Pebble coal deslagging device and method for coal mill
An automated system consisting of a hoist and a slag removal robot has solved the problems of dust pollution and low efficiency in the transportation of coal and stone from a coal mill, achieving safe and efficient transportation of coal and stone, and reducing dust diffusion and operating costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING POWER EQUIP GRP
- Filing Date
- 2025-12-18
- Publication Date
- 2026-04-28
AI Technical Summary
Traditional manual operation of coal mills generates a large amount of toxic and harmful dust during the transportation of coal and stones, leading to health risks and environmental problems, as well as low transportation efficiency and high costs.
An automated system consisting of a hoist, a slag removal robot, and a monitoring unit controls the operation of the hoist and robot by monitoring the position of the stones and coal in the hopper, thereby achieving automated transfer of stones and coal and preventing dust from spreading.
It improves the transportation efficiency of stone coal, reduces dust pollution and health risks, reduces labor intensity and operating costs, and enhances production safety and environmental protection.
Smart Images
Figure CN121929475A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of coal mill equipment technology, and in particular to a coal mill slag discharge device and method. Background Technology
[0002] Currently, coal-fired power plants generally rely on manual operation of forklifts to transfer coal and gravel, using rotating attachments to tip the coal. This method generates large amounts of toxic and harmful fumes during the attachment tipping process, posing serious health risks to workers and causing severe on-site pollution, potentially leading to failure to meet environmental impact assessment standards. Furthermore, manual transportation suffers from low efficiency; due to human factors, transport speed and accuracy are difficult to guarantee, and with the continuous rise in labor costs, the operating costs of enterprises also increase. Summary of the Invention
[0003] The purpose of this invention is to provide a device and method for discharging slag from a coal mill stone coal, thereby improving the transportation efficiency of stone coal.
[0004] To achieve the above objectives, the present invention provides the following technical solution: a coal mill slag removal device, comprising: a hoist having a feeding position and a discharging position, the hoist being able to transport the coal slag at the feeding position to the discharging position; a slag removal robot having a slag storage unit for storing coal slag, the slag removal robot being able to transport the slag storage unit to the feeding position; a slag removal monitoring unit connected to a coal hopper, the slag removal monitoring unit being able to monitor the coal slag level in the coal hopper; and a control processing unit being able to control the operation of the hoist and the slag removal robot based on the monitoring results of the slag removal monitoring unit.
[0005] Furthermore, the hoist includes a chain, a drive unit, and a guide rail; the drive unit includes an upper sprocket and a lower sprocket, both of which are connected to the chain and drive the chain to move, the vertical height of the upper sprocket being higher than that of the lower sprocket; the guide rail is parallel to one side of the chain, the slag storage unit is connected to the guide rail, and the slag storage unit can slide along the guide rail; the slag storage unit is provided with a stone and coal hopper hook, the chain is provided with a chain hook, the chain hook is connected to the stone and coal hopper hook, and the chain can drive the slag storage unit to move through the chain hook and the stone and coal hopper hook.
[0006] Furthermore, the slag storage unit includes a stone and coal hopper body, an axle, and a track wheel. The axle is located on one side of the stone and coal hopper body, and the track wheel is located at both ends of the axle. The stone and coal hopper body slides on the guide rail via the track wheel.
[0007] Furthermore, the elevator also includes a pre-guide pulley assembly, which is located on the side of the guide rail away from the chain. The pre-guide pulley assembly includes a bracket and pulleys, with the pulleys mounted on the bracket. When the slag removal robot moves toward the pre-guide pulley assembly, the pulleys can guide the slag removal robot to the feeding position.
[0008] Furthermore, the stone and coal hopper hook includes a first support plate and a first upright plate. One end of the first support plate is connected to the stone and coal hopper body, and the other end of the first support plate is connected to the first upright plate. The first upright plate extends downward from the first support plate. The chain hook includes a second support plate and a second upright plate. One end of the second support plate is connected to the chain, and the other end of the second support plate is connected to the second upright plate. The second upright plate extends upward from the second support plate. When the stone and coal hopper body rises, the first upright plate contacts the second support plate, and the second upright plate contacts the first support plate.
