Intelligent pebble coal discharging system of coal mill and discharging method of intelligent pebble coal discharging system

Abstract

The invention discloses an intelligent pebble coal discharging system and method for a coal mill, and belongs to the technical field of thermal power generation equipment intellectualization. The system comprises an automatic material opening control device, an intelligent material box, an AGV carrying robot, a charging pile and a production management control system; the automatic material opening control device, the intelligent material box, the AGV carrying robot and the charging pile are connected with the production management control system through a wireless network. According to the system, an AGV automatic guiding technology and a production management control system are combined, unmanned operation of the whole process of material receiving, transportation, unloading and charging is achieved, and the problems that manual discharging of pebble coal dust is large in pollution and not timely in discharging are solved. Compared with a traditional manual discharging system, the pebble coal intelligent discharging method based on the discharging system has the advantages that manual intervention can be reduced by 60%, the problem of blockage of a primary air chamber is thoroughly solved, and the continuous operation time of a coal mill is prolonged by 30%; the dust emission concentration is reduced by more than 80%, and the safety level of the working environment is improved; and the comprehensive efficiency of equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent thermal power generation equipment, and specifically relates to an intelligent pebble coal discharge system for a coal mill and a discharge method thereof. Background Art

[0002] Medium-speed coal mills are the mainstay of modern large-scale coal-fired power plants, particularly those using direct-fired pulverizing systems. Their core mission is to efficiently grind raw coal into pulverized coal of acceptable fineness, thoroughly drying and conveying it with hot air. This provides high-quality fuel (pulverized coal) for the boiler, ensuring safe, stable, economical, and environmentally friendly operation. Their grinding principle, medium speed, low energy consumption, and rapid load response are key features that distinguish them from other types of coal mills.

[0003] The pebble coal discharge system of the medium-speed coal mill is the largest source of zero-meter dust pollution in the boiler. The slag discharge process produces serious dust. When discharging slag, the positive pressure gas in the slag box carries a large amount of dust and sprays out of the box, seriously polluting the surrounding environment. The pebble coal is discharged and cleaned manually, which is labor-intensive. Dust flies when discharged, endangering the safe operation of surrounding equipment and being extremely detrimental to civilized production in the workshop. Moreover, due to the frequent opening and closing of the slag discharge outlet of the coal mill, it will lead to loose closure and jamming, resulting in serious leakage. At the same time, when discharging pebble coal, the positive pressure gas in the pebble coal car will carry a large amount of dust and spray out, causing dust to fly, seriously polluting the environment, which is very detrimental to safe and civilized production. The open discharge of pebble coal into the car bucket in the factory also causes serious dust, causing serious damage to the equipment around the coal mill, especially the lubricating oil station and control instruments. Moreover, when the burning coal quality is poor and the pebble coal slag discharge volume is large, it is impossible to manually clear the discharged pebble coal in time, which can easily lead to pebble coal accumulation and blockage, resulting in blockage of the primary air chamber and other problems, affecting the normal operation of the coal mill.

[0004] In recent years, AGV (Automated Guided Vehicle) technology has matured. These intelligent mobile robots, using sensors, control systems, and automated navigation systems, can navigate predetermined routes and complete material handling tasks. They are a core component of modern intelligent manufacturing and smart logistics, profoundly transforming industrial production and warehousing logistics by improving efficiency, reducing labor costs, and reducing error rates.

[0005] At the same time, production management control systems (PMCS) are increasingly being used to plan, monitor, optimize, and control production processes. They use sensors, programmable logic controllers (PLCs), SCADA systems, and DCS systems to collect real-time data (such as output, speed, temperature, pressure, equipment status, energy consumption, and quality parameters) from production lines, equipment, and workstations. These systems integrate information technology (IT) and operational technology (OT) to improve production efficiency, ensure product quality, reduce costs, and enhance resource utilization.

[0006] How to combine AGV with production management and control systems and specify an intelligent pebble coal discharge system and its discharge method is the key to solving the above problems. Summary of the Invention

[0007] The present invention proposes an intelligent pebble coal discharge system for a coal mill and a discharge method thereof, aiming to solve the problems of large dust pollution and untimely discharge caused by manual discharge of pebble coal.

