Coal quality test system and control method thereof

Abstract

The invention discloses a coal quality testing system and a control method thereof, and relates to the technical field of coal quality testing, the coal quality testing system comprises a robot conventional testing system and a robot rapid inspection system, the robot conventional testing system comprises a weighing feeding chamber, a high-temperature chamber, a robot working chamber and a volatile component tray, the volatile component tray is arranged at the front end of the weighing and feeding chamber; through automatic and intelligent control, traditional coal detection items and links are connected in series, ordered combination of all operation processes and equipment is achieved, the operation process is simplified, the operation difficulty is lowered, the efficiency and speed of chemical examination are improved, all detection data can be combined and automatically analyzed and calculated, and the detection efficiency is improved. According to the automatic analysis mode, interference of human factors is reduced, the accuracy and reliability of a test result are improved, and the requirement of manual operation is reduced, so that the test cost is reduced, and the investment of unit cost is further reduced due to the improvement of the test efficiency.

Description

Technical Field

[0001] This invention relates to the field of coal quality testing technology, specifically to a coal quality testing system and its control method. Background Technology

[0002] Coal, as a fundamental energy source and important chemical raw material in my country, occupies a pivotal position in the national economy. However, traditional methods of coal analysis and testing still present many problems and challenges. Coal testing utilizes a new generation of instruments developed to detect the content of various elements in coal. Major testing items include: total sulfur, calorific value, moisture content (total moisture and analytical water), ash content, volatile matter, fixed carbon, carbon, hydrogen, ash fusion properties, slag carbon content, coking coal, petroleum coke, and briquettes. With the rapid development of intelligent technology, coal testing has gradually incorporated intelligent technologies to improve efficiency and accuracy. In existing technologies, traditional coal quality testing processes involve multiple operational procedures and equipment. Testing requires processes such as sample weighing, sample testing, and sample analysis. Weighing equipment, testing equipment, and sample analysis equipment are difficult to integrate in an orderly manner, resulting in complex operations and low testing efficiency. Coal lumps in the sample require workers to unscrew the lid before testing can continue. Weighing equipment requires manual addition of coal samples, which is cumbersome and can lead to inaccurate weighing. Manual operation is easily affected by human factors, reducing the accuracy and reliability of test results. Although some systems have achieved partial automation, they still have problems such as complex operation and low level of intelligence. Summary of the Invention

[0003] The purpose of this invention is to provide a coal quality testing system and its control method to solve the problems mentioned in the background art.

[0004] The objective of this invention can be achieved through the following technical solutions: A coal quality testing system includes a robotic routine testing system and a robotic rapid testing system. The robotic routine testing system includes a weighing and feeding chamber, a high-temperature chamber, a robot working chamber, and a volatile matter tray. The volatile matter tray is located at the front end of the weighing and feeding chamber. The robot working chamber is located between the weighing and feeding chamber and the high-temperature chamber. The weighing and feeding chamber includes a first fixed support mounted on the ground. An automatic capping unit is located on one side of the first fixed support. A first weighing unit is located at the lower front end of the first fixed support. A first feeding unit is located at the middle of the first fixed support, above the first weighing unit. The positions of the first weighing unit and the first feeding unit correspond one-to-one. A material handling unit is located at the back of the first fixed support, above the first feeding unit. The feeding unit includes a linear module mounted on the top of the first fixed support, with a servo motor at one end of the linear module and a coal sample gripper below the linear module. A sample buffer unit and a weighing and feeding support are mounted on the top of the first fixed support, which is welded to the top of the first fixed support. Several sets of waste material suction groups and several sets of second suction ports are provided between the sample buffer unit and the first weighing unit. The second suction ports are located at the end face of the first weighing unit, and the waste material suction groups correspond one-to-one with the second suction ports of the first weighing unit. The high-temperature chamber includes a second fixed support, which is installed on the ground. A total sulfur analyzer, an ash analyzer, and a volatile matter analyzer are mounted on the surface of the second fixed support. A sample tray temporary storage platform and a picking and placing operation robot are provided on one side of the second fixed support and the side closest to the robot workshop.

[0005] As a preferred embodiment of the present invention, the first weighing unit includes a calorific value weighing group, a total sulfur weighing group, a water-ash weighing group, and a volatile matter weighing group. The calorific value weighing group, the total sulfur weighing group, the water-ash weighing group, and the volatile matter weighing group are arranged sequentially, and the calorific value weighing group, the total sulfur weighing group, the water-ash weighing group, and the volatile matter weighing group correspond to each waste material dust collection group.

