A coal quality analysis system

Abstract

The present application relates to a coal quality analysis system, the operation room is divided into first chamber and second chamber by heat insulation wall, the first chamber is equipped with opening and closing cover device, weighing device, crucible storage device, calorific value detection device and first robot, the first robot includes first guide rail, opening and closing cover device, weighing device, crucible storage device and calorific value detection device are arranged along the extension direction of first guide rail respectively;The second chamber is equipped with detection assembly and second robot, the second robot includes second guide rail, and the detection assembly is arranged along the extension direction of second guide rail, and the first chamber and the second chamber are equipped with the crucible conveying device for conveying the crucible between them, and the system further includes first control device for controlling first robot and second robot and second control device for controlling the work of other components.The system guarantees stability and high efficiency, realizes the miniaturization of robot, the simplification of overall device and the more reasonable space layout.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coal quality inspection, in particular to a robot coal quality analysis system. BACKGROUND

[0002] Coal needs to be inspected in production, circulation and utilization, etc. to determine its price and purpose, etc. The conventional quality indicators of coal include moisture, ash content, volatile matter, total sulfur, total moisture, calorific value, etc.

[0003] At present, coal quality inspection is generally carried out manually, and the weighing, sample loading, sample placing, instrument use, cleaning, etc. of the coal sample are all carried out manually. In addition to the performance of the detection instrument itself, the coal quality detection result is inevitably related to the professional quality and professional ethics of the detection personnel, and there are uncontrollable factors that may affect the fairness and justice of the detection result.

[0004] With the improvement of the technical level and the degree of automation of related detection instruments, automatic industrial analysis instruments, automatic moisture meters, automatic sulfur scattering powder instruments, automatic oxygen filling and oxygen releasing calorimetric instruments, etc. have appeared. However, the detection work that requires the participation of detection personnel has not been significantly reduced. In order to further reduce the influence of human factors, using an industrial robot (mechanical arm) to replace manual work for automatic coal quality analysis has become a trend.

[0005] At present, the robot coal quality analysis system mainly has the following problems: related detection instruments, weighing units, conveying belt units, crucible storage units, etc. are arranged around the robot, and the mechanical arm moves up and down, left and right, rotates, etc., which leads to the fact that the combination of related functional modules cannot be flexibly changed, and only a fixed design can be used. Once the demand changes, large design changes are needed; the layout space is cramped, and there is insufficient maintenance space, and once the equipment is moved during maintenance, it needs to be repositioned; a larger robot is needed, and the cost is relatively high; there is an influence between each unit, for example, some instruments generate a lot of heat when running, which has a great influence on the weighing unit and the calorific value test unit; in addition, due to the involvement of multiple detections, including multiple operations, the detection efficiency of the existing robot coal quality analysis system needs to be improved. SUMMARY

[0006] The purpose of the present application is to provide a full-automatic robot coal quality analysis system with high efficiency and stability.

[0007] To achieve the above purpose, the present application provides the following technical solutions:

[0008] A coal quality analysis system comprises an operation room, the operation room is divided into a first room and a second room by a heat-insulating wall,

[0009] The first chamber is provided with an opening and closing cover device, a weighing device, a crucible storage device, a heat release detection device and a first robot, the first robot comprises a first guide rail and a first mechanical arm provided with a mechanical clamp and connected with the first guide rail in sliding mode, the opening and closing cover device, the weighing device, the crucible storage device and the heat release detection device are arranged along the extension direction of the first guide rail respectively,

[0010] The second chamber is provided with a detection assembly and a second robot, the second robot comprises a second guide rail and a second mechanical arm provided with a mechanical clamp and connected with the second guide rail in sliding mode, and the detection assembly is arranged along the extension direction of the second guide rail,

[0011] The first chamber and the second chamber are provided with a crucible conveying device for conveying the crucible,

[0012] The coal quality analysis system further comprises a control unit, the control unit comprises a first control device for controlling the first robot and the second robot, and a second control device for controlling the operation of the opening and closing cover device, the weighing device, the heat release detection device and the detection assembly.

[0013] Preferably, the first mechanical arm and the second mechanical arm respectively comprise a plurality of movably connected connecting arms, the first control device is a PLC control system, which can control the first mechanical arm and the second mechanical arm to reach a specified position, control the connecting arms to adjust the mechanical clamp to a specified position, and control the mechanical clamp to clamp or release.

[0014] Since the heat release detection device involves steps such as lofting, water adding, oxygen bomb loading, oxygen filling, oxygen bomb hanging, oxygen bomb taking, gas releasing, oxygen bomb opening and pot discarding, these steps can be automatically completed in multiple units with high automation, and the operations such as crucible transfer and oxygen bomb transfer between different units can also be realized by the first robot.

