A full-automatic boiler sooting machine and a sooting method for a thermal power plant

Abstract

A kind of full-automatic coke machine of thermal power plant boiler and coke method, it is related to boiler operation and maintenance equipment field, by support is installed on the outer wall of boiler, by camera observes the coke in boiler, controller controls the drive steering gear and attitude adjustment steering gear drive ball gear, attitude adjustment steering gear adjusts the axis direction of transmission gear, drive steering gear is rotated by transmission gear and drives ball gear, so that ball gear realizes 3 degrees of freedom rotation, and then the angle of coke arm is adjusted, control coke arm telescopic coke in the observation hole of boiler, the whole coke process is automatically controlled by controller, manual coke is not needed by artificial, avoid the various risks existing in manual coke;Ball gear can realize 3 degrees of freedom rotation, so that coke arm can be rotated to the required position, combined with camera and controller, improve coke precision, improve coke effect.

Description

Technical Field

[0001] This invention relates to the field of boiler operation and maintenance equipment, specifically to a fully automatic coking machine and coking method for thermal power plant boilers. Background Technology

[0002] During the operation of thermal power plant boilers, factors such as incomplete fuel combustion, impurity deposition in flue gas, and uneven temperature distribution on heating surfaces lead to the formation of a hard layer of coke on the boiler's heating surfaces (such as the furnace, superheater, and reheater). This coke is mainly composed of carbon and silicon compounds, is hard, and difficult to remove. Coking reduces boiler output, increases flue gas losses, causes higher air temperatures, deteriorates heat transfer and disrupts water circulation, affects boiler operational safety, increases boiler ventilation resistance and plant power consumption, and may even lead to boiler flameout, blockage of ash discharge ports, damage to heating surfaces, deterioration of steam quality, and threats to safe boiler operation. Therefore, removing coke is an important part of routine maintenance for thermal power plant boilers. Current coking operations mostly involve manual removal using rod-shaped tools, relying on personnel to observe and determine the location and thickness of the coke. This method is characterized by harsh working conditions, low efficiency, and unsatisfactory decoking results. The limitations of manual coking are becoming increasingly apparent, especially for older thermal power plant boilers prone to coking. Summary of the Invention

[0003] This application provides a fully automatic coking machine and coking method for thermal power plant boilers, which can solve the problems of low efficiency and unsatisfactory coking effect of manual coking in the prior art.

[0004] In a first aspect, embodiments of this application provide a fully automatic coke-breaking machine for a thermal power plant boiler, comprising:

[0005] The bracket is installed on the outer wall of the boiler; The coking arm is a telescopic structure that extends into the boiler through the observation hole. The coking arm is equipped with a ball gear located in the observation hole, and a camera is mounted on the ball gear. Two sets of drive servos are symmetrically arranged on both sides of the ball gear. Each set of drive servos is equipped with a transmission gear that meshes with the ball gear and is used to drive the transmission gear to rotate the ball gear. A roller is provided on the outside of the transmission gear. Two attitude adjustment servos are mounted on the bracket and each is connected to one of the rollers, which are used to adjust the orientation of the transmission gear axis through the rollers; The controller, which is connected to the camera, each drive servo, and each attitude adjustment servo, is used to control the drive servo and attitude adjustment servo to drive the ball gears based on the focused image captured by the camera, adjust the angle of the focusing arm, and control the extension and retraction of the focusing arm for focusing.

[0006] In conjunction with the first aspect, in one embodiment, the support includes: A frame, mounted on the observation port of the boiler, houses the ball gear inside; Two side arms are installed on both sides of the frame and are mounted on the outer wall of the boiler via a mounting device. Each side arm is equipped with one attitude adjustment servo motor.

[0007] In conjunction with the first aspect, in one embodiment, a connecting pipe is provided on each side of the frame, the roller is sleeved outside the connecting pipe and can rotate relative to the connecting pipe, the transmission gear is located inside the connecting pipe, the drive servo is installed on the outer wall of the roller, and the shaft of the transmission gear passes through the connecting pipe and the roller and is connected to the drive servo.