[0006] As a preferred embodiment of the present invention, the first feeding unit includes four linear guide rails, which are installed on the back of the first fixed bracket. Feeding groups are slidably connected inside the linear guide rails. The top of three feeding groups is provided with a first feeding trough, and the top of the remaining feeding group is provided with a second feeding trough. The three first feeding troughs correspond to the calorific value weighing group, the water-ash weighing group, and the volatile matter weighing group, respectively. The second feeding trough corresponds to the total sulfur weighing group. A first dust suction port is welded to the edge of the first fixed bracket.

[0007] As a preferred embodiment of the present invention, the automatic capping unit includes a conveyor frame, which is welded to one side of a first fixed support. A first capping conveyor line and a second capping conveyor line are welded inside the conveyor frame, and the first capping conveyor line and the second capping conveyor line are arranged vertically. Sample coal bottles are provided on the surfaces of both the first capping conveyor line and the second capping conveyor line. A capping mechanism is provided on one side of the top of the conveyor frame, and the position of the capping mechanism corresponds to the end of the first capping conveyor line.

[0008] As a preferred technical solution of the present invention, the robot rapid inspection system includes a third fixed support, a sulfur and moisture detection unit, a robot working unit and a fast ash detection unit. The robot working unit is located between the third fixed support and the fast ash detection unit. A dust suction unit is provided on one side of the third fixed support, a second weighing unit is provided at the front end of the third fixed support, a second feeding unit is provided at the top of the third fixed support, and a bottle feeding conveying unit is provided in front of the third fixed support.

[0009] As a preferred technical solution of the present invention, a cleaning unit is provided at the corner of the third fixed bracket and the sulfur and moisture detection unit, and the cleaning unit is located on one side of the dust collection unit. The working range of the four-axis robot corresponds to the second weighing unit, the cleaning unit, the sulfur and moisture detection unit and the quick ash detection unit.

[0010] As a preferred embodiment of the present invention, the rapid ash detection unit includes a fourth fixed bracket, which is installed on the ground. The top of the fourth fixed bracket is provided with a tray buffer and transfer device and a container weighing device, which are arranged vertically. The bottom of the fourth fixed bracket is equipped with a rapid ash meter. The middle of the fourth fixed bracket and above the rapid ash meter is provided with a sample bottle conveying device. The middle of the fourth fixed bracket and on both sides of the sample bottle conveying device are provided with a material handling device and a material discharge device.

[0011] A control method for a coal quality testing system includes the following steps: S1. The robot's routine testing system is in operation. The sample coal bottle is fed into the first capping conveyor line of the automatic capping unit. When it reaches the capping point, the capping mechanism unscrews the cap. S2. The coal sample grabber in the material handling unit grabs the material in the coal sample bottle. According to the requirements of the test item, the grabbed material is unloaded into the first feeding trough and the second feeding trough corresponding to the first feeding unit. Under the action of the vibration motor, the material in each feeding trough slowly falls into the empty material container in the first weighing unit. The material container is a full-sulfur ceramic boat, crucible, or combustion vessel. S3. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding trays. After the required number of samples are loaded, the trays are transferred by a six-axis robot to the sample tray storage platform in the high-temperature room. S4. The pick-and-place robot sequentially places the porcelain boat containing the total sulfur sample, the crucible containing the ash sample, and the crucible containing the volatile matter sample into the total sulfur analyzer, the ash analyzer, and the volatile matter analyzer for testing. S5. A combustion vessel containing a calorific value sample is placed into an oxygen bomb. After the oxygen bomb is hung with an ignition wire, sealed, and filled with oxygen by the oxygen bomb disassembly and assembly device, it is placed into a calorimeter for calorific value detection. S6. The robot rapid inspection system is in operation. The sample coal bottle containing the coal sample is placed on the bottle feeding and conveying unit. The six-axis robot of the robot working unit transports it to the capping mechanism for capping. After the cap is opened, the sample coal bottle is transferred to the sample coal bottle placement platform of the second weighing unit. The coal sample gripper grabs the material in the sample coal bottle and the vibrating feeder adds it to the empty material container, which is a water measuring cup, a full sulfur ceramic boat and an ash dish. S7. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding tray. After the required number of water-filled measuring cups are loaded, the tray is transferred to the drying oven by a six-axis robot for moisture drying and testing. S8. After the required number of full-sulfur ceramic boats are loaded, the tray is transferred by the robot work unit to the ceramic boat loading mobile platform. The ceramic boat lifting gripper puts the ceramic boat containing the full-sulfur sample into the sulfur analyzer for testing. S9. After the required number of ash dishes are loaded, the tray is transferred by the robot work unit to the tray transfer device of the fast ash detection unit. The material handling device then puts the ash dishes containing the ash samples into the fast ash analyzer for testing.