[0015] Preferably, the first guide rail and the second guide rail are respectively parallel to the heat-insulating wall, and the crucible conveying device vertically penetrates through the heat-insulating wall, one end of which is located in the first chamber and the other end of which is located in the second chamber.

[0016] Preferably, the weighing device comprises:

[0017] a balance, the balance disc of which can place the crucible;

[0018] a support for fixing the coal sample bottle, so that the opening of the coal sample bottle is downwardly inclined;

[0019] a sample transfer assembly, which comprises:

[0020] a sliding seat, which is located between the balance and the support;

[0021] a sliding block, which is in sliding connection with the sliding seat;

[0022] a first driving component, which is used for driving the sliding block to slide along the sliding seat;

[0023] a chute, which is fixedly connected with the sliding block through a connecting rod, the feeding opening of the chute is directed towards the support, the discharging opening of the chute is directed towards the balance, and the chute is inclined downward from the feeding opening to the discharging opening;

[0024] a vibration motor, which is installed at the bottom of the chute and can shake the chute;

[0025] the chute has a first working position and a second working position,

[0026] when the chute is located at the first working position, one end of the chute where the feeding opening is located is inserted into the coal sample bottle;

[0027] when the chute is located at the second working position, the discharging opening of the chute is located above the crucible on the balance, and the vibration motor is in an open state.

[0028] The weighing unit has the advantages of simple structure, high accuracy, automation, continuity, convenient maintenance and the like.

[0029] Preferably, the inclination angle of the chute is 10°-30°, and more preferably 15°-20°.

[0030] Preferably, the length of the chute is 0.5-0.8 times, and more preferably 0.5-0.7 times, of the distance between the balance and the support.

[0031] According to some specific embodiments, the length of the chute is 15-25 cm, and more preferably 18-22 cm.

[0032] According to some specific embodiments, the vibration frequency of the vibration motor is 5-15 times per second, and the amplitude is 0.2-0.5 mm.

[0033] Through the above parameter settings, the coal sample can be more easily and stably slid from the discharging opening, and the sampling amount can be ensured to be accurate.

[0034] Further preferably, the balance is connected to the second control device through a sensor; the first driving component and the vibration motor are respectively connected to the second control device through electric signals; and the first driving component is a first motor. The first robot cooperates with the weighing device to realize continuous automatic weighing.

[0035] Preferably, the weighing device further comprises a cleaning component, which comprises:

[0036] a brush, which comprises a first brush head and a second brush head, the first brush head and the second brush head are located on opposite sides of the trough, the brush has a first working state and a second working state, when the brush is in the first working state, the first brush head and the second brush head are close to each other to form a cleaning area matched with the trough, if the trough passes through the cleaning area, the first brush head and the second brush head can brush off the coal samples attached to the outer wall of the trough; when the brush is in the second working state, the first brush head and the second brush head are away from each other,

[0037] a second driving component, which is arranged on the support, the second driving component can make the brush switch between the first working state and the second working state,

[0038] a collecting groove, which is located between the balance and the support and below the trough, for collecting the coal samples shaken off from the outer wall of the trough and / or brushed off by the brush.

[0039] By arranging the cleaning component, the coal samples in the coal sample bottle can be prevented from being contaminated.

[0040] Further preferably, the second driving component comprises a first air cylinder and a transmission rod for connecting the first air cylinder and the brush, when the first air cylinder is in an open state, the first brush head and the second brush head are away from each other; when the first air cylinder is in a closed state, the first brush head and the second brush head are close to each other to form the cleaning area, this cleaning component has simple structure, stable operation, long service life, convenient maintenance and low modification cost.

[0041] Still further preferably, the sliding seat is provided with a first position switch and a second position switch, the first position switch and the second position switch are respectively connected to the second driving component through electric signals,

[0042] When the hopper is in the first working position, the slider is in contact with the first position switch, and the first position switch controls the second driving component to drive the brush to change from the first working state to the second working state.

[0043] When the hopper is in the second working position, the slider is in contact with the second position switch, and the second position switch controls the second driving component to drive the brush to change from the second working state to the first working state.

[0044] By setting the first position switch and the second position switch, the cleaning component can work automatically, and high automation is achieved.

[0045] Preferably, the cover opening and closing device comprises a positioning assembly for fixing the sample bottle, a clamping part capable of clamping the cover of the sample bottle, a third driving component capable of driving the clamping part to rotate the cover of the sample bottle around the axis thereof, and a fourth driving component capable of driving the clamping part to approach or move away from the cover of the sample bottle.