[0008] In conjunction with the first aspect, in one embodiment, the attitude adjustment servo is located outside the drive servo, the roller is closed towards the port of the attitude adjustment servo, and the drive shaft of the attitude adjustment servo is connected to the closed end for driving the roller to rotate and adjusting the axial orientation of the transmission gear.

[0009] In conjunction with the first aspect, in one embodiment, the coking arm includes a cylinder, a piston rod, and a coking section arm. One end of the coking section arm is connected to the piston rod, and the other end is provided with a coking ball. The ball gear is sleeved on the outer wall of the cylinder.

[0010] In conjunction with the first aspect, in one embodiment, the descaling arm includes: The first arm section has a ball attached to one end; A spring, the two ends of which are respectively connected to the end of the first arm and the telescopic end of the piston rod; The second arm is a hollow structure, sleeved outside the first arm and the spring, and its end is connected to the telescopic end of the piston rod.

[0011] In conjunction with the first aspect, in one embodiment, the spring is connected to the piston rod via an adapter, the adapter being threaded to the telescopic end of the piston rod, and the end of the second arm being threaded to the adapter.

[0012] In conjunction with the first aspect, in one embodiment, the coking machine further includes a host computer. A temperature sensor facing the boiler is provided near the ball gear and coking arm. The temperature sensor is used to collect the flame temperature signal inside the boiler and transmit the coking image captured by the camera to the host computer. When the host computer determines that coking needs to be removed, it issues a coking removal control command to the controller.

[0013] Secondly, embodiments of this application provide a coking method for a fully automatic coking machine in a thermal power plant boiler, comprising the following steps: The camera captures images of whether coking has occurred inside the boiler and the location of the coking, and transmits the data to the controller. The controller controls the attitude adjustment servo to rotate the roller to adjust the axis of the transmission gear. At the same time, the controller controls the drive servo to drive the transmission gear, causing the ball gear to rotate to the required angle, so that the coking arm is aligned with the coking. The controller controls the extension and retraction of the coking arm inside the boiler to perform coking.

[0014] In conjunction with the second aspect, in one embodiment, the coking arm includes a cylinder, a piston rod, and a coking section arm, the coking section arm comprising: The first arm section has a ball attached to one end; A spring, the two ends of which are respectively connected to the end of the first arm and the telescopic end of the piston rod; The second arm is a hollow structure, sleeved outside the first arm and the spring, and the end of the second arm is connected to the telescopic end of the piston rod. The controller controls the extension and retraction of the coking arm inside the boiler to remove coke, including: The controller controls the cylinder to push the piston rod and the coking arm out with gas. After the piston rod moves to the stroke position, it stops. The first arm moves forward due to inertia until the coking ball hits and forms coke. At the same time, the spring is stretched to store energy. Then the spring returns to its original position and drives the first arm to retract into the second arm, completing one coking cycle. The coking arm repeats the coking process until the coke falls off.

[0015] The beneficial effects of the technical solutions provided in this application include: This fully automatic coking machine is mounted on the outer wall of a boiler via a bracket. A camera observes the coking inside the boiler. A controller controls a drive servo motor and an attitude adjustment servo motor to drive a ball gear. The attitude adjustment servo motor adjusts the axis of the transmission gear, which in turn drives the ball gear to rotate, achieving three degrees of freedom of rotation. This adjusts the angle of the coking arm, allowing it to extend and retract into the boiler's observation hole to remove coke. The entire coking process is automatically controlled by the controller, eliminating the need for manual coking and avoiding the risks associated with manual coking. The ball gear's three-degree-of-freedom rotation allows the coking arm to rotate to the desired position. Combined with the camera and controller, this improves coking accuracy and effectiveness, ensuring that coke is effectively removed from all parts of the boiler. This fully automatic coking machine achieves omnidirectional coking even within the limited space of the boiler's observation hole. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the installation of the fully automatic coking machine according to an embodiment of this application; Figure 2 This is a schematic diagram of the fully automatic coking machine according to an embodiment of this application; Figure 3 This is a schematic diagram of the drum and frame installation of the fully automatic coking machine according to an embodiment of this application; Figure 4 This is a schematic diagram of the coking arm of the fully automatic coking machine according to an embodiment of this application; Figure 5 for Figure 4 A disassembly diagram of the coking arm; Figure 6 This is a flowchart of the coking method of the fully automatic coking machine according to an embodiment of this application.

