CN108398353A - A kind of ash sample transport mechanism of the carbon containing amount detecting device based on three-axis robot - Google Patents

Abstract

The invention discloses an ash sample transmission mechanism of a carbon content detection device based on a three-axis robot, belonging to the technical field of coal-fired power generation. The invention includes a three-axis robot, the front end of the three-axis robot is equipped with a crucible, the sides of the three-axis robot are respectively provided with a sampling nozzle and an ash discharge nozzle, and one side of the ash discharge nozzle is sequentially provided with artificial sampling points 1. Weighing point, a weighing balance is fixedly installed at the bottom of the weighing point, and an electric heating furnace is arranged on one side of the three-axis robot, and an electric heating furnace entrance is provided on the outer surface of the electric heating furnace. The invention sends the crucible to the corresponding position through the three-axis robot, and completes the operations of ash collection, ash discharge, and burning in sequence to realize the ash sample transmission. The overall structure of the device is compact, and the maintenance amount is small. The operation efficiency is high, and real-time and stable data can be provided to the boiler operators to ensure the stable and efficient operation of the boiler.

Description

A gray sample transmission mechanism of a carbon content detection device based on a three-axis robot

technical field

The invention relates to the technical field of coal-fired power generation, and more specifically, relates to an ash sample transmission mechanism of a carbon content detection device based on a three-axis robot.

Background technique

The carbon content of fly ash is a very important operational index and economic index to measure the carbon content of fly ash of coal-fired boilers for power generation. Be real-time and accurate. At present, the detection methods of carbon content in fly ash can be mainly divided into microwave method, optical emission method, thermogravimetric analysis method, ignition weight loss method and other methods. The fly ash carbon content detection device based on the loss-on-ignition method mostly uses a lead screw plus a stepping motor and a rotating tray as the ash sample conveying mechanism. In this type of transmission mechanism, it is necessary to use photoelectric sensors to realize the positioning of the rotating tray position and the lifting position. However, the amount of dust in the application site of the device is large, and the photoelectric sensors are easily contaminated by dust and become invalid, which leads to the failure of the equipment to operate normally. Furthermore, the stepping motor and the lead screw form a transmission mechanism. Since the lead screw is exposed to the field environment for a long time, the large amount of dust will easily cause the friction force to increase when the lead screw rotates, which will lead to the gap between the coupling, the lead screw and the stepping motor. The connecting nuts between the screws are loosened or dropped, so that the ash sample cannot be sent to the designated location, and during the daily maintenance of the equipment, the lead screw must be maintained frequently, and the maintenance of the equipment is relatively large. In addition, the design of this type of transmission mechanism is complex, the machining accuracy of the required parts is high, the installation, repair and maintenance workload is large, the gray sample transmission time is long, and the efficiency is low. In actual operation, the equipment fails frequently, and the data of carbon content in fly ash is distorted, which seriously affects the adjustment of boiler operation.

Contents of the invention

1. The technical problem to be solved by the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a gray sample transmission mechanism based on a three-axis robot-based carbon content detection device. The device has a simple structure, effectively reduces equipment failure rates, and reduces equipment maintenance costs.

2. Technical solution

In order to achieve the above object, the technical scheme provided by the invention is:

The ash sample transmission mechanism of a carbon content detection device based on a three-axis robot of the present invention includes a three-axis robot, the front end of the three-axis robot is equipped with a crucible, and the sides of the three-axis robot are respectively provided with sampling nozzles and As for the ash discharge nozzle, one side of the ash discharge nozzle is provided with manual sampling points and weighing points in turn, and the artificial sampling point and the weighing point are arranged at intervals, and the bottom of the weighing point is fixed with a weighing balance. The three-axis robot An electric heating furnace is also arranged on one side, and an electric heating furnace entrance is opened on the outer surface of the electric heating furnace.

Further, the central position between the sampling nozzle, the ash discharge nozzle, the artificial sampling point, the weighing point and the entrance of the electric heating furnace is set as the coordinate origin, and the coordinates of the coordinate origin are (0, 0, 0), and the three-axis robot Fixed installation at the origin of coordinates.