[0012] As a preferred technical solution of the present invention, the sample supply and transmission part of the coal quality testing system receives the sample to be tested after automatic sample preparation, and is equipped with a sample identification device to identify and decode the coal sample bottle, and then allocate the sample subsequent processing flow; each feeding and weighing module in the second weighing unit feeds independently to meet the coal sample weighing requirements of routine testing and rapid testing; the vessel cleaning unit cleans the material vessels after testing for different test items by placing them at fixed points in different areas.

[0013] As a preferred technical solution of the present invention, the rapid ash detection unit is a tunnel kiln type rapid ash testing device; the total sulfur analyzer can hold multiple samples at one time and automatically complete the measurement; the calorific value detection unit has automatic lifting, automatic oxygen filling and releasing, and automatic ignition functions.

[0014] Compared with the prior art, the beneficial effects of the present invention are: Equipped with an automatic capping unit, the caps are transported via a capping conveyor line, allowing the caps to be closed or opened with the coal sample bottle without manual operation. Through automation and intelligent control, traditional coal testing items and processes are linked together, achieving an orderly combination of various operating procedures and equipment. This not only simplifies the operation process and reduces the difficulty of operation, but also improves the efficiency and speed of testing. Equipped with a first feeding unit, the material in each feeding trough is pushed through the feeding group. This not only accurately pushes the material in the feeding trough into the first weighing unit, but also adjusts the weight falling into the first weighing unit according to the required weight. The weighing accuracy is relatively high, the weighing efficiency is high, and it has an automatic calibration function. It can combine various test data and automatically perform analysis and calculation. This automated analysis method reduces the interference of human factors and improves the accuracy and reliability of test results. The total sulfur analyzer is highly automated, allowing multiple samples to be placed at once and automatically completing the measurement. The testing process is low-noise. The volatile matter analyzer and ash analyzer can also hold multiple samples at once, and can operate unattended after sample placement. They feature automated and intelligent control, reducing the need for manual operation and thus lowering the testing cost. The increased testing efficiency further reduces the unit cost. Attached Figure Description

[0015] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a structural diagram of the main body of the robotic routine laboratory system of the present invention; Figure 2 This is a schematic diagram of the weighing and feeding chamber of the present invention; Figure 3 This is a schematic diagram of the automatic capping unit of the present invention; Figure 4 This is a schematic diagram of the first feeding unit and the material handling unit of the present invention; Figure 5 This is a schematic diagram of the first weighing unit of the present invention; Figure 6 This is a schematic diagram of the robot workshop of the present invention; Figure 7 This is a schematic diagram of the volatile matter tray of the present invention; Figure 8 This is a schematic diagram of the high-temperature greenhouse of the present invention; Figure 9 This is a structural diagram of the robot rapid inspection system of the present invention; Figure 10 This is a schematic diagram of the second feeding unit of the present invention; Figure 11 This is a schematic diagram of the sulfur and moisture detection unit of the present invention; Figure 12 This is a schematic diagram of the fast ash detection unit of the present invention; Figure 13 This is a schematic diagram of the vacuuming unit and the cleaning unit of the present invention; Figure 14 This is a schematic diagram of the second weighing unit of the present invention; Figure 15 This is a schematic diagram of the bottle feeding and conveying unit of the present invention.

