A safe method for boiler sootblowing

Abstract

The present invention discloses a safe boiler sootblowing method, wherein the boiler sootblower comprises a stroke monitoring component for monitoring the travel position of the sootblower body, the stroke monitoring component is connected to a control device, the control device receives a signal from the stroke monitoring component and determines whether the stroke of the sootblower body and the blowpipe thereon is abnormal, when the control device determines that the stroke of the sootblower body and the blowpipe thereon is abnormal, the control device sends out an alarm and / or controls a stroke driving mechanism to withdraw the sootblower body, so as to avoid the blowpipe staying at a certain position in the boiler for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged or the blowpipe from being bent and unable to be withdrawn, and ensuring the safety of sootblowing.

Description

Technical Field

[0001] The invention relates to the technical field of heat exchanger auxiliary equipment, and in particular to a safe boiler soot blowing method. Background Art

[0002] The heating surface of the boiler often accumulates ash and the like. If it is not cleaned in time, the operating efficiency of the boiler may be greatly reduced. Therefore, it is necessary to introduce a soot blower to blow away the ash. Existing boiler soot blowers are often only set up for in-place monitoring, such as setting up in-place and out-place monitoring, and lack monitoring of the entire process. When the soot blower's blowpipe goes deep into the furnace of the boiler, it may get stuck or move slowly due to its own reasons or the boiler's reasons, causing the blowpipe to stay in a certain position for a long time. Blowing a position of the boiler for a long time may cause damage to the boiler water-cooled wall, and even water-cooled wall pipe bursting incidents may occur in severe cases; and if the blowpipe stays in the boiler for a long time and bakes in the boiler, the blowpipe may also bend and deform, and it is difficult to withdraw from the boiler, and the maintenance cost is also extremely high. The blowpipe of some soot blowers is a rotatable blowpipe. If the rotatable blowpipe rotates abnormally, the above-mentioned problems of damaging the water-cooled wall and bending of the blowpipe may also occur if a certain position is blown for a long time. Summary of the invention

[0003] In view of the above shortcomings, the present invention provides a safe boiler sootblowing method, which can monitor the movement of the boiler sootblower during the sootblowing process, timely monitor whether there are any problems with the sootblower during its movement, and issue an alarm and / or withdraw the sootblower when a problem occurs.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A safe boiler sootblowing method uses a boiler sootblower, wherein the boiler sootblower comprises a sootblower body, a blowpipe arranged on the sootblower body, one or more nozzles arranged at the front of the blowpipe, a travel drive mechanism for driving the sootblower body forward or backward, and a control device.

[0006] The boiler sootblower further comprises a travel monitoring component for monitoring the travel position of the sootblower body, the travel monitoring component is connected to the control device, and the control device receives a signal from the travel monitoring component and determines whether the travel of the sootblower body and the blowpipe thereon is abnormal;

[0007] The soot blowing method includes the following steps:

[0008] 1) Gradually extend the blowing pipe of the boiler sootblower into the furnace of the boiler;

[0009] 2) transporting medium to the heating surface in the furnace of the boiler through the blowpipe to remove the accumulated ash on the heating surface of the boiler; when the control device determines that the stroke of the sootblower body and the blowpipe thereon is abnormal, the control device issues an alarm and / or controls the stroke drive mechanism to withdraw the sootblower body.

[0010] Further, the blow pipe rotation is arranged on the sootblower body, and a rotation monitoring component for monitoring the rotation of the blow pipe is provided on the sootblower body, and the rotation monitoring component is connected to the control device, and the control device receives a signal from the rotation monitoring component and determines whether the rotation of the blow pipe is abnormal;

[0011] When the control device determines that the rotation of the blow pipe is abnormal, the control device issues an alarm and / or controls the stroke drive mechanism to retract the sootblower body.

[0012] Furthermore, the travel monitoring component is a gear sensor, an encoder, or a wire-drawing travel sensor.