Further, the coordinates of the sampling nozzle are (-15,-15,20), the coordinates of the ash discharge nozzle are (-15,15,20), and the coordinates of the weighing point are (20,15,2). The coordinates of the sampling point are (10, 15, 2), the coordinates of the entrance of the electric heating furnace are (20, -30, 20), and the coordinates of the internal heating point of the electric heating furnace are (20, -30, 30).

Further, the three-axis robot is a sealed three-axis articulated arm Cartesian robot, and the crucible is installed on the horizontal axis of the three-axis robot.

3. Beneficial effect

Compared with the prior art, the technical solution provided by the invention has the following beneficial effects:

The invention sends the crucible to the corresponding position through the three-axis robot to realize the gray sample transmission, minimizes the design workload and the space occupied by the equipment, and maximizes the utilization rate. The X-axis, Y-axis and Z-axis of the three-axis robot share the same Running, the crucible is transferred to the position of the sampling nozzle, the position of the ash discharge nozzle and the position of the electric heating furnace in sequence, and the operations of ash collection, ash discharge and burning are completed, which can effectively overcome the shortcomings of the original transmission mechanism with complex structure and redundancy , the overall structure of the device is compact, less maintenance, the three-axis robot can move multiple axes at the same time, the operation efficiency of the equipment is high, and it can provide real-time and stable data to the boiler operator to ensure the stable and efficient operation of the boiler, and simultaneously reduce the coal consumption of power generation rate and improve economic efficiency.

Description of drawings

Fig. 1 is a top view schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the front view of the sampling process of the present invention;

Fig. 3 is the right side view of the burning process of the present invention.

In the figure: 1. Sampling nozzle; 2. Ash discharge nozzle; 3. Electric heating furnace entrance; 4. Weighing point; 5. Manual sampling point; 6. Crucible; 7. Three-axis robot; 8. Electric heating furnace; 9. Weighing balance; 10. Coordinate origin.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

Example 1

As can be seen from Fig. 1, a kind of ash sample transmission mechanism based on the carbon content detecting device of three-axis robot of the present embodiment comprises three-axis robot 7, and the front end of three-axis robot 7 is equipped with crucible 6, and three-axis robot 7 It is a sealed three-axis articulated arm Cartesian robot. The crucible 6 is installed on the horizontal axis of the three-axis robot 7. The sides of the three-axis robot 7 are respectively provided with a sampling nozzle 1 and an ash discharge nozzle 2. One side of the ash discharge nozzle 2 The manual sampling point 5 and the weighing point 4 are arranged in sequence, the manual sampling point 5 and the weighing point 4 are arranged at intervals, the weighing balance 9 is fixedly installed at the bottom of the weighing point 4, and an electric heating furnace 8 is also arranged on one side of the three-axis robot 7 , The outer surface of the electric heating furnace 8 is provided with an electric heating furnace inlet 3 .

