；And the sensor relevant to robot work such as gyroscope, gravity sensing, sound wave avoidance.
Beneficial effect
The fouling that can not be overcome for processing stickiness, traditional mist eliminator flushing system of the drop containing solid phase and demister itself
And blocking production problem, the utility model will rinse robot and be introduced into above-mentioned work tower, using robot in endangering environment
The ability of work makes above-mentioned mist eliminator flushing system and demister have flushing, detection, scale removal and the Anti-clogging of intelligent online
Function not only fundamentally solves above-mentioned production problem, also allows above equipment intelligent, to improve above-mentioned mist eliminator flushing system
The safety in operation and reliability of system and demister, be finally reached above-mentioned work tower and a whole set of production system more safety and stability,
Economic and environment-friendly production purpose.The utility model rinse robot by washer jet be arranged on a robotic arm, preferably with cleaning
Finger cooperation, to make to clean faster more effective.
Detailed description of the invention
Fig. 1 is that the utility model rinses robot front view；
Fig. 2 is that the utility model rinses system, robot top view；
Fig. 3 is the application example schematic diagram that the utility model rinses robot；
Wherein, 1, mist eliminator flushing water tank；2, flush water pump；3, flushing water pressure gauge or pressure sensor；4, flushing water
Thermometer or temperature sensor；5, water ga(u)ge or flow sensor are rinsed；6, liquid phase circulation pumps；7, work tower；8, column plate；9,
Pallet；10, liquid phase spraying layer and nozzle；11 work beams；12, robot is rinsed；1201, driving device；1202, the first visual spy
Head；1203, mobile cushion cap；1204, working arm；1205, arm joint；1206, manipulator；1207, flooding nozzle；1208,
Second visual probe；1209, contact cleaning finger；1210, robot Complex interface；13, demister；14, comprehensive pipeline；15,
The outer Complex interface of tower；16, work tower exiting exhaust gas channel；17, external power supply case；18, external communications equipment；19, external to rinse
Water source；20, Background control and communication subsystem.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model rinses robot, including, driving device 1201 with wheel hub or crawler belt,
First visual probe 1202, mobile cushion cap 1203, working arm 1204, arm joint 1205, manipulator 1206, flooding nozzle
1207, contact cleaning finger 1209 and robot Complex interface 1210.Flooding nozzle 1207 and contact cleaning finger 1209
It is mounted on manipulator 1206.
Manipulator 1206 is mounted on the end of working arm 1204, including one or more flooding nozzles 1207, to replace
Fixed nozzle in traditional mist eliminator flushing system can carry out linear movement flushing, track moving flushing or seat to demister
The personalized program-controlled flushing such as calibration point.
Manipulator 1206 includes the second visual probe 1208, is configured with high definition, infrared, thermal imaging and sonic probe group, can
To the most basic component of the demister, i.e. demisting blade unit carries out the vision-based detection of short distance, and acquires the demister
The video information at visual position.
When the deposition and scale forming matter of the delay of demisting blade unit can not be rinsed, finger 1209 is cleared up in contact
The finger of apery disposes deposition and scale forming matter.
An application example of the Fig. 3 for the utility model flushing robot, specifically a kind of mist eliminator flushing system, including
Work beam subsystem rinses robot 12, power supply subsystem, for water subsystem, Background control and communication subsystem.Work beam
The work beam 11 of system, by one or more circle 11(2), rectangular or square 11(1) metal or nonmetallic materials form；Work
Beam 11 is arranged horizontally in over and under demister 13 or left side and right side of the space, and according to the design needs with 13 table of demister
Face keeps certain operating distance.Work tower 7 or work tower exiting exhaust gas channel are run through and be fixed in work 11 one or both ends of beam
On 16, and supporting beam can be added according to work tower 7 or the inside dimension and load requirement in work tower exiting exhaust gas channel 16.
It rinses machine manually to make on work beam 11, can be moved freely along work beam 11.
The outer Complex interface 15 of tower incorporates control and communication interface outside the outer flushing water interface of tower external power interface, tower and tower.
The outer Complex interface 15 of above-mentioned tower accepts the electric power that the conveying of external power supply case 17 comes；It accepts the external water source 19 that rinses and conveys rush
Wash water；Control and the communication signal of interaction above-mentioned Background control and communication subsystem 20 and above-mentioned flushing robot 12 and sensor
And information.
Its work effectiveness is as follows: liquid phase medium in work tower 7 via liquid phase circulation pump 6, from liquid phase spraying layer and nozzle
10 spray, with gas (vapour) phase medium in work tower 7 column plate 8, space is sufficiently reacted in pallet 9 or tower, the gas after reaction
(vapour) phase medium carries a large amount of stickiness, the suspension drop containing solid phase.Above-mentioned stickiness, drop containing solid phase are with gas (vapour) Xiang Jie
Matter, before leaving work tower 7 or work tower exiting exhaust gas channel 16, it is necessary to first pass through demister 13 and be separated.Demister 13
It is arranged in the appropriate location in work tower 7 or in work tower exiting exhaust gas channel 16, horizontal can be arranged to as needed
13(1), gull formula or ridge type 13(2), tilting 13(3) or rectilinear 13(4) etc. diversified forms, and can as desired
The granular material discharged standard such as demisting efficiency or defined PM2.5 arranges one or more layers demister.Above-mentioned demisting as a result,
It has been detained most above-mentioned stickiness, drop containing solid phase on device 13.To guarantee that demister 13 and work tower 7 can safe and reliable, warps
The operation of Ji environmental protection, the ability and intelligent vision that the utility model is worked in endangering environment using flushing robot 12 are known
Not, the abilities such as big data processing and excavation, autonomous learning and work, fundamentally solve the easy fouling of above-mentioned demister 13 and blocking
Production problem.
