Control method and system for removing coke in hearth of garbage incinerator

Abstract

The invention discloses a control method and system for coke removal operation of a hearth of a garbage incinerator, and relates to the technical field of garbage incinerators. In the process that a hoisting frame is put into the garbage incinerator, data of a laser distance measuring sensor and a tilt angle sensor are collected; according to height deviation data delta h measured by the laser distance measuring sensor and attitude angle data theta x and theta y measured by the tilt angle sensor, the height and attitude of the hoisting frame in the hearth are obtained; the height and the posture of the hoisting frame are adjusted by controlling the lifting motors arranged at the four corners of the hoisting frame and the lifting mechanisms of the lifting motors; the method has the technical advantages that the homogeneous transformation matrix of the manipulator space coordinate system relative to the hearth space coordinate system is established, so that the relationship between the target pose matrix of the crushing assembly in the hearth space coordinate system and the relative pose matrix of the manipulator end tool in the manipulator space coordinate system is obtained; and the accurate motion amount of each motor is derived, so that the decoking efficiency and quality are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of waste incinerator, in particular to a control method and system for waste incinerator hearth coking removal operation. BACKGROUND

[0002] In the industrial fields of thermal power generation, metallurgy, chemical industry, etc., the hearth, as the core equipment for fuel combustion or material heating, its operation efficiency and safety stability directly affect the energy consumption and operation continuity of the whole production system. However, in the long-term operation of the hearth, the ash, molten particles or unburned residues generated by fuel combustion are easy to adhere to the surface of the furnace wall, the heating surface and the pipeline and gradually form coking; the continuous development of coking phenomenon will bring multiple negative effects: first, the thickened coke layer significantly reduces the heat transfer efficiency of the heating surface of the hearth, leading to increased fuel consumption and heat loss, forcing the system to consume more energy to maintain the rated output; second, local coking may cause uneven temperature field distribution in the hearth, causing overheating, deformation and even pipe explosion of the heating surface, etc. safety hazards; third, the large block of coke body is easy to impact the furnace bottom equipment when it falls off, causing mechanical damage, and in severe cases, it needs to be stopped for processing, which significantly reduces the production continuity and increases the maintenance cost; in order to alleviate the above problems, various means for removing the coking of the hearth have been developed in the prior art, including manual coke removal, mechanical coke removal (such as scraper, hammering device), high-pressure water jet coke removal, acoustic coke removal and chemical coke removal, etc.

[0003] The existing coking removal device of the hearth mainly relies on manual operation of remote control, and lacks high-performance control systems and human-machine interfaces in the control system. The whole operation process completely relies on manual experience for operation, so it does not have the control of the position and posture of the operation tool, the automatic positioning and posture adjustment capability, which limits its operation efficiency and operation convenience; at the same time, the control method of the existing coking removal operation has great difficulty and low efficiency in the large-scale removal operation in the hearth space. SUMMARY

[0004] The device provides a control method and system for waste incinerator hearth coking removal operation, and the specific implementation is as follows: The control system for waste incinerator hearth coking removal operation comprises: A hoisting frame and a winch pay-off assembly arranged above the waste incinerator, the winch pay-off assembly realizes the placement of the hoisting frame in the waste incinerator through the pay-off end, and the winch pay-off assembly controls the laying height of the hoisting frame through the first motor for pay-off of the first driving module; A sensor module arranged on the hoisting frame, the sensor module comprises an inclination sensor and a laser ranging sensor, which are respectively used for detecting the laying position and the levelness of the hoisting frame; The robotic arm and crushing assembly are mounted on the hoisting frame. The robotic arm controls the working angle of the crushing assembly through the robotic arm drive module. The control cabinet, mounted on the hoisting frame, is electrically connected to the first drive module, the robot drive module, and the sensor module.

[0005] Based on the above technical solutions, the hoisting frame, robotic arm, and crushing components are collectively referred to as the furnace coking removal device. The laser rangefinder on the furnace coking removal device can be used to measure the distance from the hoisting frame to the furnace top, and it sends the measured data to the control cabinet. The first drive module realizes the precise positioning of the hoisting frame in the height direction. The tilt sensor measures the tilt angle of the hoisting frame and sends the measured data to the control cabinet. The control cabinet controls the first drive module to make the hoisting frame horizontal or compensates for the control data when controlling the first motor, so as to achieve reliable posture of the final impact device. If the tilt sensor detects a large angle, the control cabinet can control a certain first motor to rotate forward or backward to make the final hoisting frame horizontal. However, if the tilt sensor detects an angle within the allowable range, the first motor does not need to be adjusted, but the tilt sensor value is recorded.