[0009] Furthermore, the slag removal device also includes a sealing cover, a hopper, and a dust removal mechanism; the elevator is located inside the sealing cover, which has an inlet and an outlet, and the slag removal robot enters the elevator through the inlet; the hopper is connected to the sealing cover, and the sealing cover communicates with the hopper through the outlet, allowing the stones and coal in the stone and coal hopper to enter the hopper through the outlet; the dust removal mechanism is connected to the hopper and can remove dust from the hopper.
[0010] Furthermore, a roller shutter door is provided on the sealing cover and above the feed inlet, through which the feed inlet can be closed.
[0011] Furthermore, the control processing unit is configured to control the roller shutter door to close the feed inlet after the slag discharge robot leaves the sealed cover.
[0012] Furthermore, the slag discharge device also includes a funnel bin, which is connected to the lower end of the silo. When the funnel bin is opened, it can discharge the silo and the slag and coal inside the funnel bin.
[0013] On the other hand, a method for discharging slag from a coal mill is provided, based on the slag discharge device according to any one of claims 1-9, comprising the following steps: when the slag level in the slag hopper is greater than a first threshold, controlling the slag discharge robot to pick up the slag storage unit; controlling the slag discharge robot to transport the slag storage unit to the feeding position; connecting the slag storage unit to the elevator via the slag discharge robot; and lifting the slag storage unit to the discharge position via the elevator and dumping the slag in the slag storage unit.
[0014] Analysis reveals that this invention discloses a stone and coal transfer system for coal mills, solving the problem of large amounts of toxic and harmful dust generated during the traditional manual forklift dumping of stone and coal via rotating attachments, which affects personnel health and the environment, thus improving production efficiency and safety. This system can not only capture the stone and coal level signal from the isobaric slag discharge device and trigger robot actions based on the signal to begin transfer operations, but it can also operate in conjunction with a single bucket elevator, allowing the slag discharge robot to dump materials via the elevator, without generating dust dispersion throughout the entire process. Attached Figure Description
[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. Wherein: Figure 1 A schematic diagram of the structure of an embodiment of the present invention.
[0016] Figure 2 A schematic diagram of the structure of a slag removal robot entering a silo according to an embodiment of the present invention.
[0017] Figure 3 A schematic diagram of the slag storage unit and pre-guided pulley group according to an embodiment of the present invention.
[0018] Figure 4 A schematic diagram of the structure of a hoist according to an embodiment of the present invention.
[0019] Figure 5 A schematic diagram of the structure of a stone and coal bucket hook and a chain hook according to an embodiment of the present invention.
[0020] Figure 6 A schematic diagram of the structure of the slag storage unit of an embodiment of the present invention when it is transported to the dumping position.
[0021] Figure 7 A schematic diagram of the slag storage unit according to an embodiment of the present invention.
[0022] Figure 8 A schematic diagram of the structure of a pre-guided pulley block according to an embodiment of the present invention.
[0023] Figure 9 A schematic diagram of the control logic of an embodiment of the present invention.
[0024] Explanation of reference numerals in the attached drawings: 1. Hoist; 2. Hopper; 3. Dust removal mechanism; 4. Slag removal robot; 5. Roller shutter door; 6. Sealing cover; 111. Slag storage unit; 112. Pre-guide pulley block; 113. Guide rail; 114. Chain; 115. Drive unit; 1111. Stone and coal hopper; 1112. Wheel and axle; 1113. Stone and coal hopper hook; 1114. Chain hook; 1121. Pre-guide pulley bracket; 1122. Pulley. Detailed Implementation
[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. Indeed, those skilled in the art will recognize that modifications and variations can be made to the invention without departing from its scope or spirit. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the invention encompass such modifications and variations falling within the scope of the appended claims and their equivalents.
[0026] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected," "linked," and "set up" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; a wired connection, a radio connection, or a wireless communication signal connection. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.
[0027] The accompanying drawings illustrate one or more examples of the invention. The detailed description uses numerals and letters to refer to features in the drawings. Similar or analogous reference numerals in the drawings and description have been used to refer to similar or analogous parts of the invention. As used herein, the terms “first,” “second,” “third,” and “fourth,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of a single component.
[0028] This invention is applicable to thermal power plants or other industrial applications using coal mills, for the automated processing of coke slag produced by the mills. Coke slag is a waste residue generated during the coal grinding process, and its processing efficiency directly affects the operating efficiency and environmental safety of the coal mill. Traditional slag removal methods rely on manual operation, which suffers from low efficiency, high labor intensity, and dust pollution.