[0018] In the picture: 1. Support frame; 11. Frame; 111. Connecting pipe; 112. Waist hole; 12. Side support arm; 121. First support arm; 122. Second support arm; 13. Mounting device; 2. Focusing arm; 21. Ball gear; 22. Camera; 23. Cylinder; 24. Piston rod; 25. Focusing section arm; 251. First section arm; 252. Second section arm; 253. Spring; 254. Adapter; 26. Focusing ball; 27. Temperature sensor; 3. Drive servo motor; 31. Transmission gear; 32. Roller; 321. Mounting hole; 4. Attitude adjustment servo; 5. Boiler; 51. Coking. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] In the first aspect, the embodiments of this application provide a fully automatic coking machine for thermal power plant boilers, which can solve the problems of low efficiency and unsatisfactory coking effect of manual coking in the prior art.

[0021] like Figure 1 and Figure 2As shown, in this embodiment, the fully automatic coking machine includes a support 1, a coking arm 2, two sets of drive servo motors 3, two attitude adjustment servo motors 4, and a controller (not shown). The support 1 is installed on the outer wall of the boiler 5. The coking arm 2 is a telescopic structure that extends into the boiler 5 through the observation hole. The coking arm 2 is equipped with a ball gear 21 located at the observation hole, and a camera 22 facing into the boiler 5 is also installed on the ball gear 21. Each set of drive servo motors can be one or two; in this embodiment, two drive servo motors are used to further improve kinetic energy.

[0022] like Figure 2 As shown, two drive servos 3 are symmetrically arranged on both sides of the ball gear 21. Each drive servo 3 is equipped with a transmission gear 31 that meshes with the ball gear 21. The drive servos 3 drive the transmission gear 31 to rotate the ball gear 21. A roller 32 is also provided outside the transmission gear 31. Two attitude adjustment servos 4 are both mounted on the bracket 1 and are respectively located outside the drive servos 3. Each attitude adjustment servo 4 is connected to a roller 32 and is used to adjust the axial orientation of the transmission gear 31 through the roller 32. The controller is connected to the camera 22, each drive servo 3, and each attitude adjustment servo 4. It is used to control the drive servos 3 and attitude adjustment servos 4 to drive the ball gear 21, adjust the angle of the coking arm 2, and control the extension and retraction of the coking arm 2 to remove coke, based on the image of coke 51 inside the boiler 5 captured by the camera 22.

[0023] In this embodiment, the camera 22 observes the coking 51 inside the boiler 5. The controller controls the attitude adjustment servo 4 to adjust the axis orientation of the transmission gear 31, and controls the drive servo 3 to drive the ball gear 21 to rotate through the transmission gear 31. This allows the ball gear 21 to rotate, thereby adjusting the angle of the coking arm 2. The coking arm 2 then extends into the observation hole of the boiler 5 to retract and remove coke. The entire coking process is automatically controlled by the controller, eliminating the need for manual coking. The ball gear 21 can achieve three degrees of freedom of rotation, allowing the coking arm 2 to rotate to the desired position. Combined with the camera 22 and the controller, the coking accuracy and coking effect are improved. Furthermore, in this embodiment, the components are modularly designed, making the maintenance of the entire coking machine more convenient and key components easier to replace.

[0024] like Figures 1 to 3As shown, in one embodiment, the bracket 1 includes a frame 11 installed in the observation hole of the boiler 5. The frame 11 has openings in the cross direction, and the frame 11 houses the ball gear 21. The bracket 1 also includes side arms 12 symmetrically installed on both sides of the frame 11. Each side arm 12 is fixedly connected to the frame 11, and an attitude adjustment servo 4 is installed on each side arm 12. Further, the attitude adjustment servo 4 can be mounted on the side arm 12. In this embodiment, each side arm 12 includes a first arm 121 and a second arm 122, the ends of which are connected to form an L-shape. One end of the L-shaped side arm is fixedly connected to the frame 11, and the other end is installed on the outer wall of the boiler 5 through the mounting device 13. The support of the second arm 122 leaves a space between the first arm 121 and the outer wall of the boiler 5, and the attitude adjustment servo 4, the ball gear 21, and the roller 32 are all disposed in this space. The mounting device 13 can be a magnetic component or a suction cup, etc., to install the bracket 1 on the outer wall of the boiler 5. In this embodiment, the mounting device 13 is a suction cup, and the L-shaped side support arm is attached to the outer wall of the boiler 5.