[0046] The cover opening and closing device can also be used for other covers of articles that are opened and closed by rotation, such as for opening or closing the cover of an oxygen bomb, and is of course not limited to the present application.

[0047] Further preferably, the positioning assembly comprises a first positioning member, a second positioning member, and a fifth driving component for driving the first positioning member to approach the second positioning member to form a working area, and when the cover opening and closing device works, the sample bottle is fixed in the working area.

[0048] The clamping part comprises a clamping jaw and a second air cylinder connected with the clamping jaw and capable of driving the clamping jaw to clamp the cover of the sample bottle.

[0049] The third driving component comprises a second motor and a pneumatic slip ring, and the output shaft of the second motor is connected with the second air cylinder through the pneumatic slip ring.

[0050] The fourth driving component is a third air cylinder.

[0051] The second motor is connected with the second air cylinder by a vertical direction insertion pin shaft mode, so that the second air cylinder can adapt to the lifting movement generated in the process of unscrewing the bottle cap, and the pneumatic slip ring functions to prevent the air pipe of the second air cylinder from being knotted in the process of rotation.

[0052] Further preferably, the opening and closing cover device further comprises a mounting bracket, the mounting bracket comprises a fixed bottom plate, a stand fixedly connected with the fixed bottom plate, a first support plate fixedly connected with the stand arranged in sequence from bottom to top along the stand, a second support plate slidingly connected with the stand, a third support plate fixedly connected with the stand, and a fixed seat fixedly connected with the fixed bottom plate,

[0053] The fifth driving component is mounted on the first support plate, the base of the third cylinder is fixedly connected with the third support plate, and the output end of the third cylinder is fixedly connected with the second support plate,

[0054] The second motor is mounted on the upper surface of the second support plate, the output shaft of the second motor penetrates through the second support plate, and the pneumatic slip ring is located below the second support plate,

[0055] The second positioning member is fixedly arranged on the fixed seat, and the second positioning member, the third driving component and the clamping part are located on the same side of the mounting bracket.

[0056] The structure is simple, easy to install, easy to disassemble and repair, and can maintain long-term automatic and stable operation of the opening and closing cover device.

[0057] Preferably, the crucible storage device comprises a crucible storage rack, the crucible storage rack is provided with multiple steps, grooves for placing porcelain boats and grooves for placing volatile crucible covers are arranged on the steps at the bottom, and grooves matched with crucibles and capable of placing crucibles are arranged on the remaining steps.

[0058] Further preferably, the grooves on each of the remaining steps are of the same specification, and the grooves arranged on different steps are of different specifications. During use, the first robot can be controlled to take crucibles of a required specification to a designated position or send crucibles at the designated position to grooves of a corresponding specification through program setting.

[0059] Through cooperation of the first robot with the opening and closing cover device and the automatic weighing device, automatic and continuous sampling operation and heat release determination work can be realized.

[0060] Preferably, the crucible conveying device comprises a linear sliding table module and a third motor, the linear sliding table module comprises a guide rail and a sliding member provided with a crucible placing hole and slidingly connected with the guide rail, and the third motor is used to drive the sliding member to slide along the guide rail, and the third motor is connected with the second control device through an electrical signal. Through the crucible conveying device, samples in the first chamber that have been weighed and are used for instrument testing in the second chamber can be transferred to the second chamber together with crucibles.

[0061] Preferably, the detection assembly comprises one or more of water-gas detection device, volatile component detection device, total sulfur detection device, and total moisture detection device. In specific applications, different detection assembly combinations can be selected according to needs.

[0062] Under the control of the first control device, the second robot transfers the sample from the first chamber to the corresponding instrument with the crucible, and then controls the instrument to perform testing through the second control device. After the testing is completed, the first control device can control the second robot to transfer the crucible in each instrument to a designated position.

[0063] Each instrument in the second chamber can be used for single sample testing or multiple sample simultaneous testing, and the simultaneous testing can reduce the detection time.

[0064] It should be noted that, in this document, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0066] Compared with the prior art, the beneficial effects of the present application are:

[0067] The present application realizes the miniaturization of the robot, the simplification of the overall device, the more reasonable space layout, the convenience of instrument maintenance and repair in the later period, the more stable and efficient system operation, and the avoidance of the influence of high-temperature instruments on the determination of heat release. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 is a structural schematic diagram of a coal quality analysis system according to an embodiment of the present application; Figure 1 Figure 1 is a structural schematic diagram of a coal quality analysis system according to an embodiment of the present application;

[0069] Figure 2 is a structural schematic diagram of a first chamber of a coal quality analysis system according to an embodiment of the present application; Figure 2 Figure 2 is a structural schematic diagram of a first chamber of a coal quality analysis system according to an embodiment of the present application;