Comprehensive pipeline 14 is arranged in above-mentioned work tower 7 or work tower exiting exhaust gas channel 16, is connected comprehensive outside above-mentioned tower
Interface 15 and above-mentioned robot Complex interface 1210, incorporate power circuit, flushing pipe and control and communication line.It is above-mentioned
The outer Complex interface 15 of tower is fixedly mounted on work tower 7 or work tower exiting exhaust gas channel 16.
Above-mentioned robot Complex interface 1210 is docked with above-mentioned comprehensive pipeline 14, obtains the electricity that the conveying of external power supply case 17 comes
Power with driver 1201, first visually probe 1202, mobile cushion cap 1203, working arm 1204, arm joint 1205,
The accessories that visually probe 1208, contact cleaning finger 1209 and other needs are driven by electricity of manipulator 1206, second.
Above-mentioned robot Complex interface 1210 is docked with above-mentioned comprehensive pipeline 14, is come with obtaining the conveying of external flushing water source 19
Flushing water supply water to flooding nozzle 1207, and the component for needing cooling water into above-mentioned cleaning robot system 12 supplies water.
Above-mentioned robot Complex interface 1210 is docked with above-mentioned comprehensive pipeline 14, interaction Background control and communication subsystem 20
Control and communication signal and information, including export the described first visual probe 1202 outward and the second visual probe 1208 is adopted
The feedback signal and information of the video information of collection and the sensor, so that above-mentioned flushing robot 12 has visually
Function, in conjunction with the artificial intelligence software of above-mentioned Background control and communication subsystem 20, database, and it is logical with internet cloud
Letter, thus realize the intelligent vision identification of above-mentioned flushing robot 12, big data processing and excavate, autonomous machine study, and
The abilities such as adaptive work.
It includes water supply pump, pipeline, valve outside work tower that water source 19 is rinsed in outside.For meet the demister and
Mist eliminator flushing system need of work, the flush water pump 2 outside work tower are designed as more tablecloths and set and for continuously-running duty；Work
Water supply line design outside tower has reflux circuit, and be equipped with flushing water pressure gauge or pressure sensor 3, flushing water thermometer or
Temperature sensor 4 rinses water ga(u)ge or flow sensor 5.The outer Complex interface 15 of water supply line and above-mentioned tower outside work tower
It is connected, completes the supplying flushing water and the task from cooling water to the mist eliminator flushing system.
Claims (6)
1. a kind of flushing robot, including mobile cushion cap, the first visual probe, multiple joint manipulator, manipulator and sensor；Institute
It states the first visual probe, sensor and multiple joint manipulator to be arranged on the mobile cushion cap, the manipulator is arranged in institute
It states on multiple joint manipulator；It is characterized by: being provided with contact cleaning finger and flooding nozzle on the manipulator.
2. flushing robot according to claim 1, it is characterised in that: be additionally provided with the second visual spy in the manipulator
Head.
3. flushing robot according to claim 2, it is characterised in that: be provided at least two on each manipulator
A flooding nozzle, the flooding nozzle and contact cleaning finger are circumferentially distributed on the front installation end face of the manipulator.
4. flushing robot according to claim 3, it is characterised in that: the described second visual probe is located at the flushing and sprays
In the circumference that mouth and contact cleaning finger are formed.
5. flushing robot according to claim 1, it is characterised in that: in the mobile cushion cap setting, there are four described more
Joint arm, four multiple joint manipulators are in rectangular layout, and the described first visual probe is located at rectangular centre.
6. flushing robot according to claim 5, it is characterised in that: the multiple joint manipulator is mounted on the movement and holds
On the shell of platform, the multiple joint manipulator includes multiaxial joint, servo motor and speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821254015.0U CN208727050U (en) | 2018-08-03 | 2018-08-03 | A kind of flushing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821254015.0U CN208727050U (en) | 2018-08-03 | 2018-08-03 | A kind of flushing robot |
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| Publication Number | Publication Date |
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| CN208727050U true CN208727050U (en) | 2019-04-12 |
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ID=66028322
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821254015.0U Active CN208727050U (en) | 2018-08-03 | 2018-08-03 | A kind of flushing robot |
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| CN (1) | CN208727050U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108940999A (en) * | 2018-08-03 | 2018-12-07 | 中建中环工程有限公司 | A kind of Intelligent flushing system and demister system |
| WO2022071106A1 (en) * | 2020-09-30 | 2022-04-07 | ファナック株式会社 | Control device for industrial machine |
-
2018
- 2018-08-03 CN CN201821254015.0U patent/CN208727050U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108940999A (en) * | 2018-08-03 | 2018-12-07 | 中建中环工程有限公司 | A kind of Intelligent flushing system and demister system |
| CN108940999B (en) * | 2018-08-03 | 2024-03-15 | 中建中环新能源有限公司 | Intelligent flushing system and demisting system |
| WO2022071106A1 (en) * | 2020-09-30 | 2022-04-07 | ファナック株式会社 | Control device for industrial machine |
| JPWO2022071106A1 (en) * | 2020-09-30 | 2022-04-07 |
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