Coal quality detection system

Abstract

The invention provides a coal quality detection system which comprises a pulverized coal suction mechanism, a briquette forming mechanism, a briquette grabbing mechanism and a briquette detection mechanism, the pulverized coal suction mechanism is used for sucking pulverized coal from a pulverized coal mother pipe and conveying the pulverized coal to the briquette forming mechanism, the briquette forming mechanism can press the pulverized coal into briquettes, and the briquette detection mechanism is used for detecting the briquettes. The briquette grabbing mechanism can grab briquettes from the briquette forming mechanism and move the briquettes to the briquette detection mechanism for coal quality detection. According to the coal quality detection system, online automatic detection of coal quality can be realized under the combined action of the pulverized coal suction mechanism, the coal cake forming mechanism, the coal cake grabbing mechanism and the coal cake detection mechanism, compared with manual sampling detection, the detection process is simplified, the coal quality detection system is more convenient and labor-saving, and the coal quality detection efficiency and quality can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal quality detection, and in particular to a coal quality detection system. Background Art

[0002] Generally, when coal powder is transported to the boiler for combustion, it is often necessary to use a sampler to extract and test the coal powder during transportation. However, traditional samplers often need to be opened manually for sampling multiple times, and the container after sampling needs to be replaced manually and taken to the corresponding testing site for testing, which makes the sampling and testing process of coal powder more cumbersome and labor-intensive. Therefore, a coal quality testing system is needed to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem of the prior art that multiple manual sampling is required to detect coal powder.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a coal quality detection system, including a coal powder suction mechanism, a coal cake forming mechanism, a coal cake grabbing mechanism and a coal cake detection mechanism. The coal powder suction mechanism is used to suck coal powder from a coal powder main pipe and transport the coal powder to the coal cake forming mechanism. The coal cake forming mechanism can press the coal powder into coal cakes. The coal cake grabbing mechanism can grab coal cakes from the coal cake forming mechanism and move the coal cakes to the coal cake detection mechanism for coal quality detection.

[0005] Optionally, the coal powder suction mechanism includes a cyclone separator and a feed pipe and a discharge pipe connected to the cyclone separator, and the feed pipe is connected to the coal powder main pipe.

[0006] Optionally, the coal cake forming mechanism includes a sampling dish, a pressing block and a telescopic drive member, and the sampling dish can move between a sampling position and a pressing position. In the sampling position, the sampling dish is located at the lower side of the discharge pipe; in the pressing position, the sampling dish is located at the lower side of the pressing block, and the telescopic drive member can drive the pressing block to squeeze the coal powder in the sampling dish to form a coal cake.

[0007] Optionally, the coal cake grabbing mechanism includes a mechanical arm and an end effector arranged at the end of the mechanical arm, the mechanical arm can move between a grabbing position and a release position, and the end effector can grab, clamp and release the coal cake.

[0008] Optionally, the coal cake detection mechanism includes a guide rail, a slider and a detection device, the guide rail includes a loading and unloading section, a transition section and a detection section, the loading and unloading section is located at the lower side of the release position, the slider stays in the loading and unloading section and supports the coal cake released by the end actuator, the transition section is located between the loading and unloading section and the detection section, the slider moves in the transition section, the detection section is located at the lower side of the detection device, the slider stays in the detection section, and the detection device can detect the coal quality of the coal cake staying in the detection section.

[0009] Optionally, the guide rail is a closed-loop guide rail.

[0010] Optionally, the coal quality detection system further comprises a coal cake labeling mechanism, and the coal cake grabbing mechanism can move the coal cakes after the coal quality detection to the coal cake labeling mechanism for labeling.

[0011] Optionally, the coal cake labeling mechanism includes a first feed port, a conveyor belt, a printing and labeling machine and a discharge port. The coal cake grabbing mechanism can release the coal cake after coal quality testing to the conveyor belt on the upper side of the first feed port. The conveyor belt can support the coal cake and transport the coal cake to the labeling position and the discharge port in turn. The labeling position is on the lower side of the printing and labeling machine. The printing and labeling machine can print labels and press the printed labels onto the surface of the coal cake at the labeling position.