[0029] like Figure 1 and Figure 2 As shown, according to an embodiment of the present invention, a coal mill stone coal slag discharge device is provided, comprising: Elevator 1, which has a feeding position and a discharging position, is capable of transporting stones and coal from the feeding position to the discharging position; The slag removal robot 4 has a slag storage unit 111 for storing stone coal, and the slag removal robot 4 can transport the slag storage unit 111 to the feeding position. A slag discharge monitoring unit is connected to the stone and coal hopper 1111 and is capable of monitoring the level of stone and coal in the stone and coal hopper 1111. The control and processing unit is capable of controlling the operation of the hoist 1 and the slag discharge robot 4 based on the monitoring results of the slag discharge monitoring unit.
[0030] In one embodiment of this application, the elevator 1 has a feeding position and a discharging position, and its core function is to lift the gravel and coal at the feeding position to the discharging position. The feeding position is usually located on the ground or in a lower area to facilitate access by the slag removal robot 4; the discharging position is connected to the silo 2. The elevator 1 adopts a mechanical transmission method, which can stably and continuously transport gravel and coal, avoiding blockages or leaks in the intermediate links.
[0031] like Figures 3-8 As shown, the aforementioned slag removal robot 4 has a slag storage unit 111 for storing coal stones. This robot can move autonomously, transporting the slag storage unit 111 to the feeding position of the elevator 1. The slag removal robot 4 typically uses a wheeled mobile platform with a built-in navigation system to ensure precise positioning. The slag storage unit 111 is designed as a detachable or fixed container for easy loading and unloading of coal stones. The use of the robot reduces manual intervention and improves slag removal efficiency.
[0032] The aforementioned slag discharge monitoring unit is connected to the stone and coal hopper 1111. The slag monitoring unit can be a Siemens S7-1200 series PLC used for real-time monitoring of the stone and coal levels within the hopper. This unit can be equipped with ultrasonic sensors, weight sensors, or image recognition equipment to detect the height or volume of materials within the hopper and transmit the data to the control processing unit. Specifically, the control processing unit can be an Advantech industrial PC of model MIC-7700. The control processing unit is the core of the system, controlling the coordinated operation of the hoist 1 and the slag discharge robot 4 based on the monitoring results from the slag discharge monitoring unit.
[0033] This application reduces labor costs and safety risks through fully automated operation; real-time monitoring ensures the timeliness and reliability of slag discharge; the overall system improves the operating efficiency of the coal mill and reduces environmental pollution.
[0034] In one embodiment of this application, the hoist 1 includes a chain 114, a drive unit 115, and a guide rail 113; the drive unit 115 includes an upper sprocket and a lower sprocket, both of which are connected to the chain 114 and drive the chain 114 to move, the vertical height of the upper sprocket being higher than that of the lower sprocket; the guide rail 113 is parallel to one side of the chain 114, the slag storage unit 111 is connected to the guide rail 113, and the slag storage unit 111 can slide along the guide rail 113; the slag storage unit 111 is provided with a stone and coal hopper hook 1113, and the chain 114 is provided with a chain hook 1121, the chain hook 1121 being connected to the stone and coal hopper hook 1113, and the chain hook 1121 and the stone and coal hopper hook 1113 enabling the chain 114 to drive the slag storage unit 111 to move.
[0035] The drive unit 115 includes an upper sprocket and a lower sprocket, both connected to the chain 114 and driven by a motor or other power source. The upper sprocket is vertically higher than the lower sprocket, thus forming an inclined or vertical lifting path to adapt to different site layouts. The chain 114 is made of high-strength material, capable of withstanding the weight and impact load of the coal and stones. The guide rail 113 is parallel to one side of the chain 114, providing guidance and support for the slag storage unit 111. The guide rail 113 is typically made of steel with a smooth surface to reduce friction. The slag storage unit 111 is connected to the guide rail 113 and slides along the guide rail 113 via pulleys 1122 or rollers, ensuring stability during lifting. The slag storage unit 111 is equipped with a coal and stone bucket hook 1113, while the chain 114 is equipped with a chain hook 1121. The design of the coal and stone bucket hook 1113 and the chain hook 1121 allows for quick connection and separation. When the slag storage unit 111 moves to the feeding position, the chain hook 1121 engages with the stone and coal hopper hook 1113, enabling the chain 114 to drive the slag storage unit 111 upward. This hook-type connection method is simple and reliable, reduces complex mechanical structures, and lowers the failure rate.
