Deslagging method, system and device for coal mill

Abstract

The invention provides a slag discharging method for a coal mill. The slag discharging method comprises the following steps: checking slag storage states of slag discharging devices of all the coal mills; when the stored slag of any slag discharging device reaches a first set value, the position of the slag discharging device reaching the first set value is obtained; the working state of the transfer robot is judged; when the transferring robot does not execute the deslagging task, the transferring robot is controlled to conduct deslagging on the deslagging device reaching the first set value. According to the deslagging method, system and device for the coal mill, work such as automatic opening and closing of a deslagging door and automatic transferring, overturning and returning of a pebble coal box is achieved; the whole process is unattended, the deslagging working efficiency of the coal mill is effectively improved, the labor cost and the labor intensity of a power plant are reduced, and the safety risk is reduced.

Description

Technical Field

[0001] The invention relates to the field of coal mill slag discharge, and in particular to a slag discharge method, system and device for a coal mill. Background Art

[0002] At present, the stone coal boxes used to collect the stone coal slag of the coal mill in coal-fired power plants generally rely on manually operated forklifts for transportation. This is carried out in a harsh working environment with a lot of dust and loud noise, which not only puts the workers at serious health risks, but also leads to extremely high labor intensity. In addition, manual transportation also has the problem of low work efficiency. Due to human factors, the transportation speed and accuracy are difficult to guarantee. As labor costs continue to rise, the operating costs of enterprises also increase accordingly. Summary of the invention

[0003] The purpose of the present invention is to provide a slag discharge method for a coal mill, which realizes automatic opening and closing of a slag discharge door, automatic transfer, overturning and return of a stone coal box, etc., without human supervision throughout the process, effectively improving the slag discharge efficiency of the coal mill, reducing the labor cost and labor intensity of a power plant, and reducing safety risks.

[0004] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a slag discharge method for a coal mill, comprising: checking the slag storage status of all the slag discharge devices of the coal mill; when the slag storage of any of the slag discharge devices reaches a first set value, obtaining the position of the slag discharge device that has reached the first set value; judging the working status of a transfer robot; and when the transfer robot has not performed the slag discharge task, controlling the transfer robot to discharge the slag from the slag discharge device that has reached the first set value.

[0005] Furthermore, the slag discharge device includes a weighing sensor, a pressure relief valve, a clamping device, a gravel coal pipe and a gravel coal box; the weighing sensor is arranged below or on both sides of the gravel coal box, the weighing sensor can detect the weight of the gravel coal box, the pressure relief valve is connected to the gravel coal box, and the pressure relief valve can adjust the pressure of the gravel coal box; a feed port is provided on the gravel coal box, the clamping device is connected to the gravel coal pipe, the clamping device can clamp the gravel coal pipe to the feed port, the slag discharge door is arranged on the gravel coal pipe, and opening the slag discharge door can allow the gravel coal slag to enter the gravel coal box through the gravel coal pipe.

[0006] Furthermore, after controlling the transfer robot to discharge the slag of the slag discharge device that reaches the first set value, the method further includes: judging the power of the transfer robot; when the power of the transfer robot is less than a preset power, controlling the transfer robot to move to a charging pile for charging.

[0007] Further, controlling the transfer robot to discharge slag from the slag discharge device that has reached the first set value includes: judging whether the slag discharge door of the slag discharge device corresponding to the slag discharge device that has reached the first set value is closed; when the slag discharge door is in an open state, controlling the slag discharge door to be closed; when the slag discharge door is in a closed state, controlling the transfer robot to go to the slag discharge device that has reached the first set value to fork the stone coal box; controlling the transfer robot to dump the slag in the forked stone coal box after transporting to the designated position; transporting the stone coal box after dumping the slag to the corresponding position of the coal mill and installing the stone coal box on the coal mill; opening the slag discharge door.

[0008] Furthermore, after controlling the slag discharge door to close, the method further includes: opening the pressure relief valve; spraying the pebble coal box; and driving the clamping device to make the pebble coal pipe leave the pebble coal box.