[0017] In the diagram: 110. Weighing and feeding chamber; 111. First weighing unit; 1111. Calorific value weighing group; 1112. Total sulfur weighing group; 1113. Water and ash weighing group; 1114. Volatile matter weighing group; 112. First feeding unit; 1121. Linear guide rail; 1122. Feeding group; 1123. First feeding trough; 1124. Second feeding trough; 1125. First dust suction port; 113. Automatic capping unit; 1131. Sample coal bottle; 1132. First capping conveyor line; 1133. Second capping conveyor line. 1134. Capping conveyor line; 1135. Capping mechanism; 114. Conveyor frame; 114. Material handling unit; 1141. Linear module; 1142. Servo motor; 115. Sample buffer unit; 116. Weighing and feeding support; 117. Waste material suction unit; 118. Second suction port; 120. High-temperature chamber; 121. Total sulfur analyzer; 122. Sample tray temporary storage platform; 123. Handling robot; 124. Ash analyzer; 125. Volatile matter analyzer; 130. Robot workshop; 140. Volatile matter tray; 210. Dust collection unit; 220. Sulfur and moisture detection unit; 230. Robot working unit; 240. Quick ash detection unit; 241. Pallet buffer and transfer device; 242. Quick ash meter; 243. Material handling device; 244. Material discharge device; 245. Container weighing device; 246. Sample bottle conveying device; 250. Second feeding unit; 260. Cleaning unit; 270. Second weighing unit; 280. Bottle inlet conveying unit. Detailed Implementation

[0018] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1:

[0019] Please see Figures 1-8As shown, a coal quality testing system includes a robotic routine testing system and a robotic rapid testing system. Both systems are externally equipped with enclosures and are located adjacent to each other. This facilitates the placement of coal samples for testing in the robotic rapid testing system. The robotic routine testing system includes a weighing and feeding chamber 110, a high-temperature chamber 120, a robotic working chamber 130, and a volatile matter tray 140. The volatile matter tray 140 is located at the front end of the weighing and feeding chamber 110. The robotic working chamber 130 is located between the weighing and feeding chamber 110 and the high-temperature chamber 120, and includes a tool for handling containers. The vessel handling unit includes a handling robot for gripping vessels, an airtight gripper for gripping vessels in the weighing and feeding chamber 110, a sample tray storage table 122 for buffering samples, and a vessel cleaning unit 260 for cleaning vessels after testing for different test items, placing them at fixed points in different areas. The weighing and feeding chamber 110 includes a first fixed support mounted on the ground, with an automatic capping unit 113 on one side. A first weighing unit 111 is located at the lower front end of the first fixed support; this weighing unit is an automatic weighing unit used to weigh calorific value, ash content, volatile matter, total sulfur, etc. The first fixed support is positioned in the middle and above the first weighing unit 111. A first feeding unit 112 is provided, and the positions of the first weighing unit 111 and the first feeding unit 112 correspond one-to-one. A material handling unit 114 is provided on the back of the first fixed bracket and above the first feeding unit 112. The material handling unit 114 includes a linear module 1141 provided at the top of the first fixed bracket, and a servo motor 1142 is provided at one end of the linear module 1141. A coal sample gripper is provided below the linear module 1141. A sample buffer unit 115 and a weighing and feeding bracket 116 are provided at the top of the first fixed bracket. The weighing and feeding bracket 116 is welded to the top of the first fixed bracket. Several sets of waste material suction units 117 and several sets of... Two suction ports 118 are located at the end face of the first weighing unit 111. A waste material suction assembly 117 corresponds one-to-one with the second suction ports 118 of the first weighing unit 111. The waste material suction assembly 117 is used to adsorb waste materials from the sample. The high-temperature chamber 120 includes a second fixed support, which is installed on the ground. A total sulfur analyzer 121, an ash analyzer 124, and a volatile matter analyzer 125 are mounted on the surface of the second fixed support. The total sulfur analyzer 121 contains a standard tungsten trioxide feeding and weighing device. A sample tray storage platform 122 and a sampling robot 123 are located on one side of the second fixed support, near the robot workshop 130. The sample tray storage platform 122 is used to store samples, and the sampling robot 123 is used to grasp them.The coal sample grabber in the feeding unit 114 grabs the material from the coal sample bottle 1131. According to the requirements of the test item, the grabbed material is unloaded into the first feeding trough 1123 and the second feeding trough 1124 corresponding to the first feeding unit 112. Under the action of the vibrating motor, the material in the feeding trough slowly falls into the empty material container in the first weighing unit 111.