[0036] The working process of the hoist 1 is as follows: After the slag removal robot 4 transports the slag storage unit 111 to the feeding position, the chain hook 1121 connects with the stone and coal hopper hook 1113; the drive unit 115 starts, and the chain 114 drives the slag storage unit 111 to rise along the guide rail 113; after reaching the discharge position, the slag storage unit 111 tilts and unloads the stone and coal. The entire process is monitored by the control processing unit to ensure synchronization and precision. This hoist 1 structure has high chain transmission efficiency and is suitable for heavy-duty transportation; the guide rail 113 guides and prevents the slag storage unit 111 from swaying; the hook connection simplifies operation and improves the degree of automation.
[0037] In one embodiment of this application, the slag removal device further includes a sealing cover 6, a hopper 2, and a dust removal mechanism 3. The dust removal mechanism 3 may be a bag filter. The elevator 1 is located inside the sealing cover 6, which has an inlet and an outlet. The slag removal robot 4 enters the elevator 1 through the inlet. The hopper 2 is connected to the sealing cover 6, and the sealing cover 6 communicates with the hopper 2 through the outlet. The stones and coal in the stone and coal hopper 1111 can enter the hopper 2 through the outlet. The dust removal mechanism 3 is connected to the hopper 2 and can remove dust from the hopper 2. A roller shutter door 5 is also provided above the inlet on the sealing cover 6, which can close the inlet.
[0038] Optionally, the slag discharge device further includes a funnel bin, which is connected to the lower end of the silo 2. When the funnel bin is opened, it can discharge the silo 2 and the stone coal inside the funnel bin.
[0039] Specifically, the elevator 1 is located inside the sealing cover 6, which is a closed structure, typically made of steel plate or composite materials, and has dustproof and soundproof functions. The sealing cover 6 has an inlet and an outlet: the inlet allows the slag removal robot 4 to enter the elevator 1 area; the outlet connects to the hopper 2 for the transfer of gravel and coal. The design of the sealing cover 6 ensures that the internal space is isolated from the external environment, preventing dust leakage. The hopper 2 is connected to the sealing cover 6 and receives gravel and coal through the outlet. The hopper 2 is a large storage container, possibly made of metal, with a smooth interior to reduce adhesion. The capacity of the hopper 2 is designed according to the processing volume and can be equipped with a radio frequency admittance level sensor or weight monitoring device, linked to the slag removal monitoring unit. When the slag storage unit 111 reaches the discharge position, the gravel and coal are unloaded into the hopper 2 by gravity. In the overall system, the sealing cover 6, the hopper 2, and the dust removal mechanism 3 work together: the sealing cover 6 prevents dust diffusion; the hopper 2 temporarily stores gravel and coal; and the dust removal mechanism 3 purifies the air. It significantly reduces dust pollution and improves the working environment; the sealing cover 6 protects the hoist 1 and other components, extending the equipment life; and it also reduces emissions.
[0040] In one embodiment of this application, the slag storage unit 111 includes a stone and coal hopper 1111 body, a wheel axle 1112 and a track wheel. The wheel axle 1112 is located on one side of the stone and coal hopper 1111 body, and the track wheel is located at both ends of the wheel axle 1112. The stone and coal hopper 1111 body slides on the guide rail 113 via the track wheel.
[0041] Specifically, the main body of the stone and coal hopper 1111 is a container for storing stones and coal, typically made of wear-resistant steel plate, and may be lined with an anti-stick material to prevent stones and coal from adhering. The main body of the stone and coal hopper 1111 is designed in a box shape for easy loading and unloading. The axle 1112 is located on one side of the main body of the stone and coal hopper 1111, usually at the bottom or side of the hopper body, and is used to support the track wheels. The connection between the axle 1112 and the hopper body can be welding or bolting to ensure structural stability. When the slag removal robot 4 moves, the slag storage unit 111 slides on the guide rail 113 via the track wheels. The guide rail 113 provides a precise path for the slag storage unit 111, enabling it to accurately reach the feeding position of the elevator 1. During the lifting process, the track wheels roll along the guide rail 113, reducing friction and energy consumption.