[0009] Furthermore, before opening the slag discharge door, the method includes: driving the pressing device to press the stone coal pipe to the feed inlet; and closing the pressure relief valve.

[0010] Furthermore, controlling the transfer robot to dump the slag in the forked gravel coal box includes: obtaining the position of the slag dumping area; moving the gravel coal box to the slag dumping area by the transfer robot; dumping the slag in the gravel coal box into the slag dumping area; and moving the gravel coal box after dumping the slag to the corresponding coal mill.

[0011] Furthermore, obtaining the position of the coal mill corresponding to the slag discharge device that reaches the first set value includes: numbering all the coal mills; confirming the position corresponding to each number; obtaining the number of the coal mill corresponding to the slag discharge device that reaches the first set value; and confirming the position of the slag discharge device that reaches the first set value according to the number of the coal mill corresponding to the slag discharge device that reaches the first set value.

[0012] On the other hand, a slag discharge system for a coal mill is provided, comprising: a slag status monitoring mechanism for checking the slag status of the slag discharge devices of all the coal mills; a position judgment mechanism for acquiring the position of the coal mill corresponding to the slag discharge device that has reached the first set value when the slag in any of the slag discharge devices reaches a first set value; a robot control mechanism for judging the working status of a transfer robot; and a scheduling mechanism for controlling the transfer robot to discharge the slag from the slag discharge device that has reached the first set value according to the position of the coal mill when the transfer robot has not performed the slag discharge task.

[0013] On the other hand, an electronic device is provided, comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned slag removal method.

[0014] Analysis shows that the present invention discloses a slag discharge method, system and device for a coal mill. The present invention realizes automatic opening and closing of the slag discharge door, automatic transfer, overturning and return of the stone coal box, etc., without human supervision throughout the process, effectively improving the slag discharge efficiency of the coal mill, reducing the labor cost and labor intensity of the power plant, and reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0016] Figure 1 A schematic diagram of the moving route of a transfer robot according to an embodiment of the present invention.

[0017] Figure 2 A flow chart of a slag removal method for a coal mill according to an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of the working process of a slag discharge system for a coal mill according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0020] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0021] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", and "fourth", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0022] like Figure 1-Figure 3 As shown, according to an embodiment of the present invention, a slag discharge method for a coal mill is provided, comprising:

[0023] Step S101, checking the slag storage status of the slag discharge devices of all coal mills.

[0024] The above-mentioned slag discharge device includes a weighing sensor, a pressure relief valve, a clamping device, a gravel coal pipe and a gravel coal box; the weighing sensor is arranged below or on both sides of the gravel coal box, the weighing sensor can detect the weight of the gravel coal box, the pressure relief valve is connected to the gravel coal box, and the pressure relief valve can adjust the pressure of the gravel coal box; a feed port is provided on the gravel coal box, the clamping device is connected to the gravel coal pipe, the clamping device can clamp the gravel coal pipe to the feed port, and a slag discharge door is arranged on the gravel coal pipe, and opening the slag discharge door can allow the gravel coal slag to enter the gravel coal box through the gravel coal pipe.

[0025] Usually, the weight of the pebble coal box can be detected by a weighing sensor, thereby determining the amount of slag stored in the pebble coal box.

[0026] Step S102, when the slag stored in any slag discharge device reaches a first set value, the position of the slag discharge device that reaches the first set value is obtained.

[0027] The above-mentioned method of obtaining the position of the coal mill corresponding to the slag discharge device that reaches the first set value includes: numbering all coal mills; confirming the position corresponding to each number; obtaining the number of the coal mill corresponding to the slag discharge device that reaches the first set value; and confirming the position of the slag discharge device that reaches the first set value according to the number of the coal mill corresponding to the slag discharge device that reaches the first set value.

[0028] Coal mills are usually arranged one after the other so that the transfer robot can traverse all slag discharge devices along one path.

[0029] Usually, the value when the slag storage in the stone coal box is close to full load is used as the first set value.

[0030] Step S103, determining the working status of the transfer robot;

[0031] When the transfer robot is performing slag removal work, it waits for the current slag removal work to be completed.