[0025] like Figure 2 and Figure 3 As shown, furthermore, each of the openings on both sides of the frame 11 is provided with a connecting pipe 111. The aforementioned roller 32 is sleeved on the outside of the connecting pipe 111, and the two are axially aligned, allowing the roller 32 to rotate relative to the connecting pipe 111. The aforementioned transmission gear 31 is located inside the connecting pipe 111, and the drive servo 3 is mounted on the outer wall of the roller 32. The shaft of the transmission gear 31 passes through the connecting pipe 111 and the roller 32, connecting to the drive servo 3. In this embodiment, the connecting pipe 111 has two radially opposite waist holes 112, and the roller 32 has two radially opposite mounting holes 321. The shaft of the transmission gear 31 passes through the waist holes 112 and the mounting holes 321 in sequence, connecting to the drive servo 3 outside the roller 32. Outside the roller 32, the two drive servos 3 are axially aligned and located at the mounting holes 321 respectively.

[0026] In this embodiment, the waist hole 112 and mounting hole 321 allow the roller 32 to rotate relative to the connecting pipe 111 without interference, thereby changing the axial orientation of the shaft of the transmission gear 31. The drive servo motor 3 drives the transmission gear 31 to rotate around the shaft, thereby causing the transmission gear 31 to drive the ball gear 21 to rotate by a fixed angle, enabling the ball gear 21 to achieve three degrees of freedom of rotation within the frame 11, thereby driving the coking arm 2 to perform all-round coking within the boiler 5.

[0027] like Figure 2 As shown, the two attitude adjustment servos 4 are located outside the drive servo 3, and the roller 32 is closed towards the port of the attitude adjustment servo 4. The drive shaft of the attitude adjustment servo 4 is connected to the closed end and is used to drive the roller 32 to rotate, thereby adjusting the axis orientation of the transmission gear 31.

[0028] like Figure 4 and Figure 5 As shown, the coking arm 2 includes a cylinder 23, a piston rod 24, and a coking section arm 25. The piston rod 24 is telescopically mounted inside the cylinder 23. One end of the coking section arm 25 is connected to the extended end of the piston rod 24, and the other end of the coking section arm 25 is provided with a coking ball 26 (e.g., Figure 1 As shown in the figure, the ball gear 21 is sleeved on the outer wall of the cylinder 23. In this embodiment, before coking, the piston rod 24 and the coking arm 25 can retract together inside the cylinder 23. The cylinder 23 drives the piston rod 24 to extend and retract, which drives the coking ball 26 to continuously strike the coke 51 until the coke 51 is knocked off, thereby realizing the coking function.

[0029] Because thermal power plant boilers have large diameters, they require long-stroke cylinders for operation, and sufficient descaling air pressure is usually needed to achieve reliable descaling. Under these conditions, the cylinder is filled with high-pressure gas, and the piston rod is pushed out and comes into contact with the coke in the boiler, which can easily lead to piston rod buckling. In addition, for stubborn coke, a larger descaling air pressure is often required, and the piston rod continuously acts on the inner wall of the boiler, which can easily cause secondary damage to the boiler.