[0042] In one embodiment of this application, the elevator 1 further includes a pre-guide pulley assembly 112, which is located on the side of the guide rail 113 away from the chain 114. The pre-guide pulley assembly 112 includes a bracket and a pulley 1122, which is mounted on the bracket. When the slag removal robot 4 moves toward the pre-guide pulley assembly 112, the pulley 1122 can guide the slag removal robot 4 to move to the feeding position.
[0043] Specifically, the pre-guided pulley block 112 includes a support and pulleys 1122. The support is typically welded from steel and fixed to the foundation structure, providing stable support. When the slag removal robot 4 moves toward the pre-guided pulley block 112, the pulleys 1122 contact the sides of the stone and coal hopper 1111, guiding the robot to adjust its direction through rolling action, ensuring accurate alignment with the feeding position. This guiding mechanism is similar to the guide rail 113 system, but more flexible and capable of compensating for the robot's positioning errors.
[0044] In one embodiment of this application, the stone and coal hopper hook 1113 includes a first support plate and a first upright plate. One end of the first support plate is connected to the body of the stone and coal hopper 1111, and the other end of the first support plate is connected to the first upright plate. The first upright plate extends downward from the first support plate. The chain hook 1121 includes a second support plate and a second upright plate. One end of the second support plate is connected to the chain 114, and the other end of the second support plate is connected to the second upright plate. The second upright plate extends upward from the second support plate. When the body of the stone and coal hopper 1111 rises, the first upright plate contacts the second support plate, and the second upright plate contacts the first support plate.
[0045] Specifically, the stone and coal hopper hook 1113 includes a first support plate and a first vertical plate. One end of the first support plate is connected to the body of the stone and coal hopper 1111, typically by welding or bolting; the other end of the first support plate is connected to the first vertical plate, which extends downwards from the first support plate. The function of the first vertical plate is to provide a hook point for engagement with the chain hook 1121. The chain hook 1121 includes a second support plate and a second vertical plate. One end of the second support plate is connected to the chain 114, possibly by chain links or special accessories; the other end of the second support plate is connected to the second vertical plate, which extends upwards from the second support plate. The design of the second vertical plate complements that of the first vertical plate, forming an interlocking structure. When the body of the stone and coal hopper 1111 rises, the first vertical plate contacts the second support plate, and the second vertical plate contacts the first support plate. This contact method creates a stable force transmission path: the tension of the chain 114 acts on the first vertical plate through the second support plate, while the second vertical plate supports the first support plate, preventing the slag storage unit 111 from falling off. The contact surface may be designed as a slope or an arc to facilitate smooth engagement and disengagement. The workflow of this hook-type connection is as follows: At the feeding position, the slag storage unit 111 moves to align the stone and coal hopper hook 1113 with the chain hook 1121; the elevator 1 starts, the chain hook 1121 rises and engages with the stone and coal hopper hook 1113; as the chain 114 moves, the slag storage unit 111 is lifted; at the discharge position, the chain hook 1121 and the stone and coal hopper hook 1113 enable the slag storage unit 111 to tilt, dumping the stone and coal inside the slag storage unit 111, and after dumping, the slag storage unit 111 is transported back to the initial position.
[0046] In one embodiment of this application, the control processing unit is configured to control the roller shutter door 5 to close the feed inlet after the slag discharge robot 4 leaves the sealing cover 6.
[0047] Understandably, the roller shutter door 5 ensures the continuous sealing of the cover 6, maintaining the cleanliness and safety of the internal environment, while also preventing dust from escaping from the cover 6.
[0048] like Figure 9 As shown, the present invention also discloses a method for removing slag from a coal mill, based on the above-mentioned slag removal device, comprising the following steps: When the amount of stone and coal in the stone and coal hopper 1111 is greater than the first threshold, the slag removal robot 4-fork slag removal unit 111 is controlled. The slag removal robot 4 is controlled to transport the slag storage unit 111 to the feeding position; The slag storage unit 111 is connected to the elevator 1 by the slag removal robot 4; The hoist 1 lifts the slag storage unit 111 to the discharge position and dumps the stones and coal inside the slag storage unit 111.