[0032] Step S104, when the transfer robot does not perform the slag discharge task, the transfer robot is controlled to discharge the slag from the stone coal box that reaches the first set value.

[0033] The above-mentioned control of the transfer robot to discharge slag from the stone coal box that has reached the first set value includes: judging whether the slag discharge door of the slag discharge device corresponding to the stone coal box that has reached the first set value is closed; when the slag discharge door is in an open state, controlling the slag discharge door to be closed; when the slag discharge door is in a closed state, controlling the transfer robot to fork the stone coal box; controlling the transfer robot to dump the slag in the forked stone coal box; installing the stone coal box after dumping the slag to the corresponding slag discharge device; opening the slag discharge door.

[0034] The above-mentioned control of the transfer robot to dump the slag in the forked gravel coal box includes: obtaining the position of the slag dumping area; moving the gravel coal box to the slag dumping area by the transfer robot; dumping the slag in the gravel coal box into the slag dumping area; and moving the gravel coal box after dumping the slag to the corresponding coal mill.

[0035] After controlling the slag discharge door to close, it is necessary to: open the pressure relief valve; spray the stone coal box; drive the clamping device to make the stone coal pipe leave the stone coal box.

[0036] Before opening the slag discharge door, it is necessary to: drive the clamping device to compress the stone coal pipe to the feed inlet; close the pressure relief valve.

[0037] Step S105, determine the power level of the transfer robot. When the power level of the transfer robot is less than a preset power level, control the transfer robot to move to a charging station for charging.

[0038] Timely power judgment can enable the transfer robot to meet the needs of continuous work.

[0039] The present invention also discloses a slag discharge system for a coal mill, comprising: a slag storage state monitoring mechanism, which serves as a control platform of the slag discharge device and is capable of checking the slag storage state of the slag discharge devices of all coal mills; a position judgment mechanism, which, when the slag storage of any slag discharge device reaches a first set value, obtains the position of the coal mill corresponding to the slag discharge device that has reached the first set value; a robot control mechanism, which judges the working state of the transfer robot; and a scheduling mechanism, which, when the transfer robot does not perform the slag discharge task, controls the transfer robot to discharge the slag of the slag discharge device that has reached the first set value according to the position of the coal mill.

[0040] The above-mentioned slag discharge device is integrated with a monitoring device, which can receive external signals and monitor and control the weighing sensor, the pressure relief valve and the clamping device.

[0041] The specific working process is as follows: when the stone coal box is full, the dispatching organization sends a command to the transfer robot. After receiving the command from the dispatching organization, the transfer robot starts to automatically drive from the standby position to the front position of the stone coal box, and then sends an arrival signal to the dispatching organization. The dispatching organization sends the slag discharge door closing, pressure relief valve opening and clamping device up command to the slag discharge device. After the slag discharge device receives the command, the slag discharge door, pressure relief valve and clamping device perform the corresponding actions in turn and feed back the executed actions to the dispatching organization. The dispatching organization makes a judgment based on the feedback signal of the slag discharge device and sends the execution fork-picking action to the transfer robot. After receiving the fork-picking action, the transfer robot automatically drives and aligns with the socket at the bottom of the gravel coal box, then automatically drives to the gravel coal slag dumping position, then automatically flips to dump the gravel coal slag cleanly, then automatically returns and places the gravel coal box in its original position and sends instructions to the dispatching agency. After the dispatching agency receives the signal that the gravel coal box has returned to its original position, it sends the pressing device down, the pressure relief valve closed and the slag discharge door open instructions to the slag discharge device in sequence. After receiving the pressing device down, the pressure relief valve closed and the slag discharge door opened instructions, the slag discharge device performs the corresponding actions in sequence, and then the transfer robot drives to the initial standby position.

[0042] The present invention also discloses an electronic device, which includes: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned slag removal method.