[0012] Optionally, the coal quality detection system further includes a discarded material recovery mechanism, and the coal cake grabbing mechanism can move the coal cakes after the coal quality detection to the discarded material recovery mechanism for recovery.

[0013] Optionally, the waste material recovery mechanism includes a second feed port, a high-pressure fan, a grinder and a discharge return pipe. The coal cake grabbing mechanism can release the coal cakes after coal quality testing on the upper side of the second feed port. The high-pressure fan can generate negative pressure to suck the coal cakes at the second feed port to the grinding position. The grinder can re-grind the coal cakes into coal powder at the grinding position. The high-pressure fan can also generate positive pressure to transport the ground coal powder to the coal powder main pipe through the discharge return pipe.

[0014] According to the above technical scheme, the coal quality detection system of the present invention can realize online automatic detection of coal quality under the joint action of the coal powder suction mechanism, the coal cake forming mechanism, the coal cake grabbing mechanism and the coal cake detection mechanism. Compared with manual sampling detection, the detection process is simplified, which is more convenient and labor-saving, thereby helping to improve the detection efficiency and quality of coal quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a partial structural diagram of the coal quality detection system;

[0016] Figure 2 It is a partial structural diagram of the coal quality detection system;

[0017] Figure 3 It is a partial structural diagram of the coal quality detection system;

[0018] Figure 4 It is a schematic diagram of the overall structure of the coal quality detection system.

[0019] Description of Reference Numerals

[0020] 1. Coal powder suction mechanism; 11. Feed pipe; 12. Cyclone separator; 13. Discharge pipe; 14. Exhaust pipe; 2. Coal cake forming mechanism; 21. Sampling dish; 22. Press block; 23. Telescopic drive member; 241. Slider; 25. Frame; 251. First opening; 3. Mechanism; 31. Robotic arm; 311. Fixed base; 312. First connecting rod; 313. Second connecting rod; 314. Third connecting rod; 32. End effector; 4. Coal cake detection mechanism; 411. Slider; 412. Closed-loop guide rail; 42. Detection device; 5. Coal cake labeling mechanism; 51. First feed port; 6. Abandoned material recovery mechanism; 61. Second feed port; 62. Discharge return pipe; 71. Protection frame; 72. Protection door. DETAILED DESCRIPTION

[0021] In the present invention, unless otherwise specified, directional words such as "up, down, left, right" are usually understood in conjunction with the directions shown in the drawings and actual applications, and "inside and outside" refer to the inside and outside of the component outline.

[0022] The present invention discloses a coal quality detection system, comprising a coal powder suction mechanism 1, a coal cake forming mechanism 2, a coal cake grabbing mechanism 3 and a coal cake detection mechanism 4. The coal powder suction mechanism 1 is used to suck coal powder from a coal powder main pipe and transport the coal powder to the coal cake forming mechanism 2. The coal cake forming mechanism 2 can press the coal powder into coal cakes. The coal cake grabbing mechanism 3 can grab coal cakes from the coal cake forming mechanism 2 and move the coal cakes to the coal cake detection mechanism 4 for coal quality detection.

[0023] Specifically, the pulverized coal main pipe is the main pipeline for transporting pulverized coal in a coal-fired power plant. It is an important link connecting the coal mill and the boiler burner. Its main function is to mix the pulverized coal ground by the coal mill with hot air and transport the mixture to the various burners of the boiler for combustion.

[0024] During use: first, the coal powder suction mechanism 1 sucks the coal powder in the coal powder main pipe and transports it to the coal cake forming mechanism 2; secondly, the coal cake forming mechanism 2 presses the coal powder into coal cakes through dry pressing technology; thirdly, the coal cake grabbing mechanism 3 locates to the pressing position of the coal cake and grabs the coal cake, and after grabbing, the coal cake grabbing mechanism 3 further carries the coal cake to the coal cake detection mechanism 4 and releases the coal cake; finally, the coal cake detection mechanism 4 performs coal quality detection on the coal cake released by the coal cake grabbing mechanism 3, thereby completely realizing online detection of coal powder.