[0049] The specific process of the slag removal method in this application is as follows: During the operation of the coal mill, stone coal is produced and enters the stone coal hopper 1111 through the coal mill pipeline. The slag removal monitoring unit monitors the level status of the stone coal in real time and judges the level status of the stone coal based on the level signal. When the level signal reaches the set value, it indicates that the stone coal hopper 1111 is full, and the slag removal monitoring unit will trigger an alarm signal, which is transmitted wirelessly to the control processing unit. After receiving the instruction, the control processing unit triggers the slag removal robot 4 to work. The slag removal robot 4 picks up the stone coal hopper 1111 and goes to the hoist 1 along a predetermined route. The control processing unit can monitor the position of the slag removal robot 4 in real time. When the slag removal robot 4 moves into the vicinity of the single bucket hoist 1, the control processing unit will issue an instruction to control the roller shutter door 5 to move. After receiving the instruction, the hoist 1 will raise the roller shutter door 5. The roller shutter door 5 is equipped with a proximity switch. After the roller shutter door 5 is fully raised, it will trigger the roller shutter door to reach the position signal and transmit the signal to the control processing unit. The control processing unit sends a signal indicating that the roller shutter door has been raised to the correct position to the slag removal robot 4. The slag removal robot 4 then guides the stone and coal hopper 1111 into the interior space of the sealed cover 6 via the roller shutter door 5. When it reaches the feeding position, the elevator sends a ground positioning signal for the stone and coal hopper to the control processing unit. Pre-guided pulley sets 112 are located on both sides of the bottom of the elevator 1 to assist the slag removal robot 4 in positioning the stone and coal hopper 1111. After the stone and coal hopper 1111 reaches the designated point via the pre-guided pulley sets 112, the slag removal robot 4 lowers the stone and coal hopper 1111 and triggers the proximity switch at the bottom. The elevator 1 then sends a ground positioning signal back to the control processing unit, and simultaneously, the slag removal robot 4 exits the sealed cover 6. The control processing unit monitors the positioning of the slag removal robot 4 to determine whether it needs to exit the interior of the single-bucket elevator 1. After exiting the aforementioned area, it sends a signal to lower the roller shutter door 5. After the roller shutter door 5 is fully closed, the single bucket elevator 1 sends a signal to the control processing unit that the roller shutter door has been lowered to the designated position. The motor of the single bucket elevator 1 starts and drives the chain 114 to rise. The chain 114 is equipped with a chain hook 1121. During the upward movement of the hook, it will hook the stone and coal bucket hook 1113 at the top front of the stone and coal bucket 1111, thereby driving the stone and coal bucket 1111 to rise. At the same time, the wheel axle 1112 at the bottom front of the stone and coal bucket 1111 will climb along the guide rail 113.After chain 114 drives the stone and coal hopper 1111 to the top, the stone and coal hopper 1111 begins to tilt and unload material. Upon reaching a certain angle, the stone and coal hopper 1111 triggers a proximity switch, stopping the lifting operation. The single-bucket elevator 1 sends a signal indicating that the stone and coal hopper 1111 has reached the top and is in position to the control processing unit. After a period of pause, the system begins its return journey, i.e., chain 114 moves in the opposite direction, and the stone and coal hopper 1111 descends. Upon reaching the ground, the stone and coal hopper 1111 triggers a proximity switch, and the single-bucket elevator 1 sends a ground-position signal to the control processing unit. The control processing unit then sends a command to raise the roller shutter door 5. Once the roller shutter door 5 is raised, it sends a signal indicating that it has reached its position to the control processing unit. Upon receiving the signal, the control processing unit sends a work command to the slag removal robot 4. The slag removal robot 4 advances, picks up the stone and coal hopper 1111, returns along a predetermined route, and places the stone and coal hopper 1111 back into the coal mill. After the control and processing unit determines that the slag discharge robot 4 is far away from the hoist 1 based on the positioning signal, it controls the roller shutter door 5 to descend and close the roller shutter door 5, and the system waits for the next operation.
[0050] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects: a coal mill stone and coal transfer system solves the problem of large amounts of toxic and harmful dust being generated during the traditional manual forklift dumping of coal and stones via rotating attachments, affecting personnel health and the environment, thereby improving production efficiency and safety. This system can not only capture the coal and stone level signal from the isobaric slag discharge device and trigger robot actions based on the level signal to begin transfer operations, but it can also operate in conjunction with a single bucket elevator, allowing the slag discharge robot to dump materials via the elevator without generating dust dispersion throughout the process.