[0030] like Figure 5 and Figure 6 As shown, to address the aforementioned problems, a specific structural embodiment of a scorching arm 25 is provided. In this embodiment, the scorching arm 25 includes a first arm 251, a second arm 252, and a spring 253. One end of the first arm 251 is connected to the scorching ball 26, and the other end of the first arm 251 is connected to one end of the spring 253. The other end of the spring 253 is connected to the telescopic end of the piston rod 24. The second arm 252 is a hollow structure, sleeved outside the first arm 251 and the spring 253. The end of the second arm 252 is also connected to the telescopic end of the piston rod 24. More specifically, the spring 253 can be connected to the piston rod 24 via an adapter 254. One end of the adapter 254 hooks the spring 253, and the other end of the adapter 254 is threadedly connected to the telescopic end of the piston rod 24 (the adapter 254 is rotatably installed inside the telescopic end of the piston rod 24). The end of the second arm 252 is also threadedly connected to the adapter 254 (the second arm 252 is rotatably installed outside the adapter 254).

[0031] In the coking process of this embodiment, the controller first controls the cylinder 23 to propel the piston rod 24 and the coking arm 25 outwards using gas (high-pressure gas in this embodiment). When the piston rod 24 reaches its stroke position, it stops. The coking ball 26 and the first arm 251 continue to move forward due to inertia until they impact the coke 51 (e.g., ...). Figure 1(As shown). During this process, spring 253 continuously stretches and stores energy. Therefore, after coking is completed, the coking ball 26 and the first arm 251 will retract into the second arm 252 under the action of spring 253. Since piston rod 24 does not directly contact the inner wall of boiler 5, there will be no problem of piston rod 24 buckling. The first arm 251 and the second arm 252 can slide relative to each other. Therefore, after the coking ball 26 completes coking, the load will be immediately unloaded, and there will be no secondary damage to the boiler body. This setting is particularly suitable for removing stubborn coking. After one coking cycle, piston rod 24 pulls the second arm 252 through spring 253, ensuring that the coking ball 26 and the first arm 251 quickly return to their original positions, completing one coking cycle. Repeated operation can complete the coking operation in a short time, further improving coking efficiency. At the same time, spring 253 not only provides restoring force but also acts as a buffer, reducing equipment wear.

[0032] Preferably, the ball gear 21 is made of magnetic material, which allows for a tighter meshing with the transmission gears 31 on both sides. The coking ball 26 is also made of magnetic material. After coking and resetting, it comes into contact with the magnetic ball gear 21 and is attracted together. This prevents the coking ball 26 from moving slowly during the angle adjustment of the cylinder 23 of the coking arm 2, which would affect the motion accuracy of the coking machine and ensure that the coking ball 26 is positioned accurately and reliably.

[0033] In one embodiment, the fully automatic coking machine further includes a host computer (not shown), which interacts with the controller via signals. A temperature sensor 27 facing the boiler is located near the coking arm 2 on the ball gear 21. The temperature sensor 27 collects the flame temperature signal inside the boiler 5 and transmits it to the host computer in real time. Simultaneously, the coking image captured by the camera 22 is also transmitted to the host computer in real time. The host computer detects the coking situation in real time based on the received flame temperature signal and coking image signal, and can also determine whether coking removal is necessary. When coking removal is required, the host computer issues a coking removal control command to the controller, which then controls the coking machine to perform the coking removal. In this embodiment, by setting up a host computer, automatic judgment of the coking situation can be achieved, and coking can be removed promptly when coking is needed, further improving the automation level of the coking machine. Combining the flame temperature signal and the coking image signal makes the judgment of the coking situation more accurate and reliable.

[0034] In one embodiment, the controller can also be set to a timed mode to perform timed coking when a preset time is reached, so as to avoid prolonged shutdown of boiler 5 caused by processing only after severe coking has occurred.

[0035] like Figure 6 As shown, this application also proposes an embodiment of a coking method for a fully automatic coking machine in a thermal power plant boiler, the method comprising the following steps: S101: The camera 22 captures images of whether coking has occurred inside the boiler 5 and the location of the coking, and transmits the images to the controller.

[0036] S102: The controller controls the attitude adjustment servo 4 to rotate the drum 32, thereby adjusting the axis orientation of the transmission gear 31. At the same time, the controller controls the drive servo 3 to drive the transmission gear 31, causing the ball gear 21 to rotate to the required angle, so that the coking arm 2 is aligned with the coking point.

[0037] S103: The controller controls the coking arm 2 to extend and retract within the boiler 5 to perform coking.