[0020] Please see Figure 3 As shown, the first weighing unit 111 includes a calorific value weighing group 1111, a total sulfur weighing group 1112, a water-ash weighing group 1113, and a volatile matter weighing group 1114. The calorific value weighing group 1111, the total sulfur weighing group 1112, the water-ash weighing group 1113, and the volatile matter weighing group 1114 are arranged sequentially, and the calorific value weighing group 1111, the total sulfur weighing group 1112, the water-ash weighing group 1113, and the volatile matter weighing group 1114 correspond to each waste material dust collection group 117. Each feeding and weighing module feeds independently, meeting the weighing requirements of coal samples for routine testing and rapid testing. It has a built-in balance, high weighing efficiency, resolution of 0.1 mg, and automatic calibration function.

[0021] Please see Figure 4 As shown, the first feeding unit 112 includes four linear guide rails 1121, which are mounted on the back of the first fixed bracket. Feeding groups 1122 are slidably connected inside the linear guide rails 1121. Three of the feeding groups 1122 have first feeding troughs 1123 at their top ends, and the remaining feeding group 1122 has a second feeding trough 1124 at its top end. The three first feeding troughs 1123 are respectively connected to the calorific value weighing group 1111 and the water-ash weighing group 1113. The first feeding trough 1124 corresponds to the volatile matter weighing group 1114, and the second feeding trough 1124 corresponds to the total sulfur weighing group 1112. The first fixed bracket has a first dust suction port 1125 welded to its edge. The first feeding trough 1123 and the second feeding trough 1124 in the feeding group 1122 can shake the material in them so that it falls into the calorific value weighing group 1111, the total sulfur weighing group 1112, the water and ash weighing group 1113 and the volatile matter weighing group 1114 of the first weighing unit 111.

[0022] Please see Figure 5As shown, the automatic capping unit 113 includes a conveyor frame 1135, which is welded to one side of the first fixed support. A first capping conveyor line 1132 and a second capping conveyor line 1133 are welded inside the conveyor frame 1135, arranged vertically. Sample coal bottles 1131 are provided on the surfaces of both the first and second capping conveyor lines 1132 and 1133. A rotating... The capping mechanism 1134 is positioned corresponding to the end of the first capping conveyor line 1132. The sample coal bottle 1131 is moved along the first capping conveyor line 1132 and the second capping conveyor line 1133, thereby moving the sample coal bottle 1131 to the end of the first capping conveyor line 1132. At this time, the cap of the sample coal bottle 1131 at the end of the first capping conveyor line 1132 can be rotated by the capping mechanism 1134, thereby opening the cap of the sample coal bottle 1131.

[0023] Please see Figures 9-15 As shown, the rapid robotic inspection system includes a third fixed support, a sulfur and moisture detection unit 220, a robotic working unit 230, and a rapid ash detection unit 240. The sulfur and moisture detection unit 220 is used to detect the sulfur and moisture content of the coal. The robotic working unit 230 is located between the third fixed support and the rapid ash detection unit 240. The robotic working unit 230 includes a six-axis robot, a four-axis robot, and a tray device. The six-axis robot is used to clamp the samples around the robot, and the four-axis robot is used to grab the coal samples above the bottle conveying unit 280. A dust suction unit 210 is set on one side of the third fixed support to absorb the dust and slag of the coal samples. A second weighing unit 270 is set at the front end of the third fixed support, a second feeding unit 250 is set at the top end of the third fixed support, and a bottle conveying unit 280 is set in front of the third fixed support. The six-axis robot transports the sample to the capping mechanism 1134 for capping. After the cap is opened, the sample coal bottle 1131 is transferred to the coal sample bottle placement platform of the second weighing unit 270.

[0024] Please see Figure 9 As shown, a cleaning unit 260 is provided at the corner of the third fixed bracket and the sulfur and moisture detection unit 220, and the cleaning unit 260 is located on one side of the dust collection unit 210. The working range of the four-axis robot corresponds to the second weighing unit 270, the cleaning unit 260, the sulfur and moisture detection unit 220 and the quick ash detection unit 240. After the sample is loaded, the material container is picked up by the four-axis robot and placed into the corresponding tray. After the required number of moisture measuring cups are loaded, the tray is transferred to the drying oven by the six-axis robot for moisture drying and testing.