[0006] Preferably, it also includes a visual remote control module electrically connected to the control cabinet. The visual remote control module includes a visual remote control tablet, a scene camera, and a work camera. The visual remote control tablet is connected to the control cabinet via wireless communication.

[0007] Preferably, a pair of scene cameras are located on the top of the control cabinet and are symmetrically distributed. They are used to remotely display the specific scene inside the furnace, and the operation camera is located at the crushing component to display the operation status of the crushing component.

[0008] Based on the above technical solutions, the crushing component, as the end effector of the robotic arm, communicates with the main controller via wireless communication through a visual remote control tablet, enabling remote control of the operation; the scene cameras are located on the top of the control cabinet and are symmetrically distributed, transmitting the captured video to the visual remote control tablet to display the specific scene inside the furnace; the operation cameras transmit the captured video to the visual remote control tablet to display the specific situation during the operation.

[0009] Preferably, the robotic arm includes a second sliding platform, an angle adjustment component, and a first sliding platform; the robotic arm drive module includes a rotary drive motor, a sliding drive motor, a second motor, a first electric push rod, a second electric push rod, and an orientation motor.

[0010] Preferably, the first sliding platform is located at the bottom of the hoisting frame, and a sliding drive motor is provided on the first sliding platform. The output end of the sliding drive motor is engaged with the rack and pinion in the hoisting frame through a gear transmission. A rotary drive motor is provided at the bottom of the first sliding platform, and the output end of the rotary drive motor is connected to the second sliding platform.

[0011] Preferably, the second sliding platform has a built-in lead screw structure, the output end of the second motor is connected to the lead screw in the second sliding platform, the lead screw is threaded to the slider in the second sliding platform, and the slider is also connected to the second translation seat in the angle adjustment assembly.

[0012] Preferably, the angle adjustment component is located at the bottom of the second sliding platform, and includes a double boom structure. The double boom structure is provided with a first electric push rod and a second electric push rod in sequence. The end of the double boom structure is provided with an azimuth motor, and the output end of the azimuth motor is connected to the crushing component.

[0013] Based on the above technical solution, the electric pick can be selected by controlling the directional motor, and the crushing component acts on the coking area inside the furnace. The crushing component is a commonly used power tool, and its components have formed a relatively fixed structural system in existing conventional technologies. It mainly includes a working cutter head, a motor that provides driving force, and a transmission mechanism. The transmission mechanism includes components such as gears and crankshafts, and its function is to convert the rotational motion of the motor into the reciprocating impact motion of the pick head. The cutter head has various models and shapes according to different operational needs, such as pointed cutter heads and flat cutter heads, and is used to directly contact the workpiece.