[0013] Furthermore, the stroke drive mechanism includes a fixedly mounted rack, a stroke motor mounted on the sootblower body, and a first gear driven to rotate by the stroke motor, the first gear is meshed with the rack, the stroke motor is connected to the control device and controlled by the control device; the stroke monitoring component is a gear sensor fixedly mounted on the sootblower body, and the stroke monitoring component is aligned with the gear teeth and tooth groove portions of the rack.

[0014] Furthermore, the rotation monitoring component is a gear sensor or an encoder.

[0015] Furthermore, the sootblower body is provided with a rotation driving mechanism for driving the blow pipe to rotate, the rotation driving mechanism includes a chain, a rotating motor fixedly mounted on the sootblower body and driving the chain transmission, and a second gear fixedly mounted on the outer periphery of the blow pipe, the second gear is meshed with the chain, the rotating motor is connected to the control device and controlled by the control device; the rotation monitoring component is a gear sensor, which is fixedly mounted on the sootblower body, and the rotation monitoring component is aligned with the gear teeth and tooth groove parts of the second gear.

[0016] Furthermore, the sootblower body is provided with a rear limit switch and a front limit switch at the initial position of the stroke and the end position of the travel, respectively, and the rear limit switch and the front limit switch are connected to the control device, respectively.

[0017] Furthermore, the rear limit switch and the front limit switch are replaced by proximity sensors.

[0018] Furthermore, the boiler sootblower also includes a monitor, and the stroke monitoring component, rotation monitoring component, rear limit switch and front limit switch are respectively connected to the control device through the monitor, and POE is used to power the monitor and the stroke monitoring component, rotation monitoring component, rear limit switch, front limit switch and control device.

[0019] Furthermore, the stroke motor is equipped with a motor sensor, and the motor sensor is connected to the control device to monitor the working current of the stroke motor.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention provides a safe boiler sootblowing method, wherein a travel monitoring component for monitoring the travel position of the sootblower body is arranged on the boiler sootblower, and a monitoring signal is transmitted to a control device. During the sootblowing process, the control device determines whether the travel is abnormal according to the signal. If the travel is abnormal, an alarm is issued and / or a travel driving mechanism is controlled to withdraw the sootblower body, thereby preventing the blowpipe from staying at a certain position in the boiler for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged or the blowpipe from being bent and unable to be withdrawn, and ensuring the safety of sootblowing;

[0022] 2. A rotation monitoring component is provided on the boiler sootblower to monitor the rotation of the blowpipe, and the monitoring signal is transmitted to the control device. The control device determines whether the blowpipe rotates abnormally according to the signal. If the rotation is abnormal, an alarm is issued and / or the stroke drive mechanism is controlled to withdraw the sootblower body, so as to avoid the blowpipe from blowing a certain position for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged or the blowpipe from bending and being unable to withdraw, thereby ensuring the safety of sootblowing;

[0023] 3. Set the rear limit switch and the front limit switch on the boiler soot blower, so that the soot blower body can automatically switch the direction of travel after moving to the end position and the initial position;

[0024] 4. Powered by POE, the information exchange and power supply of various components on the boiler sootblower can be completed by a network cable, which uses less wire, facilitates cable management and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0026] Figure 1 It is a schematic diagram of the structure of the boiler soot blower in the present invention. DETAILED DESCRIPTION

[0027] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Please refer to Figure 1 The preferred embodiment of the present invention provides a safe boiler sootblowing method, using a boiler sootblower, the boiler sootblower includes a sootblower body 1, a blowpipe 2 arranged on the sootblower body 1, a plurality of nozzles arranged in front of the blowpipe 2, a travel driving mechanism for driving the sootblower body 1 forward or backward, and a control device 4, the control device 4 uses a PLC controller, the boiler sootblower also includes a travel monitoring component 8 for monitoring the travel position of the sootblower body 1, the travel monitoring component 8 is connected to the control device 4, the control device 4 receives the signal of the travel monitoring component 8 and determines whether the travel of the sootblower body 1 and the blowpipe 2 thereon is abnormal;

[0029] The soot blowing method includes the following steps:

[0030] 1) Gradually extend the blowing pipe of the boiler sootblower into the furnace of the boiler;

[0031] 2) The medium is transported to the heating surface in the furnace of the boiler through the blowpipe to remove the accumulated ash on the heating surface of the boiler; when the control device 4 determines that the stroke of the sootblower body 1 and the blowpipe 2 thereon is abnormal, the control device 4 issues an alarm and / or controls the stroke drive mechanism to withdraw the sootblower body 1.