[0008] To achieve the above objectives, the first aspect of the present invention provides an intelligent discharge system for pebble coal in a coal mill, the system comprising an automated feed port control device, an intelligent feed bin, an AGV handling robot, a charging pile, and a production management and control system, wherein the automated feed port control device, the intelligent feed bin, the AGV handling robot, and the charging pile are connected to the production management and control system via a wireless network;

[0009] The automatic material port control device is provided at the lower end of the coal mill stone coal discharge port and is used to connect with the intelligent material box. The automatic material port control device is provided with a discharge valve and a pressure sensor;

[0010] The smart material box is used to receive and transport the pebble coal discharged from the pebble coal discharge port of the coal mill. A weight sensor is provided at the lower end of the smart material box, which transmits pressure data to the production management and control system. A dustproof door is provided at the upper part of the smart material box;

[0011] The AGV handling robot is used to move the smart material box and dump the stone coal in the smart material box to the unloading area, and to connect the empty smart material box to the automatic material port control device;

[0012] The charging pile is used to charge the AGV handling robot;

[0013] The production management and control system is used to receive signals from the automatic material inlet control device, the intelligent material box, the AGV handling robot and the charging pile, and send control instructions to the automatic material inlet control device, the intelligent material box and the AGV handling robot.

[0014] Preferably, the automatic material port control device includes a first pipeline, a second pipeline is slidably installed on the first pipeline, an electric push rod is connected between the second pipeline and the first pipeline, a first discharge valve is provided on the first pipeline, a second discharge valve is provided on the second pipeline, and a sealing interface for docking with the intelligent material box is provided at the lower end of the second pipeline, and the pressure sensor is provided on the sealing interface.

[0015] Preferably, a feed port is provided at the top of the smart material box, a dustproof door is provided on the feed port, a discharge door is provided on the side of the smart material box, a slot for docking with the handling robot is provided at the bottom of the smart material box, the weight sensor is provided at the lower end of the slot, and a position sensor is also installed on the smart material box, which sends the position information of the smart material box to the production management and control system via a wireless network.

[0016] Preferably, the transport robot includes a vehicle body, a lifting frame is provided at the front end of the vehicle body, a rotating disk is installed on the lifting frame, a plug plate for docking the smart material box is installed on the rotating disk, and the AGV transport robot is also installed with a wireless communication module, a navigation module and an alignment sensor, and the navigation module includes a laser radar and a 3D SLAM module.

[0017] Preferably, the charging pile is provided with a charging interface that can automatically dock with the AGV transport robot.

[0018] Based on the above system, the second aspect of the present invention provides a method for intelligent discharge of pebble coal, comprising the following steps:

[0019] Step 1: Docking the empty smart bin. After receiving the docking command from the production management and control system, the AGV transport robot automatically navigates to the bottom of the automated material port control device, and the automated material port control device docks with the smart bin.

[0020] Step 2: Intelligent discharge: when the pressure data of the pressure sensor of the automatic feed port control device reaches the set value, the discharge valve is opened to discharge the pebble coal into the intelligent feed box;

[0021] Step 3: Full load detection: The weight sensor of the intelligent material box sends weight data to the production management and control system. When the weight reaches the set value, the production management and control system sends a box change instruction to the AGV handling robot;

[0022] Step 4: Replace the material box. After receiving the box replacement command, the AGV transport robot navigates to the material box storage area and carries the empty smart material box to the bottom of the automated material inlet control device. The discharge valve of the automated material inlet control device is closed, and then the dustproof door of the smart material box is closed. The AGV transport robot removes the full smart material box and replaces the empty smart material box according to step 1.

[0023] Step 5: Intelligent transportation and unloading: The AGV transport robot carries the fully loaded intelligent material box to the unloading area, flips the intelligent material box over, pours out the stone coal, and returns to the material box storage area with the empty intelligent material box;

[0024] Step 6: When the AGV transport robot has no tasks, it navigates to the charging area and automatically docks with the charging pile for charging.

[0025] Preferably, in step 2, when the pressure data of the pressure sensor of the automatic material port control device is ≥0.5MPa, the discharge valve is opened to discharge the pebble coal into the intelligent material box, and the discharge valve includes a first discharge valve and a second discharge valve, and the opening interval time of the first discharge valve and the second discharge valve is 5s.

[0026] Preferably, in step three, when the weight reading of the weight sensor of the smart material box reaches 800 kg, the production management and control system sends a box-changing instruction to the AGV transport robot.

[0027] Preferably, in step 4, the time interval between the closing of the discharge valve of the automatic material port control device and the closing of the dustproof door of the intelligent material box is ≤3s.

[0028] Preferably, in step five, the driving speed of the AGV transport robot is ≤2m / s, and the unloading dumping time is ≤10s.