[0025] Alternatively, if Figure 1As shown, the coal powder suction mechanism 1, the coal cake forming mechanism 2, the coal cake grabbing mechanism 3 and the coal cake detection mechanism 4 are arranged on the same workbench, so that the mechanisms can work together, thereby improving the detection efficiency while ensuring the consistency and accuracy of the detection process. In addition, the highly integrated coal quality detection system has many other beneficial effects, such as data sharing, unified control, and redundancy reduction, which will not be described one by one here.

[0026] Optionally, the pulverized coal suction mechanism 1 includes a cyclone separator 12 , a feed pipe 11 connected to the cyclone separator, and a discharge pipe 13 .

[0027] The cyclone separator 12 can separate solid particles in the gas-solid mixture by using the principle of centrifugal force. In the present invention, the cyclone separator 12 in the coal powder suction mechanism is used to separate coal powder from the coal powder main pipe. Specifically, the gas-powder mixture (a mixture of coal powder and hot air) in the coal powder main pipe enters the cyclone separator 12 through the feed pipe 11 and rotates at a high speed inside the cyclone separator 12. During the rotation, due to the centrifugal force, the heavier coal powder particles are pushed to the inner wall of the cyclone separator 12. Then, due to the gravity, the coal powder particles pushed to the inner wall slide downward along the conical bottom of the cyclone separator 12 and are finally discharged through the discharge pipe 13, while the lighter air forms an ascending airflow in the center of the cyclone separator 12 and is discharged through the exhaust pipe 14 at the top. Optionally, the coal powder suction mechanism may also include an exhauster to further suck air to ensure that the air and coal powder are completely separated.

[0028] Optionally, the briquette forming mechanism 2 includes a sampling dish 21, a pressing block 22 and a telescopic driving member 23. The sampling dish 21 can move between a sampling position and a pressing position. In the sampling position, the sampling dish is located at the lower side of the discharge pipe. In the pressing position, the sampling dish is located at the lower side of the pressing block. The telescopic driving member 23 can drive the pressing block 22 to squeeze the coal powder in the sampling dish 21 to form a briquette.

[0029] Specifically, the sampling dish 21 is located directly below the discharge pipe 13, i.e., at the sampling position, and is used to receive the coal powder discharged from the discharge pipe 13. The sampling dish 21 has a certain depth to achieve the compression of the coal powder in the sampling dish 21. In terms of shape, the sampling dish 21 can be circular. The circular sampling dish 21 is more compatible. For example, it can better match the gripping mechanism of the coal cake gripping mechanism 3, which is specifically manifested in easy positioning, reduced gripping points, and reduced edge effects. Of course, depending on the actual working conditions, a rectangular sampling dish 21 or other special shapes of sampling dishes 21 can also be selected. In order to be more wear-resistant and impact-resistant, and to avoid being scratched or worn by coal powder particles during the sampling process and being crushed by the pressing blocks during the pressing process, the sampling dish 21 can be made of stainless steel; in order to avoid coal powder adhesion, the sampling dish 21 can also be made of non-sticky polytetrafluoroethylene (PTFE), which can be finally determined according to specific application requirements and operating conditions. Preferably, as Figure 2 As shown, the movement of the sampling dish 21 between the sampling position and the pressing position is realized by a linear guide system. Compared with directly realizing the movement of the sampling dish 21 between the sampling position and the pressing position through the coal cake grabbing mechanism 3, the coal cake forming mechanism 2 is more independent, which effectively reduces the dependence of the coal cake forming mechanism 2 on the coal cake grabbing mechanism 3 on the one hand, plays a role in risk isolation, and also reduces the workload of the coal cake grabbing mechanism 3 on the other hand. In addition, the highly independent coal cake forming mechanism 2 is more flexible, and can be more easily and conveniently replaced, upgraded, maintained or expanded in the face of demand changes, technical updates, etc. Since the pressing position has a higher precision requirement, in order to ensure that the sampling dish 21 can accurately move to the pressing position directly below the pressing block 22, the positioning accuracy of the slider 241 in the linear guide system can be enhanced. The specific method can be to install an encoder on the linear guide system, or to install a limit switch on the end side of the guide rail to prevent the slider 241 from exceeding the predetermined range of motion. The pressing block 22 is located directly above the pressing position, and its shape corresponds to that of the sampling dish 21. When the sampling dish 21 moves to the pressing position, the pressing block 22 will move downward under the action of the telescopic driving member 23 and press the coal powder into a coal cake in the sampling dish 21 through a preset stroke (the preset stroke includes a distance that the pressing block 22 runs within the depth range of the sampling dish 21 after entering the sampling dish 21), and then return to the initial position. Optionally, the coal cake forming mechanism 2 also includes a shielding frame 25, which is used to reduce the splashing of coal powder during the pressing process, prevent the coal powder from leaking into the air or scattering to other mechanisms, thereby protecting the working environment and reducing pollution. The shielding frame 25 corresponds to the pressing position and is formed with a first opening 251 on the side facing the coal cake grabbing mechanism, so that the coal cake grabbing mechanism 3 can grab the coal cake from the pressing position; the shielding frame 25 corresponds to the pressing position. The top of the pressing position is formed with a second opening for the telescopic driving member and the pressing block to pass through.