[0014] A control method for removing coke buildup in the furnace of a waste incinerator includes the following steps: S100. During the process of the hoisting frame being placed into the waste incinerator, data from the laser rangefinder and tilt sensor are collected. The height deviation data Δh measured by the laser rangefinder and the attitude angle data θx and θy of the hoisting frame measured by the tilt sensor are used to obtain the height and attitude of the hoisting frame inside the furnace. S200. According to the needs of the operation, the height and attitude of the hoisting frame are adjusted by controlling the lifting motors and their lifting mechanisms set at the four corners of the hoisting frame, so that the height deviation and tilt angle deviation are less than or equal to the allowable values. , , ; In the formula, h target θx represents the target height of the hoisting frame inside the furnace. target and θy target The target tilt angle of the hoisting frame is 0; S300, based on θx target and θy target Establish the homogeneous transformation matrix T between the manipulator's spatial coordinate system and the furnace spatial coordinate system. trans Thus, the relationship between the target pose matrix of the lower crushing component of the manipulator in the furnace spatial coordinate system and the relative pose matrix of the end tool of the manipulator in the manipulator spatial coordinate system is obtained; Since the tilt sensor rotates in the order of yx, the homogeneous transformation matrix T between the manipulator's spatial coordinate system and the furnace spatial coordinate system is... trans The calculation formula is: ; The target pose matrix T of the crushing component in the furnace space coordinate system target The relative pose matrix T of the crushing component in the robot's spatial coordinate system robot The relationship is: ; S400, Based on the target pose matrix Titarget set in the furnace spatial coordinate system of the crushing component, establish T i target Find the relationship between the displacements θ1...θj of the j motors (Δx, Δy, Δh, j) and the known T. i target Solve for the displacements θ1...θj of j motors, based on the target pose matrix T of the broken component. i target The solution formula is: ( ) ( ); in, The coordinate system for each joint of the robot can be established using the DH method to obtain the coordinates. S500, based on the target pose matrix T in step 400 i target Calculate the motion of j motors: ; Where Δx, Δy, and Δh represent the tilt angle deviation and height deviation obtained in step two, respectively; u, v, and w represent the coordinates of the crushing component on the x-axis, y-axis, and z-axis in the robot's spatial coordinate system, respectively; and αx, αy, and αz represent the rotation angles of the crushing component around the x-axis, y-axis, and z-axis in the robot's spatial coordinate system, respectively. S600: Based on the motion of j motors, the motion of j motors is transmitted to the servo driver to perform position servo control on the motors.

[0015] Based on the above technical solution, the operation control system is activated to detect and adjust the height and tilt angle of the hoisting frame. Then, the target pose matrix of the crushing component, which serves as the end effector of the robotic arm, is determined in the furnace spatial coordinate system, and the displacement of the corresponding motor is calculated. The displacement of the motor is controlled to make the crushing component reach the specified pose. Then, the crushing component is activated to work downwards in the set posture to remove coke blocks. After the operation at this point is completed, the operation continues at the next point.

[0016] In summary, this application includes the following beneficial technical effects: 1. This invention has a joint linkage control strategy based on inverse kinematics calculation and autonomous position and posture control function. By establishing a homogeneous transformation matrix between the manipulator's spatial coordinate system and the furnace spatial coordinate system, the relationship between the target pose matrix of the crushing component in the furnace spatial coordinate system and the relative pose matrix of the manipulator's end tool in the manipulator's spatial coordinate system is obtained. Then, the motion of each motor is derived, thereby ensuring the efficiency and quality of coking. 2. This invention has the ability to detect and acquire information on the position and attitude of the working platform, and can realize accurate control and real-time display of its attitude and position. The position and attitude of the hoisting frame and the crushing components are detected and controlled by laser rangefinder and tilt sensor. 3. The present invention has a simple structure. By designing a human-machine interface and a visual remote control module, the position and posture of the working tools in the coking removal process can be controlled and displayed in real time, which improves the convenience of operation and the degree of automation, thereby improving the efficiency and accuracy of coking removal in the furnace. It has a high-performance and convenient human-machine interface, which can accurately plan its work process, and the operation process can realize the automation of point and posture control. Attached Figure Description

[0017] Figure 1 This is a side view of the structure of the present invention; Figure 2 This is the present invention. Figure 1 Enlarged view of the hoisting frame; Figure 3 This is a diagram of the control hardware system of the present invention; Figure 4 This is a flowchart of the control method of the present invention; Figure 5 This is a flowchart of the operation of the control system in this invention; Figure 6 This is a front view structural diagram of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Hoisting and wire-laying assembly; 2. Lifting frame; 3. Tensioning support assembly; 4. Second sliding platform; 5. Crushing assembly; 6. Angle adjustment assembly; 7. First sliding platform; 8. Control cabinet; 9. Scene camera; 10. Laser rangefinder sensor; 11. Tilt sensor; 12. Working camera. 105. First motor, 301. Third electric actuator. 403. Second motor 601. First electric actuator; 602. Second translation seat; 603. Orientation motor; 604. Second electric actuator. 702. Rotary drive motor; 703. Sliding drive motor. Detailed Implementation

[0019] The specific embodiments of the present invention are described below with reference to the accompanying drawings and examples: It should be noted that the structures, proportions, sizes, etc. illustrated in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so that those skilled in the art can understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0020] Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0021] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0022] This application discloses a control method and system for removing coke deposits from the furnace of a waste incinerator.