[0029] Beneficial effects:

[0030] Compared with the prior art, the present invention can achieve at least the following technical effects:

[0031] 1. The present invention combines AGV automatic guidance technology with production management and control systems to replace manual operation, realize unmanned operation of the entire process of "receiving materials-transporting-unloading-charging", reduce human errors, and improve the standardization of the discharge process.

[0032] 2. The present invention realizes the full sealing of the pebble coal discharge process, effectively suppressing the diffusion of dust.

[0033] 3. The AGV transport robot of the present invention uses vision + infrared composite navigation to achieve millimeter-level positioning. LiDAR and 3D SLAM technology ensure safe driving under complex working conditions and adapt to the cross-operation environment of multiple equipment in power plants.

[0034] 4. The AGV of the present invention is designed to be separated from the modular intelligent material box, and the box can be independently maintained and replaced. It is compatible with multi-coal mixing and grinding conditions. The material box sensor can upload data in real time through the production management and control system, supporting visual management of production data.

[0035] 5. The two discharge valves of the automatic material port control device of the present invention are linked and sealed with the dustproof door of the intelligent material box, and the AGV docking and pressing device is matched, and the dust emission concentration is ≤5mg / m 3 , far below the national standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of the overall architecture of the system of the present invention.

[0037] Figure 2 This is a schematic structural diagram of the automatic feed port control device of the present invention.

[0038] Figure 3 This is a schematic diagram of the intelligent material box structure of the present invention.

[0039] Figure 4 This is a structural diagram of the AGV handling robot of the present invention.

[0040] Figure 5 Flow chart of the method of the present invention.

[0041] In the figure: 1. Automatic material port control device; 101. First discharge valve; 102. First pipeline; 103. Electric push rod; 104. Second discharge valve; 105. Second pipeline; 106. Sealing interface; 2. Intelligent material box; 201. Feed port; 202. Dustproof door; 203. Unloading door; 204. Position sensor; 205. Slot; 206. Weight sensor; 3. AGV handling robot; 301. Insert board; 302. Turntable; 303. Lifting frame; 304. Vehicle body; 305. Wireless communication module; 306. Navigation module; 307. Alignment sensor; 4. Charging pile; 401. Charging interface; 5. Coal mill pebble coal discharge port. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to specific implementation cases.

[0043] See also Figure 1 A coal mill pebble coal intelligent discharge system, the system includes an automatic feed port control device 1, an intelligent feed box 2, an AGV handling robot 3, a charging pile 4 and a production management and control system, wherein the automatic feed port control device 1, the intelligent feed box 2, the AGV handling robot 3, and the charging pile 4 are connected to the production management and control system via a wireless network;

[0044] The automatic feed port control device 1 is provided at the lower end of the coal mill stone coal discharge port 5 and is used to connect with the intelligent feed box 2. The automatic feed port control device 1 is provided with a discharge valve and a pressure sensor;

[0045] The smart material box 2 is used to receive and transport the pebble coal discharged from the pebble coal discharge port 5 of the coal mill. A weight sensor 206 is provided at the lower end of the smart material box 2. The weight sensor 206 transmits pressure data to the production management and control system. A dustproof door 202 is provided at the upper part of the smart material box 2.

[0046] The AGV handling robot 3 is used to move the smart material box 2 and dump the stone coal in the smart material box 2 to the unloading area, and to dock the empty smart material box 2 with the automatic material port control device 1;

[0047] The charging pile 4 is used to charge the AGV transport robot 3;

[0048] The production management and control system is used to receive signals from the automatic material port control device 1, the intelligent material box 2, the AGV transport robot 3 and the charging pile 4, and send control instructions to the automatic material port control device 1, the intelligent material box 2 and the AGV transport robot 3.

[0049] The automated material inlet control device 1 is a sealing mechanism with an adjustable pipe. Specifically, it can achieve a sealed connection with the smart material bin 2 by driving the pipe to extend and retract. Its pressure sensor is used to detect the sealing status of the interface to prevent dust leakage during the discharge process. The smart material bin 2 is a sealed transport container that can be locked with the AGV. The weight sensor 206 monitors the load in real time, and the dustproof door 202 remains closed when not in operation. The AGV handling robot 3 is a transport device with autonomous navigation capabilities. Specifically, it uses lidar to build an environmental map, and can also achieve millimeter-level positioning through vision and infrared combined navigation. The AGV handling robot 3 can adopt a forklift-like structure and can autonomously carry the smart material bin 2 without the help of other loading equipment. It can also perform dumping operations by adjusting the posture of the smart material bin 2. The charging station 4 is a power supply device with automatic docking function. The charging port 401 of the charging station 4 can automatically connect to the charging port of the AGV handling robot 3. The production management control system is a central processing unit that integrates device communications. Specifically, it receives sensor data via a wireless network and generates AGV scheduling strategies.