[0030] Optionally, the coal cake grabbing mechanism 3 includes a mechanical arm 31 and an end effector 32 arranged at the end of the mechanical arm 31, the mechanical arm 31 can move between a grabbing position and a releasing position, and the end effector 32 can grab, clamp and release the coal cake.

[0031] Specifically, the robot arm 31 realizes the movement between the grasping position and the releasing position and the positioning of the end effector 32 through the joints and the connecting rods. Figure 3As shown, the robot arm 31 includes a fixed base 311, a first link 312 rotatably connected to the base through a first rotary joint, a second link 313 rotatably connected to the other end of the first link 312 through a second rotary joint, and a third link 314 rotatably connected to the other end of the second link 313 through a third rotary joint, and the other end of the third link 314 is connected to the end effector 32 by multiple joints (multiple joints refer to multiple rotary joints or linear joints, which are used to increase the flexibility of the end effector and provide more degrees of freedom of movement). Among them, the number of joints and links can be adjusted according to actual needs; the fixed base 311 is also not necessary, for example, the robot arm 31 can be suspended or installed on a mobile platform, etc. The end effector 32 is a two-finger gripper, which includes two opposing gripping fingers, and the gripping fingers can be opened and closed to grab or release coal cakes. The end effector 32 can also be a suction cup gripper, a flexible gripper, or a customized fixture, etc.

[0032] Optionally, the coal cake detection mechanism includes a guide rail, a slider 411 and a detection device 42, the guide rail includes a loading and unloading section, a transition section and a detection section, the loading and unloading section is located at the lower side of the release position, the slider stays in the loading and unloading section and supports the coal cake released by the end effector, the transition section is located between the loading and unloading section and the detection section, the slider moves in the transition section, the detection section is located at the lower side of the detection device 42, the slider stays in the detection section, and the detection device 42 can detect the coal quality of the coal cake staying in the detection section.

[0033] Specifically, the detection device 42 is a coal quality laser detection and analysis instrument that can quickly and accurately analyze the chemical composition and physical properties of the coal cake. In order to improve the detection efficiency, multiple sliders 411 can be provided, and the multiple sliders 411 work synchronously on the guide rail.

[0034] Preferably, the guide rail is a closed-loop guide rail 412. The closed-loop guide rail 412 can utilize space more effectively than a linear guide rail; moreover, the slider 411 on the closed-loop guide rail 412 usually moves by rolling, and rolling friction has a lower friction coefficient than sliding friction, which helps to improve the accuracy, speed and reliability of the closed-loop guide rail system (including the closed-loop guide rail 412 and the slider 411), while reducing wear and energy consumption. Specifically, in the closed-loop guide rail system, the slider 411 is equipped with rolling elements such as balls, rollers or needles, which roll on the track of the closed-loop guide rail 412 to achieve the movement of the slider 411.

[0035] like Figure 1As shown, the loading and unloading section on the closed-loop guide rail 412 is the first straight section close to the coal cake grabbing mechanism 3, the detection section is the second straight section relatively far from the coal cake grabbing mechanism 3 and located at the lower side of the detection device 42, and the transition section includes a symmetrical first curved section and a second curved section. Among them, the two ends of the first curved section are smoothly connected to one end of the first straight section and the second straight section on the same side, and the two ends of the second curved section are smoothly connected to the other end of the first straight section and the second straight section on the same side. The first straight section, the first curved section, the second curved section and the second straight section together constitute a closed closed-loop guide rail 412.

