Method and apparatuses to remove slag
US7204208B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 17, 2003 |
| Grant date | Apr 17, 2007 |
| Priority date | — |
| Expiry date | Apr 16, 2024 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF28G15/003
- WIPO fieldThermal processes and apparatus
- WIPO sectorMechanical engineering
Abstract
A robotic apparatus for the cleaning and maintenance of coal fired boilers, which is designed to operate in the high temperature environment of the combustion gasses to effectively clean and remove slag deposits of the boiler heat transfer surfaces by use of a precision directed, low pressure, low flow rate water stream. The robotic cleaning apparatus is comprised of lightweight carbon fiber structural elements, attached to the exterior of the boiler, and cooled by annular pressurized water sheaths impingent on a thin metal skin covering the lightweight structural elements. Multiple articulated joints allow for complete access to the heat transfer surfaces of the boiler. A variety of payloads can be delivered to specific points within the boiler, including imaging systems, cutting, and welding apparatuses. A mathematical state space control matrix allows for optimal positioning and feedback control of motions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.