[0023] Example 1 Reference Figures 1 to 6 This embodiment discloses a control system for removing coke buildup in a waste incinerator furnace, including: a visual remote control module, a hoisting frame 2, a winch and wire feeding assembly 1 located above the waste incinerator, a sensor module located on the hoisting frame 2, a robotic arm and crushing assembly 5 located on the hoisting frame 2, and a control cabinet 8 located on the hoisting frame 2. In this structure, the sensor module includes an angle sensor 11 and a laser rangefinder 1010, which are used to detect the placement position and levelness of the hoisting frame 2, respectively. The control cabinet 8 is electrically connected to the first drive module, the visual remote control module, the robotic arm drive module, and the sensor module.

[0024] The winch wire feeding assembly 1 uses the wire feeding end to place the hoisting frame 2 into the waste incinerator. The winch wire feeding assembly 1 uses the first motor 105 of the first drive module to control the placement height of the hoisting frame 2.

[0025] The visual remote control module includes a visual remote control tablet, a scene camera 9, and a work camera 12. The visual remote control tablet is connected to the control cabinet 8 via wireless communication. A pair of scene cameras 9 are located on the top of the control cabinet and are symmetrically distributed. They are used to remotely display the specific scene inside the furnace. The work camera 12 is located at the crushing component 5 and is used to display the working status of the crushing component 5.

[0026] The robotic arm includes a second sliding platform 4, an angle adjustment component 6, and a first sliding platform 7; the robotic arm drive module includes a rotary drive motor 702, a sliding drive motor 703, a second motor 403, a first electric push rod 601, a second electric push rod 604, and an orientation motor 603.

[0027] The first sliding platform 7 is located at the bottom of the hoisting frame 2. The first sliding platform 7 is equipped with a sliding drive motor 703, and the output end of the sliding drive motor 703 is engaged with the rack and pinion in the hoisting frame 2 through a gear transmission. The bottom of the first sliding platform 7 is equipped with a rotary drive motor 702, and the output end of the rotary drive motor 702 is connected to the second sliding platform 4. In this structure, the sliding drive motor 703 rotates forward or backward, thereby realizing the movement of the first sliding platform 7 along the length direction of the hoisting frame 2.

[0028] The second sliding platform 4 has a built-in lead screw structure. The output end of the second motor 403 is connected to the lead screw in the second sliding platform 4. The lead screw is connected to the slider in the second sliding platform 4, and the slider is also connected to the second translation seat 602 in the angle adjustment component 6.

[0029] Angle adjustment component 6 is located at the bottom of the second sliding platform 4. It includes a double boom structure, and a first electric push rod 601 and a second electric push rod 604 are sequentially provided on the double boom structure. An azimuth motor 603 is provided at the end of the double boom structure, and the output end of the azimuth motor 603 is connected to the crushing component 5.

[0030] The specific implementation process is as follows: the hoisting and unloading assemblies 1 on both sides simultaneously lower the hoisting frame 2 vertically into the furnace; during the descent of the hoisting frame 2, the levelness and safe distance from the furnace wall are detected in real time by the sensor module; after the hoisting frame 2 is in place, the third electric push rod 301 of the tensioning support assembly 3 is released, and the supports on both sides of the hoisting frame 2 abut against the inner wall of the furnace; after the hoisting frame 2 is horizontally locked, the first sliding platform 7 and the second sliding platform 4 are used to adjust the distance and horizontal angle between the crushing assembly 5 and the inner wall of the furnace, and the angle adjustment assembly 6 is used to adjust the tilt angle of the crushing assembly 5 according to the coking situation; the effective coking operation of the crushing assembly 5 is carried out according to the visual remote control module.