[0050] The AGV handling robot 3 can carry the smart bin 2 using a positioning sensor or positioning marker and position it directly below the automated material inlet control device 1. The automated material inlet control device 1 docks with the empty smart bin 2. The automated material inlet control device 1 confirms the sealing status through a pressure sensor and opens the valve to discharge the material. The weight sensor 206 continuously monitors the bin load. When the threshold is reached, it triggers the AGV handling robot 3 to change the bin. After the AGV handling robot 3 carries the fully loaded smart bin 2 to the unloading area and completes the dumping, it autonomously returns to the charging station 4 to replenish power. The production management system monitors the status of each node in real time. The production management system's MES and AGV scheduling system use clearly defined API interfaces to issue task instructions, query status, and provide feedback. It dynamically adjusts the AGV task priority to ensure the continuous discharge operation.

[0051] At the same time, the production management and control system can also integrate material data statistics, remote APP control (supports iOS / Android), fuel quality analysis modules, and connect to the power plant production plan execution system.

[0052] Through the above settings, this solution achieves the full sealing of the pebble coal discharge process, effectively suppressing dust diffusion; reduces manual intervention through automated transportation, avoiding equipment blockage due to untimely removal; dynamically monitors the material box status and equipment operation data to improve system response speed and operation continuity; the AGV autonomous charging function ensures the system's continuous operation capability.

[0053] See also Figure 2 , this embodiment is further configured as follows: the automatic material port control device 1 includes a first pipe 102, a second pipe 105 is slidably installed on the first pipe 102, an electric push rod 103 is connected between the second pipe 105 and the first pipe 102, a first discharge valve 101 is provided on the first pipe 102, a second discharge valve 104 is provided on the second pipe 105, and a sealing interface 106 is provided at the lower end of the second pipe 105 for docking with the intelligent material box 2, and the pressure sensor is provided on the sealing interface 106.

[0054] Among them, the first pipe 102 is fixedly connected below the pebble coal discharge port 5 of the coal mill to guide the flow of pebble coal. The second pipe 105 is sleeved on the first pipe 102, and can be slidably installed through a sleeve structure to adjust the docking distance according to the position of the smart material box 2. The electric push rod 103 is used to push the second sleeve 105 up and down to adjust the pipe length and docking with the smart material box 2. The sealing interface 106 is set at the end of the second pipe 105 and can be an annular sealing structure. Specifically, a rubber sealing ring or a pneumatic sealing device can be used to form a closed space during docking to prevent dust leakage. The pressure sensor is used to detect the docking pressure between the sealing interface 106 and the smart material box 2 to determine whether the sealing meets the requirements.

[0055] Specifically, when the smart bin 2 moves to the docking position, the electric push rod 103 drives the second pipe 105 to extend downward, bringing the sealing interface 106 into contact with the bin feed port. A pressure sensor monitors the contact surface pressure in real time. When the pressure reaches a threshold, a locking signal is triggered, causing the first and second discharge valves 101, 105 to open sequentially. During the discharge process, when discharge is complete, the first and second discharge valves 101, 105 close sequentially, and the electric push rod 103 retracts the second pipe 105, separating the sealing interface 106 from the smart bin 2.

[0056] Through the above settings, the use of the sealing interface 106 and the pressure sensor ensures the reliable docking of the automatic material port control device 1 and the intelligent material box 2, further reducing the dust emission during the stone coal discharge process. The two discharge valves are linked and sealed with the dustproof door 202, and the AGV docking and clamping device is used to ensure that the dust emission concentration is ≤5mg / m 3 , far below the national standard.

[0057] See also Figure 3 , this embodiment is further configured as follows: a feed port 201 is provided on the upper part of the smart material box 2, a dustproof door 202 is provided on the feed port 201, a discharge door 203 is provided on the side of the smart material box 2, and a slot 205 for docking with the AGV transport robot 3 is provided at the lower part of the smart material box 2, the weight sensor 206 is provided at the lower end of the slot 205, and a position sensor 204 is also installed on the smart material box 2, and the position sensor 204 sends the position information of the smart material box 2 to the production management and control system via a wireless network.