[0070] Figure 2 is a schematic diagram of the structure of a second chamber of a coal quality analysis system according to a specific embodiment; Figure 3 Figure 3 is a schematic diagram of the structure of a cover opening and closing device according to a specific embodiment;

[0071] Figure 4 is a schematic diagram of the structure of a weighing device according to a specific embodiment; Figure 4 Figure 5 is a schematic diagram of the structure of a brush part of the weighing device according to a specific embodiment;

[0072] Figure 6 is a schematic diagram of the structure of a crucible storage rack according to a specific embodiment; Figure 5 Figure 7 is a schematic diagram of the structure of the crucible storage rack according to a specific embodiment;

[0073] Figure 8 is a schematic diagram of the structure of the brush part of the weighing device according to a specific embodiment; Figure 6 Figure 9 is a schematic diagram of the structure of a crucible storage rack according to a specific embodiment;

[0074] Figure 7 Figure 10 is a schematic diagram of the structure of the crucible storage rack according to a specific embodiment;

[0075] Figure 11 is a schematic diagram of the structure of the crucible storage rack according to a specific embodiment; Figure 8 Figure 12 is a schematic diagram of the structure of the crucible storage rack according to a specific embodiment;

[0076] Figure 9 Figure 13 is a schematic diagram of the structure of the crucible storage rack according to a specific embodiment;

[0077] Figure 14 is a schematic diagram of the structure of a part of a crucible conveying device according to a specific embodiment; Figure 10 In the above figures:

[0078] 1. first chamber; 11. first robot; 111. first guide rail; 112. first mechanical arm; 12. cover opening and closing device; 121. first positioning member; 122. second positioning member; 123. fourth air cylinder; 124. clamping jaw; 125. second air cylinder; 126. pneumatic slip ring; 127. second motor; 128. third air cylinder; 1291. fixed base plate; 1292. stand; 1293. first support plate; 1294. second support plate; 1295. third support plate; 1296. fixing seat; 13. weighing device; 131. balance; 132. support; 133. sliding seat; 134. sliding block; 135. connecting rod member; 136. trough; 137. vibration motor; 138. brush; 1381. first brush head; 1382. second brush head; 139. first air cylinder; 1391. transmission rod member; 1310. fixed table top; 1311. collection groove; 1312. first position switch; 1313. second position switch; 14. crucible storage device; 141. crucible storage rack; 15. heat quantity detection device; 16. sample conveying device; 17. crucible; 18. coal sample bottle; 19. crucible conveying device; 191. linear sliding table module; 1911. guide rail; 1912. sliding member;

[0079]

[0080] ​​​2. Second chamber; 21. Second robot; 211. Second guide rail; 212. Second robotic arm; 22. Water and ash detection device; 23. Volatile matter detection device; 24. Total sulfur detection device; 25. Total moisture detection device;

[0081] 31. First control device; 32. Second control device. Detailed Implementation

[0082] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] This embodiment is a preferred implementation of the coal quality analysis system of the present invention, as shown in the attached figure. Figures 1 to 3 As shown, the coal quality analysis system includes an operating room, which is divided into a first chamber 1 and a second chamber 2 by insulated walls (not shown in the figure). Figure 1 and Figure 2 As shown, the first chamber 1 is equipped with an opening and closing lid device 12, a weighing device 13, a crucible storage device 14, a calorific value detection device 15, and a first robot 11. Figure 1 and Figure 3 As shown, the second chamber 2 is equipped with a detection component and a second robot 21. A crucible conveying device 19 for conveying crucibles is provided between the first chamber 1 and the second chamber 2. The coal quality analysis system also includes a first control device 31 for controlling the first robot 11 and the second robot 21, and a second control device 32 for controlling the operation of the lid opening and closing device 12, the weighing device 13, the calorific value detection device 15, and the detection component. The first robot 11 includes a first guide rail 111 and a first robotic arm 112 with mechanical grippers slidably connected to the first guide rail 111. The lid opening and closing device 12, the weighing device 13, the crucible storage device 14, and the calorific value detection device 15 are arranged along the extension direction of the first guide rail 111. The second robot 21 includes a second guide rail 211 and a second robotic arm 212 with mechanical grippers slidably connected to the second guide rail 211. The detection component is arranged along the extension direction of the second guide rail 211.

[0084] In this embodiment, the first guide rail 111 and the second guide rail 211 are parallel to the heat-insulating wall, and the crucible conveying device 19 passes vertically through the heat-insulating wall, with one end located in the first chamber 1 and the other end located in the second chamber 2.