[0032] In the traditional boiler sootblowing method, the control device in the boiler sootblower controls the corresponding driving mechanism to make the sootblower body move forward or backward at a uniform speed. The sootblower body is provided with a blowpipe, and one or more nozzles are provided in front of the blowpipe. When sootblowing, when the blowpipe of the boiler sootblower extends into the furnace of the boiler, the high-pressure medium (depending on the different types of sootblower, the medium generally includes air, steam and water, etc.) is ejected from the nozzle through the blowpipe and transported to the heating surface of the boiler to blow off the accumulated soot on the heating surface of the boiler and complete the purging. However, since the existing boiler sootblower is often only provided with in-place monitoring, such as the monitoring of entering and retreating, and lacks the monitoring of the whole process, when the blowpipe of the boiler sootblower goes deep into the furnace of the boiler, it may be stuck, move slowly, etc. due to its own reasons or the reasons of the boiler, so that the blowpipe stays at a certain position for a long time. Purging a position of the boiler for a long time may cause the water-cooled wall of the boiler to be damaged, and even a water-cooled wall pipe burst may occur in severe cases, which poses a great safety hazard.

[0033] In the present method, a travel monitoring component 8 is provided on the boiler sootblower for monitoring the travel position of the sootblower body 1, and the monitoring signal is transmitted to the control device 4. The control device 4 determines whether the travel is abnormal according to the signal. During the sootblowing process, if the travel is abnormal, an alarm is issued and / or the travel driving mechanism is controlled to withdraw the sootblower body 1, and the blowpipe 2 on the sootblower body 1 is withdrawn together, so as to avoid the blowpipe 2 staying at a certain position in the boiler for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged or the blowpipe from being bent and unable to be withdrawn, thereby ensuring the safety of sootblowing.

[0034] For details, please continue to refer to Figure 1 The safety boiler sootblower includes a bracket 6, on which a walking track 10 is transversely arranged, and a travel driving mechanism includes a rack 5 fixedly mounted on the bracket 6, a travel motor (not shown in the figure) mounted on the sootblower body 1, and a first gear 7 driven to rotate by the travel motor. The travel motor is mounted in a motor box 15 on the sootblower body 1, and the first gear 7 is fixedly mounted on a rotating shaft driven to rotate by the travel motor. The first gear 7 is meshed with the rack 5, and a walking wheel 16 is also rotatably mounted on the rotating shaft (two walking wheels 16 are located on both sides of the gear box, only one is shown in the figure, and they are coaxially arranged to facilitate the support and travel of the sootblower body 1). The walking wheel 16 is placed on the walking track 10, and the travel motor is a forward and reverse motor and is connected to and controlled by the control device 4. When implemented, the control device 4 controls the travel motor to operate so that the travel motor drives the first gear 7 to rotate, and the first gear 7 acts on the rack 5. Under the action of the first gear 7 and the rack 5, as well as the walking wheel 16 and the walking track 10, the sootblower body 1 can achieve straight-line travel, that is, forward or backward movement. The stroke motor is equipped with a motor sensor, and the motor sensor is connected to the control device 4 to monitor the working current of the stroke motor. When the stroke device (gear box or transmission mechanism, such as guide rails, etc.) is stuck or stuck with coke in the furnace wall, the stroke motor current will increase. By equipping the motor sensor, the detected working current can be converted into appropriate signal information and transmitted to the control device 4 for monitoring.