[0036] Optionally, the coal quality detection system further comprises a coal cake labeling mechanism 5, and the coal cake grabbing mechanism 3 can move the coal cake after the coal quality detection to the coal cake labeling mechanism 5 for labeling. The main purpose of labeling the coal cake is to perform manual and mechanical comparative detection, which is conducive to ensuring the accuracy of coal quality detection. The coal cake after comparative detection can be further sealed for sample traceability.

[0037] Optionally, the coal cake labeling mechanism 5 includes a first feed port 51, a conveyor belt, a printing and labeling machine and a discharge port. The coal cake grabbing mechanism 3 can release the coal cake after coal quality testing to the conveyor belt on the upper side of the first feed port 51. The conveyor belt can support the coal cake and transport the coal cake to the labeling position and the discharge port in turn. The labeling position is on the lower side of the printing and labeling machine. The printing and labeling machine can print labels and press the printed labels onto the surface of the coal cake at the labeling position.

[0038] The working process of the printing and labeling machine: the first step is label printing. The printing and labeling machine prints labels according to the coal quality detection data fed back by the coal cake detection mechanism 4 received in real time; the second step is label peeling. The printed label will be peeled off from the reel (it can also be pre-peeling. In this case, the label pre-peeling step is before label printing); the third step is label transmission. The peeled label will be sent to the label suction plate through the transmission structure; the fourth step is that the cylinder drives the label suction plate to press down, and the label adsorbed by the label suction plate is pressed on the surface of the coal cake at the labeling position. Optionally, a feeding platform with the same height as the conveyor belt is provided at the discharge port. The labeled coal cake will eventually stop on the feeding platform. A manual feeding window is provided on one side of the feeding platform for safely removing the labeled coal cake, which is convenient for subsequent manual coal quality detection and / or sample sealing.

[0039] Optionally, the coal quality detection system further includes a discarded material recovery mechanism 6, and the coal cake grabbing mechanism 3 can move the coal cakes after the coal quality detection to the discarded material recovery mechanism 6 for recovery. When there is no need to perform manual comparison detection on the coal quality detection results of the coal cake detection mechanism, the coal cakes are recovered by the discarded material recovery mechanism 6 for recycling or other treatment.

[0040] Optionally, the waste material recovery mechanism 6 includes a second feed port 61, a high-pressure fan, a grinder and a discharge return pipe 62. The coal cake grabbing mechanism 3 can release the coal cakes after coal quality testing on the upper side of the second feed port 61. The high-pressure fan can generate negative pressure to suck the coal cakes at the second feed port 61 to the grinding position. The grinder can re-grind the coal cakes into coal powder at the grinding position. The high-pressure fan can also generate positive pressure to transport the ground coal powder to the coal powder main pipe through the discharge return pipe 62.

[0041] Specifically, the high-pressure fan includes an impeller and a motor. When it is necessary to switch the high-pressure fan from generating negative pressure to generating positive pressure, the rotation direction of the motor is changed, thereby changing the rotation direction of the impeller, thereby achieving positive and negative pressure switching. Optionally, the high-pressure fan includes a first fan that only generates negative pressure and a second fan that only generates positive pressure, and the pressure state switching is achieved by controlling the start and stop of the first fan and the second fan.

[0042] In order to ensure the stability and safety of the process of re-grinding the coal cake into coal powder, the grinder requires a relatively closed and controlled environment. Optionally, the grinder includes a grinding chamber and a pneumatic valve, the grinding position is located in the grinding chamber, the pneumatic valve is arranged between the second feed port and the grinding chamber, and the pneumatic valve is in a closed state when the grinder is working and in an open state when the grinder is stopped. When the coal cake moves smoothly from the second feed port to the grinding position, the pneumatic valve is closed first, and the grinder is then started and stopped after the grinding is completed. The high-pressure fan will switch from negative pressure to positive pressure. After the switch is completed, the pneumatic valve is opened again, and the coal powder enters the coal powder main pipe through the discharge return pipe 62 under the positive pressure generated by the high-pressure fan. Of course, the grinder can also reduce the impact of external pressure fluctuations on the grinding process by, for example, installing a pressure regulating valve, equipping an independent ventilation system, adding a buffer zone or a pressure balance chamber, etc., which will not be elaborated here.