[0043] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the present application can simultaneously meet the slag removal and transportation needs of a boiler unit through a transfer robot, which can save 2-3 on-site slag removal operators; it has high safety and reliability, and can perform the coal mill slag removal task uninterruptedly for 24 hours, reducing the safety hazards of power plants caused by coal mill slag removal.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A slag removal method for a coal mill, characterized in that: include: Checking the slag storage status of the slag discharge devices of all the coal mills; When the slag stored in any of the slag discharge devices reaches a first set value, obtaining the position of the slag discharge device that reaches the first set value; Determine the working status of the transfer robot; When the transfer robot does not perform the slag discharge task, the transfer robot is controlled to discharge the slag from the slag discharge device that reaches a first set value.

2. A slag removal method for a coal mill according to claim 1, characterized in that: The slag discharge device includes a weighing sensor, a pressure relief valve, a clamping device, a stone coal pipe, a slag discharge door and a stone coal box; The weighing sensor is arranged below or on both sides of the pebble coal box, and the weighing sensor can detect the weight of the pebble coal box. The pressure relief valve is connected to the pebble coal box, and the pressure relief valve can adjust the pressure of the pebble coal box. The pebble coal box is provided with a feed port, the clamping device is connected to the pebble coal pipe, the clamping device can clamp the pebble coal pipe to the feed port, the slag discharge door is provided on the pebble coal pipe, and opening the slag discharge door can allow the pebble coal slag to pass through the pebble coal pipe into the pebble coal box.

3. A slag removal method for a coal mill according to claim 1, characterized in that: After controlling the transfer robot to discharge slag from the slag discharge device that reaches the first set value, the method further includes: Determining the power level of the transfer robot; When the power of the transfer robot is less than a preset power, the transfer robot is controlled to move to a charging pile for charging.

4. A slag removal method for a coal mill according to claim 2, characterized in that: The controlling the transfer robot to discharge slag from the slag discharge device that reaches a first set value comprises: Determine whether a slag discharge door of the slag discharge device corresponding to the slag discharge device that reaches the first set value is closed; When the slag discharge door is in an open state, controlling the slag discharge door to close; When the slag discharge door is in a closed state, the transfer robot is controlled to go to the slag discharge device that reaches a first set value to fork the stone coal box; Control the transfer robot to transfer to a designated location and then dump the slag in the forked stone coal box; The pebble coal box after dumping the slag is transported to the corresponding position of the coal mill and the pebble coal box is installed on the coal mill; Open the slag discharge door.

5. A slag removal method for a coal mill according to claim 4, characterized in that: After controlling the slag discharge door to be closed, the method further includes: Opening the pressure relief valve; spraying the pebble coal box; The pressing device is driven to make the pebble coal pipe leave the pebble coal box.

6. A slag removal method for a coal mill according to claim 4, characterized in that: Before opening the slag discharge door, the method includes: Driving the pressing device to press the stone coal pipe to the feed inlet; Close the pressure relief valve.

7. A slag removal method for a coal mill according to claim 4, characterized in that: The controlling the transfer robot to dump the slag in the forked stone coal box comprises: Obtain the location of the slag dumping area; The stone coal box is moved to the slag dumping area by the transfer robot; dumping the slag in the stone coal box into the slag dumping area; The stone coal box after dumping the slag is moved to the corresponding coal mill.

8. A slag removal method for a coal mill according to claim 1, characterized in that: The step of obtaining the position of the coal mill corresponding to the slag discharge device reaching the first set value comprises: Numbering all said coal mills; Confirm the position corresponding to each of the numbers; Obtaining the number of the coal mill corresponding to the slag discharge device that reaches the first set value; The position of the slag discharge device that has reached the first set value is confirmed according to the number of the coal mill corresponding to the slag discharge device that has reached the first set value.

9. A slag discharge system for a coal mill, characterized in that: include: A slag state monitoring mechanism for checking the slag state of the slag discharge devices of all the coal mills; A position judgment mechanism, when the slag stored in any of the slag discharge devices reaches a first set value, obtains the position of the coal mill corresponding to the slag discharge device that reaches the first set value; The robot control mechanism determines the working status of the transfer robot; The dispatching mechanism controls the transfer robot to discharge the slag to the slag discharge device that reaches a first set value according to the position of the coal mill when the transfer robot does not perform the slag discharge task.

10. An electronic device, characterized in that: The electronic device comprises: a processor and a memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the slag removal method according to any one of claims 1-8.

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