[0035] The travel monitoring component 8 is a gear sensor, which is fixedly mounted on the sootblower body 1 , and the travel monitoring component 8 is aligned with the gear teeth and tooth grooves of the rack 5 . The rack 5 has a plurality of gear teeth and tooth grooves between every two adjacent gear teeth. The stroke monitoring component 8 of the gear sensor is aligned with the gear teeth and tooth grooves of the rack 5. When the first gear 7 rotates under the drive of the stroke motor, the stroke monitoring component 8 of the gear sensor moves linearly with the linear motion of the sootblower body 1. At this time, the stroke monitoring component 8 aligned with the gear teeth and tooth grooves of the rack 5 will align with the gear teeth and tooth grooves of the rack 5 in turn. The stroke monitoring component 8 detects a pulse signal each time it aligns with a gear tooth of the rack 5, and transmits the pulse signal to the control device 4. The control device 4 can obtain the number of gear teeth of the rack 5 passed by the sootblower body 1 according to the number of pulse signals transmitted by the stroke monitoring component 8, thereby calculating the travel distance of the sootblower body 1, that is, the travel position of the sootblower body 1. The control device 4 also has a time timing function, and calculates the travel speed of the sootblower body 1 according to the timing function.

[0036] In a preferred embodiment, different types of stroke monitoring components 8 can be set according to different stroke drive mechanisms. The stroke monitoring component 8 can be a gear sensor (pulse signal), an encoder (position signal), or a pull-wire stroke sensor (stroke signal). Its function is to detect the stroke position of the blowpipe. The specific type of use can be selected according to the specific implementation situation.

[0037] In this preferred embodiment, please refer to Figure 1The blowpipe 2 is rotatably arranged on the sootblower body 1. The sootblower body 1 is provided with a rotation monitoring component 3 for monitoring the rotation of the blowpipe 2. The rotation monitoring component 3 is connected to the control device 4. The control device 4 receives the signal of the rotation monitoring component 3 and determines whether the rotation of the blowpipe 2 is abnormal. If the control device 4 determines that the rotation of the blowpipe 2 is abnormal, the control device 4 issues an alarm and / or controls the stroke driving mechanism to withdraw the sootblower body 1. The sootblower body 1 is provided with a rotation driving mechanism for driving the blowpipe 2 to rotate. The sootblower body 1 is provided with a rotation driving mechanism for driving the blowpipe 2 to rotate. The rotation driving mechanism includes a chain 9, a rotating motor fixedly installed on the sootblower body 1 and driving the chain 9 to drive (not shown in the figure, the rotating motor is installed in the motor box 15 on the sootblower body 1), and a second gear 11 fixedly mounted on the outer periphery of the blowpipe 2. The second gear 11 is meshed with the chain 9. The rotating motor is connected to the control device 4 and controlled by the control device 4. During implementation, a driving gear 17 is provided on the output shaft of the rotating motor, and the chain 9 is sleeved on the driving gear 17 and the second gear 11. The control device 4 controls the rotating motor to operate, driving the driving gear 17 and thus driving the chain 9. The chain 9 drives the second gear 11 to rotate, thereby driving the blowpipe 2. The rotation monitoring component 3 is a gear sensor, which is fixedly mounted on the sootblower body 1, and the rotation monitoring component 3 is aligned with the gear teeth and tooth grooves of the second gear 11. The second gear 11 has a plurality of gear teeth and tooth grooves between every two adjacent gear teeth. The rotation monitoring component 3 of the gear sensor is aligned with the gear teeth and tooth grooves of the second gear 11. When the second gear 11 rotates under the drive of the rotating motor, the rotation monitoring component 3 aligned with the gear teeth and tooth grooves of the second gear 11 will align with the gear teeth and tooth grooves of the second gear 11 in turn. The rotation monitoring component 3 detects a pulse signal each time it aligns with a gear tooth of the second gear 11, and transmits the pulse signal to the control device 4. The control device 4 calculates the rotation speed of the blowpipe 2 according to the number of pulse signals transmitted by the rotation monitoring component 3 and the time interval of the pulse signals.

[0038] In a preferred embodiment, different types of rotation monitoring components 3 can be set according to different stroke drive mechanisms. The rotation monitoring component 3 can be a gear sensor (pulse signal) or an encoder (position signal). Its function is to detect the rotation state of the blowpipe. The specific type of use can be selected according to the specific implementation situation.