[0043] Optionally, the coal cake forming mechanism 2 , the coal cake detecting mechanism 4 , the coal cake labeling mechanism 5 and the waste material recovery mechanism 6 are equidistantly distributed around the coal cake grabbing mechanism 3 .

[0044] The coal cake grabbing mechanism 3 is arranged at the central position of the coal quality detection system, which helps to: reduce the distance and time for the coal cake grabbing mechanism to move to other mechanisms, thereby improving work efficiency; shorten the moving path of the coal cake grabbing mechanism 3 to leave more space for other equipment and work processes, thereby improving space utilization; avoid setting up multiple mechanisms with the same functions, and one coal cake grabbing mechanism 3 is suitable for multiple other mechanisms, thereby streamlining the structure.

[0045] Alternatively, if Figure 4As shown, the coal powder suction mechanism 1, the coal cake forming mechanism 2, the coal cake grabbing mechanism 3, the coal cake detecting mechanism 4, the coal cake labeling mechanism 5 and the waste material recovery mechanism 6 are arranged on the same workbench, and a protective cover is also arranged along the edge of the workbench, and the protective cover includes a protective frame 71, a protective door 72 and a top cover.

[0046] The protective cover is used to improve the integrity, systematicity and safety of the coal quality detection system. On the one hand, it integrates various mechanisms, and on the other hand, it reduces the possibility of injury to workers during operation. Among them, the multiple support rods of the protective frame 71 are fixedly connected to the edge of the workbench, and the protective door is arranged between the support rods and the connecting rods of the protective frame and fills the gap between the two to match the top cover to seal the entire coal quality detection system. The protective door can generally only be opened when the coal quality detection system is in the shutdown state. In addition, the position of the protective door can replace the human-machine control panel to facilitate the operator to operate the coal quality detection system.

[0047] by Figure 1-4 The embodiments shown are used to fully illustrate the working process and principle of the present invention:

[0048] The first step is to obtain and transport the coal powder sample. The cyclone separator 12 in the coal powder suction mechanism 1 sucks the gas-powder mixture (a mixture of coal powder and hot air) in the coal powder main pipe into its interior through the feed pipe 11. The gas-powder mixture entering the cyclone separator 12 will rotate at high speed under the action of the cyclone separator 12. During the rotation, a rotating airflow will be generated. The rotating airflow will push the heavier coal powder particles to the inner wall of the cyclone separator 12 under the action of centrifugal force. The coal powder particles on the inner wall of the cyclone separator 12 will slide downward along the conical bottom of the cyclone separator 12 due to gravity and finally be discharged through the discharge pipe 13. At the same time, the lighter air forms an ascending airflow in the center of the cyclone separator 12 and is discharged through the exhaust pipe 14 at its top. The cyclone separator 12 works periodically. In one cycle, the discharged coal powder will be received by the sampling dish 21 directly below the discharge pipe 13 until no more coal powder is discharged from the discharge pipe 13, and the sampling of the sampling dish 21 is completed. The sampling dish 21 is supported by a slider 241 on a linear guide rail. During the sampling process, the slider 241 is positioned at the sampling position, that is, directly below the discharge pipe 13. When the sampling dish 21 receives enough coal powder, the slider 241 slides along the guide rail and is finally positioned at the pressing position. Directly above the pressing position is the retracted telescopic drive member 23 and the pressing block 22 fixed to the outer end of the telescopic drive member 23. At this point, the sampling and transportation of coal powder is completed.