[0058] The dustproof door 202 is located at the junction between the feed port 201 and the smart bin 2. Specifically, it can employ a pneumatic or electric gate valve structure, maintaining a sealed state when not feeding to prevent dust from escaping. The discharge door 203 can employ a flap structure driven by an electric or hydraulic push rod and automatically opens when the AGV transport robot 3 performs a dumping operation. The weight sensor 206 determines the weight of the smart bin 2 by detecting the pressure between the bottom of the smart bin 2 and the ground. A strain gauge sensor can be used to monitor the load weight of the smart bin 2 in real time and upload the data to the production management and control system.

[0059] See also Figure 4This embodiment is further configured as follows: the AGV transport robot 3 includes a vehicle body 304, a lifting frame 303 is provided at the front end of the vehicle body 304, a rotating disk 302 is installed on the lifting frame 303, and a plug-in plate 301 for docking the smart material box 2 is installed on the rotating disk 302. The AGV transport robot 3 is also equipped with a wireless communication module 305, a navigation module 306 and an alignment sensor 307, and the navigation module 306 includes a laser radar and a 3DSLAM module.

[0060] Among them, the plug plate 301 is used to dock with the smart material box 2, and the lifting frame 303 drives the rotating disk 302 together with the plug plate 301 to realize the lifting action, so as to lift or lower the smart material box 2, and the rotating disk 302 drives the plug plate 301 to rotate, which can complete the flipping and dumping of the smart material box 2.

[0061] The wireless communication module 305 is used to communicate between the AGV handling robot 3 and the production management and control system. The alignment sensor 307 is used to align the AGV handling robot 3 with the intelligent material bin 2 or the automated material inlet control device 1 and the charging station 4. The alignment sensor 307 includes a visual and infrared composite navigation system, achieving millimeter-level positioning. The navigation module 306 of the AGV handling robot 3 achieves autonomous navigation through 3D SLAM technology. 3D SLAM (Three-Dimensional Simultaneous Localization and Mapping) is a core perception technology in robotics, autonomous driving, AR / VR, and other fields. By constructing high-precision three-dimensional maps in real time within unknown environments and simultaneously tracking its own motion trajectory, the device possesses spatial cognition and autonomous navigation capabilities. This technology is particularly suitable for complex production environments on zero-meter platforms, providing obstacle avoidance and early warning. Furthermore, 3D SLAM technology does not rely on manual markers such as QR codes and magnetic strips, reducing deployment and maintenance costs. To further enhance the AGV handling robot 3's obstacle avoidance and early warning capabilities, the AGV handling robot 3 is accurately aligned to pre-set workstations such as the automated material inlet control device 1, the charging station 4, and the unloading area.

[0062] This embodiment is further configured such that the charging pile 4 is provided with a charging interface 401 that can automatically dock with the AGV transport robot 3 .

[0063] The automatic docking charging interface 401 can be implemented using spring-loaded pin contacts or a magnetic plug-in structure, and its surface is covered with insulating material to prevent short circuits. The interface has a built-in position detection sensor to identify the charging docking status of the AGV transport robot, such as through infrared sensing or mechanical limit switch triggering signals.

[0064] The specific process is as follows: when the AGV transport robot 3 arrives at the charging area, the charging station 4 uses the navigation and positioning module to guide it into the preset coordinate range. The guide groove of the charging port 401 and the charging plug on the bottom of the AGV transport robot 3 are initially aligned through a tapered structure. A servo motor then drives the plug-in mechanism to achieve precise docking. Once the charging connection is established, the power management system automatically initiates constant current charging mode and switches to trickle charging when the battery reaches a set threshold.

[0065] See also Figure 5 The intelligent discharge method of pebble coal based on the above system includes the following steps:

[0066] Step 1: Docking the empty smart material box 2. After receiving the docking command from the production management control system, the AGV handling robot 3 carries the empty smart material box 2 and automatically navigates to the bottom of the automatic material port control device 1. The automatic material port control device 1 docks with the smart material box 2.

[0067] The empty smart material box 2 is moved to the bottom of the automatic material port control device by the AGV handling robot 3 for positioning and connection. Specifically, this can be achieved by using a laser radar navigation module and a plug-in plate mechanical structure to ensure the sealed docking of the smart material box 2 and the automatic material port control device 1.