[0038] In this embodiment, the camera 22 observes the coking 51 inside the boiler 5, and the attitude adjustment servo motor 4 adjusts the axis orientation of the transmission gear 31. The drive servo motor 3 controls the ball gear 21 to rotate through the transmission gear 31, thereby adjusting the angle of the coking arm 2. The coking arm 2 is then controlled to extend and retract into the observation hole of the boiler 5 to remove coke. The entire coking process is automatically controlled by the controller, eliminating the need for manual coking. The ball gear 21 achieves three degrees of freedom of rotation, driving the coking arm 2 to the required position. Combined with the camera 22 and the controller, the coking accuracy is improved, and the coking effect is enhanced.

[0039] In one embodiment, the coking arm 2 includes a cylinder 23, a piston rod 24, and a coking segment arm 25. The telescopic end of the piston rod 24 is connected to the coking segment arm 2, and both are located within the cylinder 23 before coking. The coking segment arm 25 includes a first segment arm 251, a second segment arm 252, and a spring 253. The first segment arm 251 is equipped with a coking ball 26, and the two ends of the spring 253 are respectively connected to the end of the first segment arm 251 and the telescopic end of the piston rod 24. The second segment arm 252 is a hollow structure, sleeved outside the first segment arm 251 and the spring 253, and its end is connected to the telescopic end of the piston rod 24. In this embodiment, the controller controls the coking arm 2 to extend and retract within the boiler to remove coke. Specifically, the controller controls the cylinder 23 to push the piston rod 24 and the coking arm 25 out of the cylinder 23 using high-pressure gas. After the piston rod 24 reaches its stroke position, it stops. Due to inertia, the coking ball 26 and the first arm 251 continue to move forward until the coking ball 26 impacts the coke 51. During this process, the spring 253 is stretched and stores energy. Subsequently, the spring 253 returns to its original position, causing the first arm 251 to retract into the second arm 252, completing one coking cycle. The above process is repeated continuously, allowing the coking arm 2 to repeatedly remove coke until it falls off.

[0040] In this embodiment, during the coking process, since the piston rod 24 does not directly contact the inner wall of the boiler 5, the problem of piston rod 24 buckling will not occur. The first arm 251 and the second arm 252 can slide relative to each other, so after the coking ball 26 completes the coking, the load will be immediately unloaded, and no secondary damage will be caused to the boiler body. This setting is particularly suitable for the removal of stubborn coking.

[0041] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0042] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A fully automatic coke-breaking machine for thermal power plant boilers, characterized in that, include: The bracket (1) is installed on the outer wall of the boiler (5); The coking arm (2) is a telescopic structure that extends into the boiler (5) through the observation hole of the boiler (5). The coking arm (2) is equipped with a ball gear (21), which is located in the observation hole. The ball gear (21) is equipped with a camera (22). Two sets of drive servo motors (3) are symmetrically arranged on both sides of the ball gear (21). Each set of drive servo motors (3) is equipped with a transmission gear (31) that meshes with the ball gear (21) to drive the transmission gear (31) to rotate the ball gear (21). A roller (32) is provided outside the transmission gear (31). Two attitude adjustment servos (4) are mounted on the bracket (1) and each is connected to a roller (32) for adjusting the axial orientation of the transmission gear (31) through the roller (32); The controller is connected to the camera (22), each drive servo (3) and each attitude adjustment servo (4) respectively. It is used to control the drive servo (3) and attitude adjustment servo (4) to drive the ball gear (21) according to the focusing image captured by the camera (22), adjust the angle of the focusing arm (2) and control the extension and retraction of the focusing arm (2) for focusing.

2. The fully automatic coking machine for thermal power plant boilers as described in claim 1, characterized in that, The support (1) includes: The frame (11) is installed in the observation port of the boiler (5) and houses the ball gear (21); Two side arms (12) are respectively installed on both sides of the frame (11) and are installed on the outer wall of the boiler (5) by the mounting device (13). Each side arm (12) is equipped with one attitude adjustment servo (4).