[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A coal mill slag discharge device, characterized in that, include: The elevator has a feed position and a discharge position, and the elevator is capable of transporting stones and coal from the feed position to the discharge position; A slag removal robot, which has a slag storage unit for storing stone coal, and is capable of transporting the slag storage unit to the feeding position; A slag discharge monitoring unit is connected to the stone and coal hopper, and the slag discharge monitoring unit can monitor the level of stone and coal in the stone and coal hopper; The control and processing unit is capable of controlling the operation of the hoist and the slag discharge robot based on the monitoring results of the slag discharge monitoring unit.
2. The slag discharge device for a coal mill according to claim 1, characterized in that, The hoist includes a chain, a drive unit, and a guide rail; The drive unit includes an upper sprocket and a lower sprocket, both of which are connected to the chain and drive the chain to move. The vertical height of the upper sprocket is higher than that of the lower sprocket. The guide rail is parallel to one side of the chain, the slag storage unit is connected to the guide rail, and the slag storage unit can slide along the guide rail; The slag storage unit is equipped with a stone and coal hopper hook, and the chain is equipped with a chain hook. The chain hook is connected to the stone and coal hopper hook, and the chain hook and the stone and coal hopper hook enable the chain to drive the slag storage unit to move.
3. The slag discharge device for a coal mill according to claim 2, characterized in that, The slag storage unit includes a stone and coal hopper body, an axle, and a track wheel. The axle is located on one side of the stone and coal hopper body, and the track wheel is located at both ends of the axle. The stone and coal hopper body slides on the guide rail via the track wheel.
4. The slag discharge device for a coal mill according to claim 3, characterized in that, The elevator also includes a pre-guide pulley assembly, which is located on the side of the guide rail away from the chain. The pre-guide pulley assembly includes a bracket and pulleys, with the pulleys mounted on the bracket. When the slag removal robot moves toward the pre-guide pulley assembly, the pulleys can guide the slag removal robot to the feeding position.
5. A coal mill stone and coal slag discharge device according to claim 3, characterized in that, The stone and coal hopper hook includes a first support plate and a first vertical plate. One end of the first support plate is connected to the stone and coal hopper body, and the other end of the first support plate is connected to the first vertical plate. The first vertical plate extends downward from the first support plate. The chain hook includes a second support plate and a second upright plate. One end of the second support plate is connected to the chain, and the other end of the second support plate is connected to the second upright plate. The second upright plate extends upward from the second support plate. When the stone and coal hopper body rises, the first vertical plate comes into contact with the second support plate, and the second vertical plate comes into contact with the first support plate.
6. A coal mill stone and coal slag discharge device according to claim 3, characterized in that, The slag discharge device also includes a sealing cover, a hopper, and a dust removal mechanism; The elevator is located inside the sealed cover, which has an inlet and an outlet. The slag removal robot enters the elevator through the inlet. The hopper is connected to the sealing cover, and the sealing cover is connected to the hopper through the discharge port. The stones and coal in the stone and coal hopper body can enter the hopper through the discharge port. The dust removal mechanism is connected to the silo and can remove dust from the silo.
7. A coal mill stone and coal slag discharge device according to claim 6, characterized in that, A roller shutter door is also provided on the sealing cover and above the feed inlet, through which the feed inlet can be closed.
8. A coal mill stone and coal slag discharge device according to claim 7, characterized in that, The control and processing unit is configured to control the roller shutter door to close the feed inlet after the slag discharge robot leaves the sealed cover.
9. A coal mill stone and coal slag discharge device according to claim 6, characterized in that, The slag discharge device also includes a funnel bin, which is connected to the lower end of the silo. When the funnel bin is opened, it can discharge the silo and the pebbles and coal inside the funnel bin.
10. A method for removing slag from a coal mill, based on the slag removal device according to any one of claims 1-9, characterized in that, Includes the following steps: When the amount of stone and coal in the stone and coal hopper is greater than the first threshold, the slag removal robot is controlled to pick up the slag storage unit. The slag removal robot is controlled to transport the slag storage unit to the feeding position; The slag storage unit is connected to the hoist via a slag removal robot; The hoist lifts the slag storage unit to the discharge position and dumps the stones and coal inside the slag storage unit.