[0068] Step 2: Intelligent discharge: when the pressure data of the pressure sensor of the automatic feed port control device 1 reaches the set value, the discharge valve is opened to discharge the pebble coal into the intelligent feed box 2;

[0069] During the intelligent discharge process, the real-time data of the pressure sensor determines the contact pressure between the intelligent material box 2 and the automatic material port control device 1, and then determines whether the sealing is good. Specifically, the pressure threshold trigger logic can be used to implement it. When the contact pressure is detected to reach the preset range, the discharge valve is automatically opened.

[0070] Step 3: Full load detection: the weight sensor 206 of the intelligent material box 2 sends weight data to the production management and control system. When the weight reaches the set value, the production management and control system sends a box change instruction to the AGV handling robot 3;

[0071] The full load detection process monitors the loading amount of the pebble coal in the smart material box 2 through the weight sensor 206, which can be implemented by a strain gauge sensor or a piezoelectric sensor. When the weight data exceeds the set upper limit, the box change process is triggered.

[0072] Step 4: Replace the material box. After receiving the box replacement command, the AGV transport robot 3 navigates to the material box storage area and carries the empty smart material box 2 to the bottom of the automatic material inlet control device 1. The discharge valve of the automatic material inlet control device 1 is closed, and then the dustproof door 202 of the smart material box 2 is closed. The AGV transport robot 3 removes the full smart material box 2 and replaces the empty smart material box 2 according to step 1.

[0073] The material box replacement process completes the replacement operation of the fully loaded smart material box 2 with the empty smart material box 2 through the AGV handling robot 3. Specifically, it can be implemented by using a multi-task scheduling algorithm to ensure that the material box is quickly switched after closing the discharge valve and the dustproof door 202.

[0074] Step 5: Intelligent transportation and unloading: The AGV handling robot 3 carries the fully loaded intelligent material box 2 to the unloading area, flips the intelligent material box 2 over, pours out the stone coal, and carries the empty intelligent material box 2 back to the material box storage area;

[0075] In the intelligent transportation and unloading process, the AGV handling robot 3 transports the fully loaded intelligent material box 2 to the designated area and dumps the materials. The rotating disk 302 and the insert plate 301 on the AGV handling robot 3 drive the intelligent material box 2 to complete the flipping action and dump the stone coal in the intelligent material box 2 out.

[0076] Step 6: When the AGV transport robot 3 has no tasks, it navigates to the charging area and automatically docks with the charging pile 4 for charging.

[0077] The AGV transport robot navigates to the preset coordinate range of the charging pile 4 in an idle state, and the charging interface 401 is docked with the charging plug at the bottom of the transport robot 3 to establish a charging connection.

[0078] Generally speaking, at the start of a task, the production management and control system first sends a command to the AGV transport robot 3, instructing it to remove an empty smart bin 2 from the storage area and navigate to the bottom of the automated inlet control device 1. The automated inlet control device 1 docks with the inlet 201 of the smart bin 2 via a sealing interface 106. A pressure sensor continuously monitors the contact pressure. For example, when the pressure reaches a threshold, the first and second discharge valves 101, 104, are sequentially opened to discharge the material. A weight sensor 206 at the bottom of the smart bin 2 transmits real-time weight data to the production management and control system. When the weight reaches the threshold, the system immediately sends a command to the AGV transport robot 3 to change bins. After transporting the fully loaded smart bin 2 to the unloading area, the AGV transport robot 3 lifts the bin 2 using the lifting frame 303 and rotates it 180 degrees using the rotating disk 302, allowing the pebble coal to be discharged through the unloading door 203. After unloading, the empty smart bin 2 is returned to the storage area, and the AGV transport robot 3 automatically returns to the charging station 4 to recharge between tasks. Throughout the entire process, the discharge door 203 remains closed during docking and transportation of the smart bin 2, and is only opened briefly during unloading, thereby reducing dust leakage.

[0079] This embodiment is further configured such that in step 2, when the pressure data of the pressure sensor of the automatic material port control device 1 is ≥0.5MPa, the discharge valve is opened to discharge the pebble coal into the intelligent material box 2, and the discharge valve includes a first discharge valve 101 and a second discharge valve 104, and the opening interval time of the first discharge valve 101 and the second discharge valve 104 is 5s.

[0080] When the contact pressure between the automatic material port control device 1 and the intelligent material box 2 reaches 0.5 MPa, the sealing effect between the automatic material port control device 1 and the intelligent material box 2 can meet the requirements and prevent dust from overflowing.