[0025] Please see Figure 12As shown, the rapid ash detection unit 240 includes a fourth fixed bracket, which is installed on the ground. The top of the fourth fixed bracket is provided with a tray buffer and transfer device 241 and a container weighing device 245. The tray buffer and transfer device 241 and the container weighing device 245 are arranged vertically. The bottom of the fourth fixed bracket is provided with a rapid ash meter 242. The middle of the fourth fixed bracket and above the rapid ash meter 242 is provided with a sample bottle conveying device 246. The middle of the fourth fixed bracket and on both sides of the sample bottle conveying device 246 are provided with a material handling device 243 and a material discharging device 244.

[0026] A control method for a coal quality testing system includes the following steps: S1. The robot's routine testing system is in operation. The sample coal bottle 1131 is fed into the first capping conveyor line 1132 of the automatic capping unit 113. When it reaches the capping point, the capping mechanism 1134 unscrews the bottle cap. S2. The coal sample grabber in the material handling unit 114 grabs the material in the coal sample bottle 1131. According to the requirements of the test item, the grabbed material is unloaded into the first feeding trough 1123 and the second feeding trough 1124 corresponding to the first feeding unit 112. Under the action of the vibration motor, the material in each feeding trough slowly falls into the empty material container in the first weighing unit 111. The material container is a full-sulfur ceramic boat, a crucible, or a combustion vessel. S3. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding trays. After the required number of samples are loaded, the trays are transferred by a six-axis robot to the sample tray storage platform 122 in the high-temperature room 120. S4. The pick-and-place robot 123 sequentially places the porcelain boat containing the total sulfur sample, the crucible containing the ash sample, and the crucible containing the volatile matter sample into the total sulfur analyzer 121, the ash analyzer 124, and the volatile matter analyzer 125 for testing. S5. A combustion vessel containing a calorific value sample is placed into an oxygen bomb. After the oxygen bomb is hung with an ignition wire, sealed, and filled with oxygen by the oxygen bomb disassembly and assembly device, it is placed into a calorimeter for calorific value detection. S6. The robot rapid inspection system is in operation. The sample coal bottle 1131 containing the coal sample is placed on the bottle feeding and conveying unit 280. The six-axis robot of the robot working unit 230 transports it to the capping mechanism 1134 for capping. After the cap is opened, the sample coal bottle 1131 is transferred to the sample coal bottle 1131 placement platform of the second weighing unit 270. The coal sample gripper grabs the material in the sample coal bottle 1131 and the vibrating feeder adds it to the empty material container, which is a water measuring cup, a full sulfur ceramic boat and an ash dish. S7. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding tray. After the required number of water-filled measuring cups are loaded, the tray is transferred to the drying oven by a six-axis robot for moisture drying and testing. S8. After the required number of full-sulfur ceramic boats are loaded, the tray is transferred by the robot work unit 230 to the ceramic boat loading mobile platform. The ceramic boat lifting gripper puts the ceramic boat containing the full-sulfur sample into the sulfur analyzer for testing. S9. After the required number of ash dishes are loaded, the tray is transferred by the robot work unit 230 to the tray transfer device of the fast ash detection unit 240. The material handling device 243 then puts the ash dishes containing the ash samples into the fast ash analyzer 242 for detection.

[0027] In this embodiment, the sample supply and transmission section of the coal quality testing system receives the samples to be tested after automatic sample preparation, and is equipped with a sample identification device to identify and decode the coal sample bottle, thereby allocating the subsequent sample processing flow; each feeding and weighing module in the second weighing unit 270 feeds independently to meet the weighing requirements of coal samples for routine testing and rapid testing; the vessel cleaning unit 260 cleans the test materials vessels for different test items by placing them at fixed points in different areas.

[0028] In this embodiment, the rapid ash detection unit 240 is a tunnel kiln-type rapid ash testing device; the total sulfur analyzer 121 can automatically complete the measurement by placing multiple samples at one time; and the calorific value detection unit has automatic lifting, automatic oxygen charging and discharging, and automatic ignition functions.