[0049] The second step is to compress and transport the coal cakes. When the sampling dish 21 moves to the compressing position, the telescopic driving member 23 drives the pressing block 22 to move downward, and the pressing block 22 completes the preset stroke (the preset stroke includes a distance that the pressing block 22 runs within the depth range after entering the sampling dish 21) and compresses the coal powder into coal cakes in the sampling dish 21. Then, the pressing block 22 returns to the initial position, and the telescopic driving member 23 moves synchronously with the pressing block 22. When the pressing block 22 returns to the initial position, the telescopic driving member 23 completes a complete telescopic movement. When the telescopic driving member 23 is in the retracted state again and is stationary, the coal cake compression is completed. At this time, the mechanical arm 31 of the coal cake grabbing mechanism 3 moves the two-finger gripper to the compressing position through the coordinated movement of the joint and the connecting rod. The two-finger gripper closes two relative gripping fingers at the compressing position and grabs the coal cake. Then the mechanical arm 31 again moves the two-finger gripper holding the coal cake to the upper side of the loading and unloading section of the closed-loop guide rail 412 through the coordinated movement of the joint and the connecting rod. At this point, the pressing and transportation of coal briquettes is completed.

[0050] The third step is to detect the coal quality and process the tested coal cakes. When the slider 411 on the closed-loop guide rail 412 rolls to the loading and unloading section and is located directly below the coal cake, it will stop. At this time, the two-finger gripper opens the gripping fingers to release the coal cake to the support surface of the slider 411. The slider 411 will roll again after stably supporting the coal cake. The slider 411 rolls along the transition section to the detection position of the detection section, and stops after positioning at the detection position. The coal quality laser detection and analysis instrument detects the coal cake stopped at the detection position and uploads the detection result data. After the detection is completed, the slider 411 supports the coal cake and rolls to the loading and unloading section again and stops to wait for the two-finger gripper to grab the coal cake. When it is confirmed that the coal cake has completely detached from the support surface of the slider 411, the slider 411 continues to roll in an unloaded state until the next time it waits to load the coal cake to be tested. The two-finger gripper of the coal cake grabbing mechanism 3 may have two actions after grabbing the detected coal cake: first, the two-finger gripper is driven by the mechanical arm 31 to move to the top of the first feed port 51 of the coal cake labeling mechanism 5 and release the coal cake; second, the two-finger gripper is driven by the mechanical arm 31 to move to the top of the second feed port 61 of the discarded material recovery mechanism 6 and release the coal cake. (Both actions are procedural actions, which are only a later part of the complete action instruction, that is, the moving path of the two-finger gripper is determined before grabbing the coal cake on the closed-loop guide rail 412).

[0051] When manual comparative testing is required, the two-finger gripper grabs the tested coal cakes while the printing and labeling machine of the coal cake labeling mechanism 5 prints labels according to the corresponding coal quality test data received. The two-finger gripper grips the coal cakes and moves them above the first feed port 51, then releases the coal cakes. The released coal cakes fall through the first feed port to the conveyor belt and move with the conveyor belt. When the coal cakes are about to move to the labeling position, the printed labels have also completed the peeling and transmission steps and are waiting for labeling on the label suction plate just above the labeling position. The cylinder drives the label suction plate downward at the right time to press the moving coal cakes. The labeled coal cakes continue to move with the conveyor belt until they are separated from the conveyor belt and come to rest on the feeding table. The operator takes the labeled coal cakes on the feeding table through the manual feeding window.

[0052] When manual comparison and detection is not required, the two-finger gripper grabs the detected coal cake and moves the coal cake to the top of the second feed port 61, and releases the coal cake after positioning. After being released, the coal cake will be sucked into the grinding chamber of the grinder under the negative pressure of the high-pressure fan. When the coal cake is positioned at the grinding position, the grinder closes the pneumatic valve between the second feed port and the grinding chamber to isolate the negative pressure. After the pneumatic valve is completely closed, the grinder grinds the coal cake. During grinding, the high-pressure fan switches from providing negative pressure to providing positive pressure. After grinding is completed, the pneumatic valve is opened, and the coal powder in the grinding chamber (here the coal powder refers to the coal powder formed by grinding) re-enters the coal powder main pipe through the discharge return pipe 62 under the positive pressure of the high-pressure fan, realizing a large circulation of materials.

[0053] At this point, the coal quality testing of the coal cakes and the post-testing processing are completed.