[0081] The first discharge valve 101 and the second discharge valve 104 are opened at an interval of 5s, so that the pebble coal in the discharge port 5 first fills the automatic material port control device 1 and is then discharged into the intelligent material box 2, to prevent the pebble coal from escaping due to the high drop and fast falling speed, and also to prevent the pebble coal from damaging the intelligent material box 2; when the intelligent material box 2 is full, the first discharge valve 101 is closed first, and then the second discharge valve 104 is closed to empty the pebble coal in the automatic material port control device 1.

[0082] This embodiment is further configured such that, in step three, when the weight reading of the weight sensor 206 of the smart material box 2 reaches 800 kg, the production management and control system sends a box-changing instruction to the AGV transport robot 3 .

[0083] The maximum load capacity of the AGV handling robot 3 is designed to be 1500 kg, and the full load capacity of the smart material box 2 is set to 800 kg. While meeting the efficiency of stone coal discharge, it retains sufficient safety redundancy to adapt to the complex terrain within the power plant.

[0084] This embodiment is further configured such that, in step 4, the closing time interval between the discharge valve of the automatic material port control device 1 and the dustproof door 202 of the intelligent material box 2 is ≤3s.

[0085] This embodiment is further configured such that the travel speed of the AGV transport robot 3 is ≤2 m / s, and the unloading dumping time is ≤10 s.

[0086] The upper speed limit of the AGV transport robot 3 is set to 2m / s, so that the AGV transport robot 3 can brake at a sufficiently short distance when encountering people or obstacles. At the same time, the unloading and dumping time is compressed as much as possible, the turnover efficiency of the stone coal discharge is improved, and dust emission is further avoided.

[0087] In summary, compared with traditional manual emission systems, the present invention can reduce manual intervention by 60%, completely eliminate the problem of primary air chamber blockage, and extend the continuous operation time of the coal mill by 30%; the dust emission concentration is reduced by more than 80%, and the safety level of the working environment is improved; a single unit saves more than 1 million yuan in annual operation and maintenance costs, and the overall efficiency of the equipment is improved by 15%.

[0088] In terms of economic benefits, the present invention reduces the number of full-time operators (each unit can save 2-3 people), reduces labor costs; avoids downtime losses due to blockage, and saves more than 500,000 yuan in annual maintenance costs. The remote APP can monitor the emission status and adjust the operating parameters in real time, support one-button start and stop and fault warning, and reduce the operation complexity by 70%. Production efficiency: It realizes unmanned and automated discharge of pebble coal, reduces downtime caused by untimely manual discharge, improves the operating efficiency of the coal mill, and thus improves the production efficiency of the entire pulverizing system. Environmental benefits: The dust emission concentration meets the standards, complies with environmental protection policy requirements, and reduces the cost of environmental pollution control.

[0089] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise expressly defined, the terms "upper", "lower", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The terms "connect", "install", "fix", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0090] In the description of the present invention, the terms "one embodiment," "some embodiments," "specific embodiments," etc., mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0091] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An intelligent discharge system for pebble coal in a coal mill, characterized in that: The invention comprises an automatic material inlet control device (1), an intelligent material box (2), an AGV handling robot (3), a charging pile (4) and a production management and control system, wherein the automatic material inlet control device (1), the intelligent material box (2), the AGV handling robot (3) and the charging pile (4) are connected to the production management and control system via a wireless network; The automatic material port control device (1) is arranged at the lower end of the coal mill pebble coal discharge port (5) and is used for docking with the intelligent material box (2). The automatic material port control device (1) is provided with a discharge valve and a pressure sensor. The smart material box (2) is used to receive and transport the pebble coal discharged from the pebble coal discharge port (5) of the coal mill. A weight sensor (206) is provided at the lower end of the smart material box (2). The weight sensor (206) transmits pressure data to the production management control system. A dustproof door (202) is provided at the upper part of the smart material box (2); The AGV handling robot (3) is used to carry the intelligent material box (2) and dump the stone coal in the intelligent material box (2) to the unloading area, and to dock the empty intelligent material box (2) with the automatic material port control device (1); The charging pile (4) is used to charge the AGV transport robot (3); The production management and control system is used to receive signals from the automatic material inlet control device (1), the intelligent material box (2), the AGV handling robot (3) and the charging pile (4), and to send control instructions to the automatic material inlet control device (1), the intelligent material box (2) and the AGV handling robot (3).