[0085] In the embodiment, the first mechanical arm 112 and the second mechanical arm 212 respectively include a plurality of articulated connecting arms, the first control device 31 is a PLC control system, which can control the first mechanical arm 112 and the second mechanical arm 212 to reach a specified position, control the connecting arms to adjust the mechanical gripper to a specified position, and control the mechanical gripper to clamp or release.

[0086] In the embodiment, as shown in Figure 4 The opening and closing cover device 12 includes a positioning assembly for fixing the sample bottle, a clamping part capable of clamping the cover of the sample bottle, a third driving part capable of driving the clamping part to rotate the cover of the sample bottle around its own axis, a fourth driving part capable of driving the clamping part to approach or move away from the cover of the sample bottle, and a mounting bracket.

[0087] The positioning assembly includes a first positioning member 121, a second positioning member 122, and a fifth driving part for driving the first positioning member 121 to approach the second positioning member 122 to form a working area, when the opening and closing cover device 12 is working, the sample bottle is fixed in the working area; the clamping part includes a gripper 124, and a second cylinder 125 connected with the gripper 124, capable of driving the gripper 124 to clamp the cover of the sample bottle; the third driving part includes a second motor 127 and a pneumatic slip ring 126, the output shaft of the second motor 127 passes through the pneumatic slip ring 126 and is connected with the second cylinder 125; the fourth driving part is a third cylinder 128; the fifth driving part is a fourth cylinder 123; the first positioning member 121 is in the form of a gripper.

[0088] The mounting bracket includes a fixed bottom plate 1291, a stand 1292 fixedly connected with the fixed bottom plate 1291, a first support plate 1293 fixedly connected with the stand 1292, a second support plate 1294 slidingly connected with the stand 1292, a third support plate 1295 fixedly connected with the stand 1292, and a fixed seat 1296 fixedly connected with the fixed bottom plate 1291, the fourth cylinder 123 is installed on the first support plate 1293, the base of the third cylinder 128 is fixedly connected with the third support plate 1295, the output end of the third cylinder 128 is fixedly connected with the second support plate 1294, the second motor 127 is installed on the upper surface of the second support plate 1294, the output shaft of the second motor 127 passes through the second support plate 1294, the pneumatic slip ring 126 is located below the second support plate 1294, the second positioning member 122 is fixedly arranged on the fixed seat 1296, the second positioning member 122, the second motor 127 and the clamping part are located on the same side of the mounting bracket.

[0089] The opening and closing cover device 12 is simple in structure, easy to install and disassemble and repair, and can keep long-term automatic and stable operation. Of course, the opening and closing cover device 12 in the embodiment can also be used for the cover of other objects opened and closed by rotation, for example, for opening or closing the cover of an oxygen bomb, and is not limited to the coal quality analysis system.

[0090] In the embodiment, as shown in Figure 5 and Figure 6 , the weighing device 13 includes a balance 131 placed on a scale pan of a fixed table top 1310 and capable of placing a crucible, a support 132 for fixing the coal sample bottle 18 so that the coal sample bottle 18 is inclined with the opening downward, a sample transfer assembly, and a cleaning assembly.

[0091] The sample transfer assembly includes a sliding seat 133 between the balance 131 and the support 132, a sliding block 134 in sliding connection with the sliding seat 133, a first driving component for driving the sliding block 134 to slide along the sliding seat 133, a chute 136 fixedly connected with the sliding block 134 through a connecting rod 135, and a vibration motor 137 installed at the bottom of the chute 136 and capable of shaking the chute 136. The feeding port of the chute 136 faces the support 132, and the discharging port of the chute 136 faces the balance 131. The chute 136 has a first working position and a second working position. When the chute 136 is in the first working position, one end of the chute 136 where the feeding port is located extends into the coal sample bottle 18. When the chute 136 is in the second working position, the discharging port of the chute 136 is located above the crucible 17 on the scale pan, and the vibration motor 137 is in an open state. In the embodiment, the chute 136 is inclined downward by about 20° from the feeding port to the discharging port, the length of the chute 136 is 20 cm, the distance between the balance 131 and the support 132 is about 30 cm (calculated by the shortest straight line distance between the balance 131 and the support 132), the vibration frequency of the vibration motor 137 is 10 times per second, and the amplitude is 0.3 mm. At this time, the coal sample can slowly and stably slide from the discharging port, ensuring the accuracy of the sampling amount. The balance 131 is connected with the second control device 32 through a sensor; the first driving component and the vibration motor 137 are respectively connected with the second control device 32 through electrical signals; and the first driving component is a first motor. Through cooperation of the first robot 11 and the weighing device 13, continuous automatic weighing can be realized.