[0029] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A coal quality testing system, characterized in that, The system includes a robotic routine testing system and a robotic rapid testing system. The robotic routine testing system includes a weighing and feeding chamber (110), a high-temperature chamber (120), a robotic working chamber (130), and a volatile matter tray (140). The volatile matter tray (140) is located at the front end of the weighing and feeding chamber (110). The robotic working chamber (130) is located between the weighing and feeding chamber (110) and the high-temperature chamber (120). The weighing and feeding chamber (110) includes a first fixed support, which is installed on the ground. An automatic capping unit (113) is provided on one side of the frame. A first weighing unit (111) is provided at the lower front end of the first fixed bracket. A first feeding unit (112) is provided at the middle position of the first fixed bracket and above the first weighing unit (111). The positions of the first weighing unit (111) and the first feeding unit (112) correspond one-to-one. A material picking and dispensing unit (114) is provided at the back position of the first fixed bracket and above the first feeding unit (112). The material picking and dispensing unit (114) includes a component located on the top of the first fixed bracket. A linear module (1141) is provided at one end, and a servo motor (1142) is provided at one end of the linear module (1141). A coal sample gripper is provided below the linear module (1141). A sample buffer unit (115) and a weighing feeder (116) are provided at the top of the first fixed support. The weighing feeder (116) is welded to the top of the first fixed support. Several sets of waste material suction groups (117) and several sets of second suction ports (118) are provided between the sample buffer unit (115) and the first weighing unit (111). (118) Located at the end face of the first weighing unit (111), the waste material suction group (117) corresponds one-to-one with the second suction port (118) of the first weighing unit (111). The high temperature chamber (120) includes a second fixed bracket, which is installed on the ground. The surface of the second fixed bracket is provided with a total sulfur analyzer (121), an ash analyzer (124), and a volatile matter analyzer (125). A sample tray temporary storage platform (122) and a pick-and-place operation robot (123) are provided on one side of the second fixed bracket and the side close to the robot workshop (130).

2. The coal quality testing system according to claim 1, characterized in that, The first weighing unit (111) includes a calorific value weighing group (1111), a total sulfur weighing group (1112), a water-ash weighing group (1113), and a volatile matter weighing group (1114). The calorific value weighing group (1111), the total sulfur weighing group (1112), the water-ash weighing group (1113), and the volatile matter weighing group (1114) are arranged in sequence, and the calorific value weighing group (1111), the total sulfur weighing group (1112), the water-ash weighing group (1113), and the volatile matter weighing group (1114) correspond to each waste material dust collection group (117).

3. The coal quality testing system according to claim 2, characterized in that, The first feeding unit (112) includes four linear guide rails (1121). The four linear guide rails (1121) are installed on the back of the first fixed bracket. The linear guide rails (1121) are slidably connected to the feeding group (1122). The top of three feeding groups (1122) is provided with a first feeding trough (1123), and the top of the remaining feeding group (1122) is provided with a second feeding trough (1124). The three first feeding troughs (1123) correspond to the calorific value weighing group (1111), the water-ash weighing group (1113), and the volatile matter weighing group (1114), respectively. The second feeding trough (1124) corresponds to the total sulfur weighing group (1112). The edge of the first fixed bracket is welded with a first dust suction port (1125).

4. The coal quality testing system according to claim 3, characterized in that, The automatic capping unit (113) includes a conveyor frame (1135), which is welded to one side of the first fixed support. The conveyor frame (1135) has a first capping conveyor line (1132) and a second capping conveyor line (1133) welded inside. The first capping conveyor line (1132) and the second capping conveyor line (1133) are arranged vertically. Sample coal bottles (1131) are provided on the surfaces of the first capping conveyor line (1132) and the second capping conveyor line (1133). A capping mechanism (1134) is provided on one side of the top of the conveyor frame (1135). The position of the capping mechanism (1134) corresponds to the end of the first capping conveyor line (1132).

5. A coal quality testing system according to claim 1, characterized in that, The robotic rapid inspection system includes a third fixed support, a sulfur and moisture detection unit (220), a robotic working unit (230), and a rapid ash detection unit (240). The robotic working unit (230) is located between the third fixed support and the rapid ash detection unit (240). A dust collection unit (210) is provided on one side of the third fixed support, a second weighing unit (270) is provided at the front end of the third fixed support, a second feeding unit (250) is provided at the top end of the third fixed support, and a bottle feeding conveying unit (280) is provided in front of the third fixed support.

6. A coal quality testing system according to claim 5, characterized in that, A cleaning unit (260) is provided at the corner of the third fixed bracket and the sulfur and moisture detection unit (220), and the cleaning unit (260) is located on one side of the dust collection unit (210). The working range of the four-axis robot corresponds to the second weighing unit (270), the cleaning unit (260), the sulfur and moisture detection unit (220), and the quick ash detection unit (240).