3. The fully automatic coke breaking machine for thermal power plant boilers as described in claim 2, characterized in that: The frame (11) has a connecting pipe (111) on each side. The roller (32) is sleeved on the outside of the connecting pipe (111) and can rotate relative to the connecting pipe (111). The transmission gear (31) is located inside the connecting pipe (111). The drive servo (3) is installed on the outer wall of the roller (32). The shaft of the transmission gear (31) passes through the connecting pipe (111) and the roller (32) and is connected to the drive servo (3).

4. The fully automatic coke breaking machine for thermal power plant boilers as described in claim 3, characterized in that: The attitude adjustment servo (4) is located outside the drive servo (3). The roller (32) is closed towards the port of the attitude adjustment servo (4). The drive shaft of the attitude adjustment servo (4) is connected to the closed end and is used to drive the roller (32) to rotate and adjust the axial orientation of the transmission gear (31).

5. The fully automatic coking machine for thermal power plant boilers as described in claim 1, characterized in that, The coking arm (2) includes a cylinder (23), a piston rod (24) and a coking joint arm (25). One end of the coking joint arm (25) is connected to the piston rod (24), and the other end is provided with a coking ball (26). The ball gear (21) is sleeved on the outer wall of the cylinder (23).

6. The fully automatic coke breaking machine for thermal power plant boilers as described in claim 5, characterized in that, The scorching arm (25) includes: The first arm (251) has a ball (26) attached to one end; A spring (253) has its two ends connected to the end of the first arm (251) and the telescopic end of the piston rod (24), respectively. The second arm (252) is a hollow structure, which is sleeved outside the first arm (251) and the spring (253). The end of the second arm (252) is connected to the telescopic end of the piston rod (24).

7. The fully automatic coking machine for thermal power plant boilers as described in claim 6, characterized in that... : The spring (253) is connected to the piston rod (24) via an adapter (254), the adapter (254) is threaded to the telescopic end of the piston rod (24), and the end of the second arm (252) is threaded to the adapter (254).

8. The fully automatic coking machine for thermal power plant boilers as described in claim 1, characterized in that, The coking machine also includes a host computer. The ball gear (21) is provided with a temperature sensor (27) facing the boiler (5) near the coking arm (2). The temperature sensor (27) is used to collect the flame temperature signal inside the boiler (5) and the coking image captured by the camera (22) and transmit it to the host computer. When the host computer determines that coking needs to be removed, it issues a coking removal control command to the controller.

9. A coking method based on the fully automatic coking machine for thermal power plant boilers according to any one of claims 1-8, characterized in that, Including the following steps: The camera (22) captures images of whether coking occurs inside the boiler (5) and the location of the coking, and transmits the images to the controller. The controller controls the attitude adjustment servo (4) to rotate the drum (32) to adjust the axis orientation of the transmission gear (31). At the same time, the controller controls the drive servo (3) to drive the transmission gear (31), causing the ball gear (21) to rotate to the required angle, and the coking arm (2) to be aligned with the coking. The controller controls the coking arm (2) to extend and retract within the boiler (5) to perform coking.

10. The coking method of the fully automatic coking machine for thermal power plant boilers as described in claim 9, characterized in that, The coking arm (2) includes a cylinder (23), a piston rod (24), and a coking section arm (25), the coking section arm (25) including: The first arm (251) has a ball (26) attached to one end; A spring (253) has its two ends connected to the end of the first arm (251) and the telescopic end of the piston rod (24), respectively. The second arm (252) is a hollow structure, which is sleeved outside the first arm (251) and the spring (253). The end of the second arm (252) is connected to the telescopic end of the piston rod (24). The controller controls the extension and retraction of the coking arm (2) within the boiler (5) to perform coking, including: The controller controls the cylinder (23) to push the piston rod (24) and the coking arm (25) out through gas. After the piston rod (24) moves to the stroke position, it stops. The first arm (251) moves forward due to inertia until the coking ball (26) hits the coking ball. At the same time, the spring (253) is stretched to store energy. Then the spring (253) resets and drives the first arm (251) to retract into the second arm (252), completing one coking cycle. The coking arm (2) repeats the coking until the coking ball falls off.

Images