2. The intelligent discharge system for pebble coal in a coal mill according to claim 1, characterized in that: The automated material port control device (1) comprises a first pipe (102), a second pipe (105) is slidably mounted on the first pipe (102), an electric push rod (103) is connected between the second pipe (105) and the first pipe (102), a first discharge valve (101) is provided on the first pipe (102), a second discharge valve (104) is provided on the second pipe (105), a sealing interface (106) for docking with the intelligent material box (2) is provided at the lower end of the second pipe (105), and the pressure sensor is provided on the sealing interface (106).

3. The intelligent discharge system for pebble coal in a coal mill according to claim 1, characterized in that: The upper portion of the smart material box (2) is provided with a feed port (201), the feed port (201) is provided with a dustproof door (202), the side portion of the smart material box (2) is provided with a discharge door (203), the lower portion of the smart material box (2) is provided with a slot (205) for docking with an AGV transport robot (3), the weight sensor (206) is provided at the lower end of the slot (205), and the smart material box (2) is further provided with a position sensor (204), and the position sensor (204) transmits the position information of the smart material box (2) to a production management control system via a wireless network.

4. The intelligent discharge system for pebble coal in a coal mill according to claim 1, characterized in that: The AGV transport robot (3) includes a vehicle body (304), a lifting frame (303) is provided at the front end of the vehicle body (304), a rotating disk (302) is installed on the lifting frame (303), and a plug-in plate (301) for docking with the intelligent material box (2) is installed on the rotating disk (302). The AGV transport robot (3) is also equipped with a wireless communication module (305), a navigation module (306) and an alignment sensor (307), and the navigation module (306) includes a laser radar and a 3D SLAM module.

5. The intelligent discharge system for pebble coal in a coal mill according to claim 1, characterized in that: The charging pile (4) is provided with a charging interface (401) capable of automatically docking with the AGV transport robot (3).

6. A method for intelligent discharge of pebble coal based on the system according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: docking the empty smart material box 2. After receiving the docking instruction from the production management control system, the AGV handling robot (3) automatically navigates the empty smart material box (2) to the bottom of the automatic material port control device (1), and the automatic material port control device (1) docks with the smart material box (2); Step 2: Intelligent discharge: when the pressure data of the pressure sensor of the automatic material port control device (1) reaches the set value, the discharge valve is opened to discharge the pebble coal into the intelligent material box (2); Step 3: Full load detection, the weight sensor (206) of the intelligent material box (2) sends weight data to the production management control system. When the weight reaches the set value, the production management control system sends a box change instruction to the AGV handling robot (3); Step 4: Replace the material box. After receiving the box replacement instruction, the AGV transport robot (3) navigates to the material box storage area and carries the empty smart material box (2) to the bottom of the automatic material port control device (1). The discharge valve of the automatic material port control device (1) is closed, and then the dustproof door (202) of the smart material box (2) is closed. The AGV transport robot (3) removes the fully loaded smart material box (2) and connects the empty smart material box 2 according to step 1. Step 5: Intelligent transportation and unloading, the AGV handling robot (3) carries the fully loaded intelligent material box (2) to the unloading area, flips the intelligent material box (2), pours out the stone coal, and carries the empty intelligent material box (2) back to the material box storage area; Step 6: When the AGV transport robot (3) has no tasks, it navigates to the charging area and automatically docks with the charging pile (4) for charging.

7. The intelligent discharge method for pebble coal according to claim 6, characterized in that: In step 2, when the pressure data of the pressure sensor of the automatic material port control device (1) is ≥0.5 MPa, the discharge valve is opened to discharge the pebble coal into the intelligent material box (2), and the discharge valve includes a first discharge valve (101) and a second discharge valve (104), and the first discharge valve (101) and the second discharge valve (104) are opened at an interval of 5 seconds.

8. The intelligent discharge method for pebble coal according to claim 6, characterized in that: In step three, when the weight reading of the weight sensor (206) of the intelligent material box (2) reaches 800 kg, the production management control system sends a box-changing instruction to the AGV transport robot (3).

9. The intelligent discharge method for pebble coal according to claim 6, characterized in that: In step 4, the closing time interval between the discharge valve of the automatic material port control device (1) and the dustproof door (202) of the intelligent material box (2) is ≤3s.

10. The intelligent discharge method for pebble coal according to claim 6, characterized in that: In step 5, the driving speed of the AGV transport robot (3) is ≤2m / s, and the unloading dumping time is ≤10s.

Images