[0039] The sootblower body 1 is provided with a rear limit switch 12 and a front limit switch 13 at the initial position of the stroke and the end position of the travel, respectively. The rear limit switch 12 and the front limit switch 13 are respectively installed at the two ends of the bracket 6. The rear limit switch 12 and the front limit switch 13 are respectively connected to the control device 4. When the sootblower body 1 moves and touches the rear limit switch 12 or the front limit switch 13, the switch is pressed and disconnected. The control device 4 receives the signal and controls the travel motor to change the travel direction of the sootblower body 1. For example, when the sootblower body 1 moves to the end position of the travel and touches the rear limit switch 12 to disconnect the rear limit switch 12, the control device 4 receives the signal and controls the travel motor to reverse, so that the sootblower body 1 returns. In other preferred embodiments, the rear limit switch 12 and the front limit switch 13 can be replaced by a proximity sensor.

[0040] In this preferred embodiment, the safety boiler soot blower also includes a monitor 14, and the stroke monitoring component 8, the rotation monitoring component 3, the rear limit switch 12 and the front limit switch 13 are respectively connected to the control device 4 through the monitor 14, and POE power is used between the monitor 14 and the stroke monitoring component 8, the rotation monitoring component 3, the rear limit switch 12, the front limit switch 13 and the control device 4. Through POE power supply, the information exchange and power supply of each component can be completed by one network cable, less wire material is used, it is easy to manage the wires, and cost is saved.

[0041] Taking this preferred embodiment as an example, during implementation, a boiler sootblower is used to perform boiler sootblowing, the stroke drive mechanism drives the sootblower body 1 forward or backward, and the rotation drive mechanism drives the blow pipe 2 to rotate. When the stroke drive mechanism drives the sootblower body 1 forward, the blow pipe 2 of the boiler sootblower is gradually extended into the furnace of the boiler. At the same time, the rotation drive mechanism drives the blow pipe 2 to rotate, and the medium is transported to the heating surface in the furnace of the boiler through the blow pipe 2 to remove the accumulated ash on the heating surface of the boiler. When the blowpipe 2 is bent, in direct contact with the boiler furnace, or the rack 5 is broken, the sootblower body 1 and the blowpipe 2 thereon are stuck or move slowly. At this time, the stroke of the sootblower body 1 and the blowpipe 2 thereon is abnormal. During the corresponding time, the number of pulse signals detected and transmitted to the control device 4 by the stroke monitoring component 8 of the gear sensor is small and lower than the threshold value preset by the control device 4. The control device 4 determines that the position of the sootblower body 1 is abnormal or the moving speed is abnormal, and determines that the stroke of the sootblower body 1 and the blowpipe 2 thereon is abnormal. The control device 4 issues an alarm and / or controls the stroke drive mechanism to withdraw the sootblower body 1. When the sootblower body 1 is withdrawn, the blowpipe 2 is also driven to withdraw, so that the blowpipe 2 leaves the boiler, thereby avoiding the blowpipe 2 staying at a certain position in the boiler for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged. When the blowpipe 2 rotates abnormally due to bending of the blowpipe 2, direct contact with the boiler furnace, or broken chain 9, the blowpipe 2 rotates abnormally. At this time, the number of pulse signals detected by the rotation monitoring component 3 of the gear sensor and transmitted to the control device 4 is small within the corresponding time, which is lower than the threshold preset by the control device 4. The control device 4 determines that the blowpipe 2 rotates abnormally, and the control device 4 issues an alarm and / or controls the stroke drive mechanism to withdraw the sootblower body 1. When the sootblower body 1 is withdrawn, the blowpipe 2 is also driven to withdraw, so that the blowpipe 2 leaves the boiler, thereby avoiding the blowpipe 2 from blowing a certain position for a long time, thereby effectively preventing the boiler water-cooled wall from being damaged or the blowpipe from being bent and unable to be withdrawn, and ensuring the safety of sootblowing.