[0031] Example 2 Reference Figures 3 to 5Based on the above embodiments, this embodiment discloses a control method for removing coke deposits in the furnace of a waste incinerator, including the following steps: S100. During the process of the hoisting frame 2 being placed into the waste incinerator, data from the laser rangefinder 10 and the tilt sensor 11 are collected. The height deviation data Δh measured by the laser rangefinder 10 and the attitude angle data θx and θy of the hoisting frame 2 measured by the tilt sensor 11 are used to obtain the height and attitude of the hoisting frame 2 inside the furnace. S200. According to the operation requirements, the height and attitude of the hoisting frame 2 are adjusted by controlling the lifting motors and their lifting mechanisms set at the four corners of the hoisting frame 2, so that the height deviation and tilt angle deviation are less than or equal to the allowable values. , , ; In the formula, h target θx represents the target height of the hoisting frame 2 inside the furnace. target and θy target The target tilt angle for hoisting frame 2 is 0; δh is 30mm, and δx and δy are 0.5°. S300, based on θx target and θy target Establish the homogeneous transformation matrix T between the manipulator's spatial coordinate system and the furnace spatial coordinate system. trans Thus, the relationship between the target pose matrix of the lower crushing component 5 of the manipulator in the furnace spatial coordinate system and the relative pose matrix of the end tool of the manipulator in the manipulator spatial coordinate system is obtained. Since the tilt sensor rotates in the order of yx, the homogeneous transformation matrix T between the manipulator's spatial coordinate system and the furnace spatial coordinate system is... trans The calculation formula is: ; The target pose matrix T of the crushing component 5 in the furnace space coordinate system target The relative pose matrix T of the crushing component 5 in the robot's spatial coordinate system robot The relationship is: ; S400, Target pose matrix T based on the crushing component 5 set in the furnace spatial coordinate system i target i=0, 1...n, establish T i target Find the relationship between the displacements θ1...θj of the j motors (Δx, Δy, Δh, j) and the known T. i targetSolve for the displacements θ1...θj of the j motors; Based on the target pose matrix T of the broken component 5 i target The solution formula is: ( ) ( ); in, The coordinates of each joint of the robot can be determined by establishing a coordinate system using the DH method.

[0032] S500, based on the target pose matrix T in step 400 i target Calculate the motion of j motors: ; Where Δx, Δy, and Δh represent the tilt angle deviation and height deviation obtained in step two, respectively; u, v, and w represent the x-axis, y-axis, and z-axis coordinates of the crushing component 5 in the robot's spatial coordinate system, respectively; and α x α y α z These represent the rotation angles of the crushing component 5 around the x-axis, y-axis, and z-axis in the robot's spatial coordinate system, respectively. S600: Based on the motion of j motors, the motion of j motors is transmitted to the servo driver to perform position servo control on the motors, thereby ensuring the accuracy of the motion of each motor in the coke removal operation.

[0033] Many other changes and modifications can be made without departing from the concept and scope of this invention. It should be understood that this invention is not limited to the specific embodiments, and the scope of this invention is defined by the appended claims.

Claims

1. A control method for removing coke buildup in the furnace of a waste incinerator, characterized in that, Includes the following steps: S100. During the process of the hoisting frame (2) being placed into the waste incinerator, data from the laser rangefinder (10) and tilt sensor (11) are collected. The height deviation data Δh measured by the laser rangefinder (10) and the attitude angle data θx and θy of the hoisting frame (2) measured by the tilt sensor (11) are used to obtain the height and attitude of the hoisting frame (2) inside the furnace. S200. According to the operation requirements, the height and attitude of the hoisting frame (2) are adjusted by controlling the first motor (105) set at the four corners of the hoisting wire laying assembly (1) so that its height deviation and tilt angle deviation are less than or equal to the allowable value. ， ， ； In the formula, h target θx is the target height of the hoisting frame (2) inside the furnace. target and θy target The target tilt angle of the hoisting frame (2) is 0; S300, based on θx target and θy target Establish the homogeneous transformation matrix T between the manipulator's spatial coordinate system and the furnace spatial coordinate system. trans Thus, the relationship between the target pose matrix of the lower crushing component (5) of the manipulator in the furnace space coordinate system and the relative pose matrix of the end tool of the manipulator in the manipulator space coordinate system is obtained. The tilt sensor (11) rotates in the order of yx, so the homogeneous transformation matrix T of the manipulator's spatial coordinate system relative to the furnace spatial coordinate system is... trans The calculation formula is: ； The target pose matrix T of the crushing component (5) in the furnace space coordinate system target The relative pose matrix T of the crushing component (5) in the manipulator's spatial coordinate system robot The relationship is: ； S400, the target pose matrix T set in the furnace space coordinate system based on the crushing component (5). i target (i=0, 1...n), establish T i target Find the relationship between the displacements θ1...θj of the j motors (Δx, Δy, Δh, j) and the known T. i target Solve for the displacements θ1...θj of the j motors; S500, based on the target pose matrix T in step 400 i target Calculate the motion of j motors: ； Where Δx, Δy, and Δh represent the tilt angle deviation and height deviation obtained in step two, respectively, and u, v, and w represent the x-axis, y-axis, and z-axis coordinates of the crushing component (5) in the manipulator's spatial coordinate system, respectively. x α y α z These represent the rotation angles of the crushing component (5) around the x-axis, y-axis, and z-axis in the space coordinate system of the robot arm, respectively; S600: Based on the motion of j motors, the motion of j motors is transmitted to the servo driver to perform position servo control on the motors.