7. A coal quality testing system according to claim 6, characterized in that, The rapid ash detection unit (240) includes a fourth fixed bracket, which is installed on the ground. The top of the fourth fixed bracket is provided with a tray buffer and transfer device (241) and a vessel weighing device (245). The tray buffer and transfer device (241) and the vessel weighing device (245) are arranged vertically. The bottom of the fourth fixed bracket is provided with a rapid ash meter (242). The middle of the fourth fixed bracket and above the rapid ash meter (242) is provided with a sample bottle conveying device (246). The middle of the fourth fixed bracket and on both sides of the sample bottle conveying device (246) are provided with a material handling device (243) and a material discharging device (244).

8. A control method applied to the coal quality testing system according to any one of claims 1-7, characterized in that, Includes the following steps: S1. The robot routine testing system is running. The sample coal bottle (1131) is fed into the first capping conveyor line (1132) of the automatic capping unit (113). When it reaches the capping point, the capping mechanism (1134) unscrews the cap. S2. The coal sample grabbing gripper in the material handling unit (114) grabs the material in the coal sample bottle (1131). According to the requirements of the test item, the grabbed material is unloaded into the first feeding trough (1123) and the second feeding trough (1124) corresponding to the first feeding unit (112). Under the action of the vibration motor, the material in each feeding trough slowly falls into the empty material container in the first weighing unit (111). The material container is a full-sulfur ceramic boat, a crucible, or a combustion vessel. S3. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding tray. After the required quantity is loaded, the tray is transferred by a six-axis robot to the sample tray storage platform (122) in the high temperature room (120). S4. The pick-and-place robot (123) sequentially places the porcelain boat containing the total sulfur sample, the crucible containing the ash sample, and the crucible containing the volatile matter sample into the total sulfur analyzer (121), the ash analyzer (124), and the volatile matter analyzer (125) for testing. S5. A combustion vessel containing a calorific value sample is placed into an oxygen bomb. After the oxygen bomb is hung with an ignition wire, sealed, and filled with oxygen by the oxygen bomb disassembly and assembly device, it is placed into a calorimeter for calorific value detection. S6. The robot rapid inspection system is in operation. The sample coal bottle (1131) containing the coal sample is placed on the bottle feeding and conveying unit (280). The six-axis robot of the robot working unit (230) transports it to the capping mechanism (1134) for capping. After the cap is opened, the sample coal bottle (1131) is transferred to the sample coal bottle (1131) placement platform of the second weighing unit (270). The coal sample gripper grabs the material in the sample coal bottle (1131) and the vibrating feeder adds it to the empty material container, which is a water measuring cup, a full sulfur ceramic boat and an ash dish. S7. After the sample loading is completed, the material containers are picked up by a four-axis robot and placed into the corresponding tray. After the required number of water-filled measuring cups are loaded, the tray is transferred to the drying oven by a six-axis robot for moisture drying and testing. S8. After the required number of full sulfur ceramic boats are loaded, the tray is transferred by the robot work unit (230) to the ceramic boat loading mobile platform. The ceramic boat lifting gripper puts the ceramic boat containing the full sulfur sample into the sulfur analyzer for testing. S9. After the required number of ash dishes are loaded, the tray is transferred by the robot working unit (230) to the tray transfer device of the fast ash detection unit (240). The material handling device (243) then puts the ash dishes containing the ash sample into the fast ash instrument (242) for detection.

9. The control method for a coal quality testing system according to claim 8, characterized in that, The sample supply and transmission section of the coal quality testing system receives the samples to be tested after automatic sample preparation, and is equipped with a sample identification device to identify and decode the coal sample bottle, and then allocate the sample subsequent processing flow; each feeding and weighing module in the second weighing unit (270) feeds independently to meet the coal sample weighing requirements of routine testing and rapid testing; the vessel cleaning unit (260) cleans the material vessels after testing for different test items by placing them at fixed points in different areas.

10. The control method for a coal quality testing system according to claim 9, characterized in that, The rapid ash detection unit (240) is a tunnel kiln-type rapid ash testing device; the total sulfur analyzer (121) can place multiple samples at once and automatically complete the measurement; the calorific value detection unit has automatic lifting, automatic oxygen filling and releasing, and automatic ignition functions.

Images