[0092] The cleaning assembly includes a brush 138, a second driving component, a collection groove 1311, and a position switch arranged on the sliding groove.

[0093] As shown in Figure 6The brush 138 includes a first brush head 1381 and a second brush head 1382, which are located at opposite sides of the trough 136. The brush 138 has a first working state and a second working state. When the brush 138 is in the first working state, the first brush head 1381 and the second brush head 1382 are close to each other to form a cleaning area matching the trough. If the trough 136 passes through the cleaning area, the first brush head 1381 and the second brush head 1382 can brush off the coal samples attached to the outer wall of the trough 136. When the brush 138 is in the second working state, the first brush head 1381 and the second brush head 1382 are away from each other. The second driving component is arranged on the support 132 and can convert the brush 138 between the first working state and the second working state. The collecting trough 1311 is located between the balance 131 and the support and below the trough 136, and is used to collect the coal samples shaken off from the outer wall of the trough 136 and / or brushed off by the brush 138.

[0094] The second driving component includes a first cylinder 139 and a transmission rod 1391 connecting the first cylinder 139 and the brush 138. When the first cylinder 139 is in an open state, the first brush head 1381 and the second brush head 1382 are away from each other. When the first cylinder 139 is in a closed state, the first brush head 1381 and the second brush head 1382 are close to each other to form the cleaning area. The first limit switch 1312 and the second limit switch 1313 are respectively connected to the first cylinder 139 through electrical signals. When the trough 136 is in the first working position, the sliding block 134 contacts the first limit switch 1312, and the first limit switch 1312 controls the first cylinder 139 to drive the brush 138 to change from the first working state to the second working state. When the trough 136 is in the second working position, the sliding block 134 contacts the second limit switch 1313, and the second limit switch 1313 controls the first cylinder 139 to drive the brush 138 to change from the second working state to the first working state.

[0095] The cleaning component has simple structure, stable operation, long service life, convenient maintenance, low modification cost, and can realize automatic work and high automation through the first limit switch 1312 and the second limit switch 1313.

[0096] As Figures 7 to 9As shown, the crucible storage device 14 includes a crucible storage rack 141, which is provided with multiple layers of steps, and grooves for placing porcelain boats and volatile fraction crucible covers are arranged on the steps at the bottom, and grooves for placing crucibles are arranged on the remaining steps. In this embodiment, the grooves on each of the remaining steps are of the same size, and the grooves arranged on different steps are of different sizes. In use, the first robot 11 can be controlled by a program to take crucibles of the required size to a designated position or to take crucibles from a designated position to the grooves of the corresponding size.

[0097] As shown, Figure 10 As shown, the crucible conveying device 19 includes a linear slide module 191 and a third motor, the linear slide module 191 includes a guide rail 1911 and a sliding member 1912 having a crucible placing hole and being in sliding connection with the guide rail 1911, and the third motor is used to drive the sliding member 1912 to slide along the guide rail 1911, and the third motor is connected with the second control device through an electrical signal.

[0098] In this embodiment, in the first chamber 1, the first robot 11 can not only complete the taking, placing and transferring of coal sample bottles and crucibles, but also assist the heat value detection device 15 in the steps of sample placing, water adding, oxygen bomb loading, oxygen filling, oxygen bomb hanging, oxygen bomb taking, gas releasing, oxygen bomb opening and pot discarding. Since these steps can be automatically completed in multiple units with high automation, and the first robot 11 can transfer the crucibles and oxygen bombs between different units, in the second chamber 2, the detection assembly includes water and ash detection devices 22, volatile fraction detection devices 23, total sulfur detection devices 24 and total moisture detection devices 25 arranged along the extension direction of the second guide rail 211. In specific applications, different detection assembly combinations can be selected and used as needed. They can be arranged on the same side of the second guide rail 211 or distributed on both sides. Under the control of the first control device 31, the second robot 21 transfers the samples from the first chamber 1 with the crucibles to the corresponding instruments, and then controls the instruments to test through the second control device 32. After the testing is completed, the first control device 31 can control the second robot 21 to transfer the crucibles in the instruments to designated positions. Each instrument in the second chamber 2 can test a single sample or multiple samples at the same time, and testing multiple samples at the same time can reduce the detection time. During the sample weighing process performed by the first robot 11, the second robot 21 can place the weighed samples into the instruments, without waiting for all the samples to be weighed, thereby improving the overall efficiency of the system.

[0099] In this embodiment, a sample conveying device 16 is further arranged at the front end of the first guide rail 111, which can be connected with the outside to convey the coal samples to be detected with the bottles to the first robot 11. The first guide rail 111 and the second guide rail 211 can be suspended or arranged on the ground according to the site conditions, and the suspended arrangement is preferred.