[0054] The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A coal quality detection system, characterized in that: The invention comprises a coal powder suction mechanism (1), a coal cake forming mechanism (2), a coal cake grabbing mechanism (3) and a coal cake detection mechanism (4), wherein the coal powder suction mechanism (1) is used to suck coal powder from a coal powder main pipe and transport the coal powder to the coal cake forming mechanism (2), the coal cake forming mechanism (2) can compact the coal powder into coal cakes, and the coal cake grabbing mechanism (3) can grab the coal cakes from the coal cake forming mechanism (2) and move the coal cakes to the coal cake detection mechanism (4) for coal quality detection.

2. The coal quality detection system according to claim 1, characterized in that: The pulverized coal suction mechanism (1) comprises a cyclone separator (12) and a feed pipe (11) and a discharge pipe (13) connected to the cyclone separator (12); the feed pipe (11) is connected to the pulverized coal main pipe.

3. The coal quality detection system according to claim 2, characterized in that: The briquette forming mechanism (2) comprises a sampling dish (21), a pressing block (22) and a telescopic driving member (23); the sampling dish (21) is capable of moving between a sampling position and a pressing position; in the sampling position, the sampling dish (21) is located at the lower side of the discharge pipe (13); in the pressing position, the sampling dish (21) is located at the lower side of the pressing block (22); the telescopic driving member (23) is capable of driving the pressing block (22) to squeeze the coal powder in the sampling dish (21) to form the briquette.

4. The coal quality detection system according to claim 1, characterized in that: The coal cake grabbing mechanism (3) comprises a mechanical arm (31) and an end effector (32) arranged at the end of the mechanical arm (31); the mechanical arm (31) is movable between a grabbing position and a releasing position; and the end effector (32) is capable of grabbing, clamping and releasing the coal cake.

5. The coal quality detection system according to claim 4, characterized in that: The coal cake detection mechanism (4) comprises a guide rail, a slider (241) and a detection device (42); the guide rail comprises a loading and unloading section, a transition section and a detection section; the loading and unloading section is located at the lower side of the release position; the slider (241) stays at the loading and unloading section and supports the coal cake released by the end effector (32); the transition section is located between the loading and unloading section and the detection section; the slider (241) moves at the transition section; the detection section is located at the lower side of the detection device (42); the slider (241) stays at the detection section; and the detection device (42) is capable of detecting the coal quality of the coal cake staying at the detection section.

6. The coal quality detection system according to claim 5, characterized in that: The guide rail is a closed-loop guide rail (412).

7. The coal quality detection system according to claim 1, characterized in that: It also comprises a coal cake labeling mechanism (5), and the coal cake grabbing mechanism (3) is capable of moving the coal cake after the coal quality test to the coal cake labeling mechanism (5) for labeling.

8. The coal quality detection system according to claim 7, characterized in that: The coal cake labeling mechanism (5) comprises a first feed port (51), a conveyor belt, a printing and labeling machine and a discharge port. The coal cake grabbing mechanism (3) can release the coal cake after coal quality testing to the conveyor belt on the upper side of the first feed port (51). The conveyor belt can support the coal cake and transport the coal cake to the labeling position and the discharge port in sequence. The labeling position is at the lower side of the printing and labeling machine. The printing and labeling machine can print a label and press the printed label onto the surface of the coal cake at the labeling position.

9. The coal quality detection system according to claim 1, characterized in that: It also includes a discarded material recovery mechanism (6), and the coal cake grabbing mechanism (3) is capable of moving the coal cake after the coal quality test to the discarded material recovery mechanism (6) for recovery.

10. The coal quality detection system according to claim 9, characterized in that: The waste material recovery mechanism (6) comprises a second feed port (61), a high-pressure fan, a grinder and a discharge return pipe (62); the coal cake grabbing mechanism (3) is capable of releasing the coal cake after coal quality testing at the upper side of the second feed port (61); the high-pressure fan is capable of generating negative pressure to suck the coal cake at the second feed port (61) to a grinding position; the grinder is capable of re-grinding the coal cake into coal powder at the grinding position; the high-pressure fan is capable of generating positive pressure to transport the ground coal powder to the coal powder main pipe through the discharge return pipe (62).

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