[0042] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A safe boiler sootblowing method, using a boiler sootblower, the boiler sootblower comprising a sootblower body (1), a blowpipe (2) arranged on the sootblower body (1), one or more nozzles arranged in front of the blowpipe (2), a travel drive mechanism for driving the sootblower body (1) forward or backward, and a control device (4), characterized in that: The boiler sootblower further comprises a travel monitoring component (8) for monitoring the travel position of the sootblower body (1), the travel monitoring component (8) being connected to the control device (4), the control device (4) receiving a signal from the travel monitoring component (8) and determining whether the travel of the sootblower body (1) and the blowpipe (2) thereon is abnormal; The soot blowing method includes the following steps: 1) Gradually extend the blowing pipe of the boiler sootblower into the furnace of the boiler; 2) transporting a medium to a heating surface in a furnace of a boiler through a blowpipe to remove ash deposited on the heating surface of the boiler; when the control device (4) determines that the stroke of the sootblower body (1) and the blowpipe (2) thereon is abnormal, the control device (4) issues an alarm and / or controls a stroke drive mechanism to retract the sootblower body (1).

2. The safe boiler sootblowing method according to claim 1, characterized in that: The blow pipe (2) is rotatably arranged on the soot blower body (1); a rotation monitoring component (3) for monitoring the rotation of the blow pipe (2) is provided on the soot blower body (1); the rotation monitoring component (3) is connected to the control device (4); the control device (4) receives a signal from the rotation monitoring component (3) and determines whether the rotation of the blow pipe (2) is abnormal; When the control device (4) determines that the rotation of the blow pipe (2) is abnormal, the control device (4) issues an alarm and / or controls a stroke drive mechanism to cause the soot blower body (1) to retract.

3. The safe boiler sootblowing method according to claim 1, characterized in that: The travel monitoring component (8) is a gear sensor, an encoder, or a wire-drawing travel sensor.

4. The safe boiler sootblowing method according to claim 1, characterized in that: The stroke drive mechanism comprises a fixedly mounted rack (5), a stroke motor mounted on the sootblower body (1), and a first gear (7) driven to rotate by the stroke motor, the first gear (7) being meshed with the rack (5), the stroke motor being connected to the control device (4) and being controlled by the control device (4); the stroke monitoring component (8) being a gear sensor fixedly mounted on the sootblower body (1), the stroke monitoring component (8) being aligned with the gear teeth and tooth grooves of the rack (5).

5. The safe boiler sootblowing method according to claim 2, characterized in that: The rotation monitoring component (3) is a gear sensor or an encoder.

6. The safe boiler sootblowing method according to claim 2, characterized in that: The sootblower body (1) is provided with a rotation drive mechanism for driving the blow pipe (2) to rotate, the rotation drive mechanism comprising a chain (9), a rotation motor fixedly mounted on the sootblower body (1) and driving the chain (9) to transmit, and a second gear (11) fixedly sleeved on the outer periphery of the blow pipe (2), the second gear (11) meshing with the chain (9), the rotation motor being connected to the control device (4) and controlled by the control device (4); the rotation monitoring component (3) being a gear sensor fixedly mounted on the sootblower body (1), the rotation monitoring component (3) being aligned with the gear teeth and tooth grooves of the second gear (11).

7. The safe boiler sootblowing method according to claim 2, characterized in that: The sootblower body (1) is provided with a rear limit switch (12) and a front limit switch (13) at the initial position of the stroke and the end position of the travel, respectively. The rear limit switch (12) and the front limit switch (13) are respectively connected to the control device (4).

8. The safe boiler sootblowing method according to claim 7, characterized in that: The rear limit switch (12) and the front limit switch (13) are replaced by proximity sensors.

9. The safe boiler sootblowing method according to claim 7, characterized in that: The boiler soot blower further comprises a monitor (14), wherein the travel monitoring component (8), the rotation monitoring component (3), the rear limit switch (12), and the front limit switch (13) are respectively connected to the control device (4) via the monitor (14), and the monitor (14) and the travel monitoring component (8), the rotation monitoring component (3), the rear limit switch (12), the front limit switch (13), and the control device (4) are powered by POE.

10. The safe boiler sootblowing method according to claim 4, characterized in that: The stroke motor is equipped with a motor sensor, and the motor sensor is connected to the control device (4) to monitor the working current of the stroke motor.

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