[0100] Two track mobile robots are arranged in two heat-insulated detection chambers respectively, the sample weighing operation and the heat output detection operation are arranged in the same detection chamber, and other instruments which generate a large amount of heat are arranged in the other detection chamber. Through the crucible conveying device 19, the sample weighed in the first chamber 1 for instrument test in the second chamber 2 is transferred to the second chamber 2 with the crucible, so that the detection accuracy is improved, the robot is miniaturized, the system operation is more stable, the space layout is reasonable, and instrument maintenance and repair are facilitated. Through the first control unit and the second control unit, full automation can be realized, and the detection efficiency is improved through program design.

[0101] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A coal quality analysis system, characterized by, The coal quality analysis system comprises an operation room, the operation room is divided into a first chamber (1) and a second chamber (2) by a heat-insulating wall, The first chamber (1) is provided with an opening and closing cover device (12), a weighing device (13), a crucible storage device (14), a calorific value detection device (15) and a first robot (11), the first robot (11) comprises a first guide rail (111) and a first mechanical arm (112) provided with a mechanical clamp and connected with the first guide rail (111) in a sliding mode, the opening and closing cover device (12), the weighing device (13), the crucible storage device (14) and the calorific value detection device (15) are arranged along the extension direction of the first guide rail (111), The second chamber (2) is provided with a detection assembly and a second robot (21), the second robot (21) comprises a second guide rail (211) and a second mechanical arm (212) provided with a mechanical clamp and connected with the second guide rail (211) in a sliding mode, the detection assembly is arranged along the extension direction of the second guide rail (211), and a crucible conveying device (19) for conveying crucibles is arranged between the first chamber (1) and the second chamber (2), The coal quality analysis system further comprises a control unit, the control unit comprises a first control device (31) for controlling the first robot (11) and the second robot (21), and a second control device (32) for controlling the opening and closing cover device (12), the weighing device (13), the calorific value detection device (15) and the detection assembly, The crucible conveying device comprises a linear slide module (191) and a third motor, the linear slide module (191) comprises a guide rail (1911) and a sliding member (1912) provided with a crucible placing hole and connected with the guide rail (1911) in a sliding mode, the third motor is used for driving the sliding member (1912) to slide along the guide rail (1911), and the third motor is connected with the second control device (32) through an electrical signal, And / or, the crucible storage device (14) comprises a crucible storage rack (141), the crucible storage rack (141) is provided with multiple steps, grooves for placing porcelain boats and grooves for placing volatile fraction crucible covers are arranged on the steps at the bottom, grooves matched with crucibles and capable of placing the crucibles are arranged on the remaining steps, the grooves on each of the remaining steps are consistent in specification, and the grooves arranged on different steps of the remaining steps are different in specification, And / or, the detection assembly comprises one or more of a water and cement detection device (22), a volatile fraction detection device (23), a total sulfur detection device (24) and a total moisture detection device (25). The first mechanical arm (112) and the second mechanical arm (212) respectively comprise a plurality of active connection connecting arms, the first control device (31) is a PLC control system, which can control the first mechanical arm (112) and the second mechanical arm (212) to reach a specified position, control the connecting arms to adjust the mechanical gripper to a specified position, and control the mechanical gripper to clamp or release.

2. The coal quality analysis system of claim 1, wherein The weighing device (13) comprises: a balance (131), a crucible can be placed on the scale pan of the balance (131); a support (132) for fixing a coal sample bottle, so that the opening of the coal sample bottle is downwardly inclined; a sample transfer assembly, which comprises: a sliding seat (133) located between the balance (131) and the support (132); a sliding block (134) in sliding connection with the sliding seat (133); a first driving component for driving the sliding block (134) to slide along the sliding seat (133); a chute (136) fixedly connected with the sliding block (134) through a connecting rod (135), the feeding port of the chute (136) faces the support (132), the discharging port of the chute (136) faces the balance (131), and the chute (136) is downwardly inclined from the feeding port to the discharging port; and a vibration motor (137) installed at the bottom of the chute (136) and capable of causing the chute (136) to vibrate; The chute (136) has a first working position and a second working position, when the chute (136) is located at the first working position, one end of the chute (136) where the feeding port is located extends into the coal sample bottle; When the chute (136) is located at the second working position, the discharging port of the chute (136) is located above the crucible on the scale pan, and the vibration motor (137) is in an open state.