2. The control method for removing coke deposits in the furnace of a waste incinerator according to claim 1, characterized in that, Based on the target pose matrix T of the broken component (5) i target The solution formula is: ( ) ( )； in, The coordinates of each joint of the robot can be determined by establishing a coordinate system using the DH method.

3. A control system for removing coke deposits from the furnace of a waste incinerator, used to implement the control method described in any one of claims 1-2, characterized in that, include: The hoisting frame (2) and the winch wire feeding assembly (1) located above the waste incinerator. The winch wire feeding assembly (1) realizes the placement of the hoisting frame (2) in the waste incinerator through the wire feeding end. The hoist wire feeding assembly (1) controls the placement height of the hoisting frame (2) through the first motor (105) of the first drive module for wire feeding. The sensor module installed on the hoisting frame (2) includes a tilt sensor (11) and a laser rangefinder (10), which are used to detect the layout position and levelness of the hoisting frame (2), respectively. A robotic arm and a crushing component (5) are mounted on the hoisting frame (2). The robotic arm controls the working angle of the crushing component (5) through a robotic arm drive module. A control cabinet (8) is mounted on the hoisting frame (2), and the control cabinet (8) is electrically connected to the first drive module, the robot drive module and the sensor module.

4. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 3, characterized in that, It also includes a visual remote control module electrically connected to the control cabinet (8). The visual remote control module includes a visual remote control tablet, a scene camera (9) and a work camera (12). The visual remote control tablet is connected to the control cabinet (8) via wireless communication.

5. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 4, characterized in that, A pair of scene cameras (9) are located on the top of the control cabinet and are symmetrically distributed. They are used to remotely display the specific scene inside the furnace. The operation camera (12) is located at the position of the crushing component (5) and is used to display the operation status of the crushing component (5).

6. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 3, characterized in that, The robotic arm includes a second sliding platform (4), an angle adjustment component (6), and a first sliding platform (7). The robotic arm drive module includes a rotary drive motor (702), a sliding drive motor (703), a second motor (403), a first electric push rod (601), a second electric push rod (604), and an orientation motor (603).

7. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 6, characterized in that, The first sliding platform (7) is located at the bottom of the hoisting frame (2). The first sliding platform (7) is equipped with a sliding drive motor (703), and the output end of the sliding drive motor (703) is engaged with the rack and pinion in the hoisting frame (2) through a gear. The bottom of the first sliding platform (7) is provided with the rotary drive motor (702), and the output end of the rotary drive motor (702) is connected to the second sliding platform (4).

8. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 7, characterized in that, The second sliding platform (4) has a built-in lead screw structure. The output end of the second motor (403) is connected to the lead screw in the second sliding platform (4). The lead screw is connected to the slider in the second sliding platform (4), and the slider is also connected to the second translation seat (602) in the angle adjustment assembly (6).

9. The control system for removing coke deposits in the furnace of a waste incinerator according to claim 8, characterized in that, The angle adjustment component (6) is located at the bottom of the second sliding platform (4). It includes a double boom structure, and the double boom structure is provided with a first electric push rod (601) and a second electric push rod (604) in sequence. The end of the double boom structure is provided with an azimuth motor (603), and the output end of the azimuth motor (603) is connected to the crushing component (5).

Images