3. The coal quality analysis system of claim 2, wherein, The balance (131) is connected with the second control device (32) through a sensor, the first driving component and the vibration motor (137) are respectively connected with the second control device (32) through electrical signals; And / or, the first driving component is a first motor; And / or, the inclination angle of the chute (136) is 10-30°; And / or, the length of the chute (136) is 0.5-0.8 times the distance between the balance (131) and the support (132); And / or, the length of the chute (136) is 15-25 cm; and / or, the vibration frequency of the vibration motor (137) is 5-15 times per second, and the amplitude is 0.2-0.5 mm.

4. The coal quality analysis system of claim 2, wherein, The weighing device (13) further comprises a cleaning component, the cleaning component comprises: A brush (138) is arranged on the support (132), the brush (138) comprises a first brush head (1381) and a second brush head (1382), the first brush head (1381) and the second brush head (1382) are located on opposite sides of the chute (136), the brush (138) has a first working state and a second working state, when the brush (138) is in the first working state, the first brush head (1381) and the second brush head (1382) are close to each other to form a cleaning area matched with the chute (136), if the chute (136) passes through the cleaning area, the first brush head (1381) and the second brush head (1382) can brush off the coal samples attached to the outer wall of the chute (136); when the brush (138) is in the second working state, the first brush head (1381) and the second brush head (1382) are away from each other, A second driving component is arranged on the support (132), the second driving component can convert the brush (138) between the first working state and the second working state, a collecting groove (1311) is located between the balance (131) and the support (132) and below the chute (136), and is used for collecting the coal samples shaken off from the outer wall of the chute (136) and / or brushed off by the brush (138).

5. The coal quality analysis system according to claim 4, wherein The second driving component comprises a first cylinder (139) and a transmission rod (1391) for connecting the first cylinder (139) and the brush (138), when the first cylinder (139) is in an open state, the first brush head (1381) and the second brush head (1382) are away from each other; when the first cylinder (139) is in a closed state, the first brush head (1381) and the second brush head (1382) are close to each other and form the cleaning area; the slide (133) is provided with a first position switch (1312) and a second position switch (1313), the first position switch (1312) and the second position switch (1313) are connected with the second driving component through electrical signals respectively, When the chute (136) is in the first working position, the slider (134) is in contact with the first position switch (1312), the first position switch (1312) controls the second driving component to drive the brush (138) to change from the first working state to the second working state. When the material tank (136) is in the second working position, the slider (134) is in contact with the second arrival switch (1313), and the second arrival switch (1313) controls the second driving component to change the brush (138) from the second working state to the first working state.

6. The coal quality analysis system of claim 1, wherein, The opening and closing cover device (12) comprises a positioning assembly for fixing a sample bottle, a clamping part capable of clamping a cover of the sample bottle, a third driving component capable of driving the clamping part to rotate the cover of the sample bottle around an axis thereof, and a fourth driving component capable of driving the clamping part to approach or move away from the cover of the sample bottle.

7. The coal quality analysis system of claim 6, wherein, The positioning assembly comprises a first positioning member (121), a second positioning member (122), and a fifth driving component for driving the first positioning member (121) to approach the second positioning member (122) to form a working area, and when the opening and closing cover device (12) is working, the sample bottle is fixed in the working area. The clamping part comprises a clamping jaw (124) and a second air cylinder (125) connected with the clamping jaw (124) and capable of driving the clamping jaw (124) to clamp the cover of the sample bottle. The third driving component comprises a second motor (127) and a pneumatic slip ring (126), an output shaft of the second motor (127) passes through the pneumatic slip ring (126) and is connected with the second air cylinder (125), the fourth driving component is a third air cylinder (128), and the fifth driving component is a fourth air cylinder (123).

8. The coal quality analysis system of claim 7, wherein, The opening and closing cover device (12) further comprises a mounting bracket, the mounting bracket comprises a fixed bottom plate (1291), a stand (1292) fixedly connected with the fixed bottom plate (1291), a first support plate (1293) fixedly connected with the stand (1292), a second support plate (1294) slidably connected with the stand (1292), a third support plate (1295) fixedly connected with the stand (1292), and a fixed seat (1296) fixedly connected with the fixed bottom plate (1291), The fifth driving component is mounted on the first support plate (1293), a base of the third air cylinder (128) is fixedly connected with the third support plate (1295), and an output end of the third air cylinder (128) is fixedly connected with the second support plate (1294), The second motor (127) is mounted on an upper surface of the second support plate (1294), an output shaft of the second motor (127) passes through the second support plate (1294), and the pneumatic slip ring (126) is located below the second support plate (1294), The second positioning member (122) is fixedly arranged on the fixing base (1296), and the second positioning member (122), the third driving component and the clamping portion are located on the same side of the mounting bracket.

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