It can be seen from Figure 2-3 that the center position between the sampling nozzle 1, the ash discharge nozzle 2, the manual sampling point 5, the weighing point 4 and the electric heating furnace entrance 3 is set as the coordinate origin 10, and the coordinates of the coordinate origin 10 are ( 0, 0, 0), the three-axis robot 7 is fixedly installed at the origin of coordinates 10, the coordinates of sampling nozzle 1 are (-15, -15, 20), and the coordinates of ash discharge nozzle 2 are (-15, 15, 20), The coordinates of the weighing point 4 are (20, 15, 2), the coordinates of the artificial sampling point 5 are (10, 15, 2), the coordinates of the electric heating furnace entrance 3 are (20, -30, 20), and the electric heating furnace 8 The position coordinates of the internal heating point are (20, -30, 30). When viewed from above, the sampling nozzle 1 and the ash discharge nozzle 2 are located at different positions on the same straight line. The height of the sampling nozzle 1 and the ash discharge nozzle 2 are the same. Nozzle 2, weighing point 4 and artificial sampling point 5 are located at different positions on the same straight line, weighing point 4 and artificial sampling point 5 have the same height dimension, weighing point 4 and electric heating furnace 8 are located at different positions on the same straight line, and the Reduce the design workload and the space occupied by the equipment to maximize the utilization rate. The crucible 6 is sent to the corresponding position by the three-axis robot 7 to realize the ash sample transmission. During the transmission process, the height of the crucible 6 is always lower than that of the sampling nozzle 1. Position height, through the joint operation of the X-axis, Y-axis, and Z-axis of the three-axis robot 7, the crucible 6 is sequentially transferred to the position of the sampling nozzle 1, the position of the ash discharge nozzle 2 and the position of the electric heating furnace to complete the ash collection, During ash discharge, burning and other operations, the Z-axis of the three-axis robot 7 is lowered to 18cm, and then the X-axis and Y-axis run at the same time, and the crucible 6 is transferred to the top of the weighing point 4, and the Z-axis is lowered. At the position of weighing point 4, the weighing balance 9 weighs the initially empty crucible 6. After the weighing is completed, the Z-axis rises to 18cm, and the crucible 6 is passed directly below the sampling nozzle 1, and the Z-axis is raised to 20cm. Sampling. After the sampling is completed, the height is reduced to 18cm. After the crucible 6 is passed to the top of the weighing point 4, it is lowered to the position of the weighing point 4, and the ash sample before burning is weighed. After the weighing is completed, the crucible 6 Pass to the entrance 3 of the electric heating furnace, and enter the inside of the electric heating furnace 8 for heating and burning. After the burning is completed, the crucible 6 is passed to the position of the weighing point 4, and the burned ash sample is weighed. After the completion, the crucible 6 is transferred to the position of the ash discharge nozzle 2 for ash discharge. After the ash discharge is completed, a single ash sample transmission can be completed, and the crucible 6 is sent to the corresponding position by the three-axis robot 7 to realize the ash sample transmission , this operation can effectively overcome the shortcomings of complex structure and redundancy in the original transmission mechanism, reduce equipment such as photoelectric sensors and lead screws, and improve operational reliability. 7. Multi-axis can move at the same time, the equipment has high operating efficiency, and can provide real-time and stable data to the boiler operators to ensure the stable and efficient operation of the boiler, reduce the coal consumption rate of power generation, and improve economic benefits.

The present invention sends the crucible 6 to the corresponding position through the three-axis robot 7, realizes the gray sample transmission, reduces the design workload and the space occupied by the equipment to the greatest extent, and maximizes the utilization rate. The X-axis, Y-axis, and The Z-axis works together to transfer the crucible 6 to the position of sampling nozzle 1, the position of ash discharge nozzle 2 and the position of electric heating furnace 8 in order to complete operations such as ash collection, ash discharge, and burning, which can effectively overcome the limitations of the original transmission mechanism. The shortcomings of complex structure and redundancy, the overall structure of the device is compact, less maintenance, the three-axis robot 7 can move multiple axes at the same time, the equipment operation efficiency is high, and it can provide real-time and stable data for boiler operators to ensure the stability of the boiler , High-efficiency operation, synchronously reduce the coal consumption rate of power generation, and improve economic benefits.

The above schematically describes the present invention and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the inventive concept of the present invention, without creatively designing a structural mode and embodiment similar to the technical solution, it shall all belong to the protection scope of the present invention .

Claims (4)

1. a kind of ash sample transport mechanism of the carbon containing amount detecting device based on three-axis robot, including three-axis robot (7), special Sign is：Equipped with crucible (6), the side of three-axis robot (7), which is respectively arranged with, to be taken for the front end of the three-axis robot (7) Sample mouth (1) and ash discharge mouth (2), the side of the ash discharge mouth (2) is disposed with manual sampling point (5), point (4) of weighing, people Work sample point (5) and point (4) interval of weighing are arranged, and the bottom of point (4) of weighing is installed with balance of weighing (9), and described three The side of axis robot (7) is additionally provided with electric furnace (8), and the outer surface of electric furnace (8) offers electric furnace entrance (3)。

2. a kind of ash sample transport mechanism of carbon containing amount detecting device based on three-axis robot according to claim 1, It is characterized in that：The sampling mouth (1), ash discharge mouth (2), manual sampling point (5), weigh point (4) and electric furnace entrance (3) it Between center be set as coordinate origin (10), the coordinate of coordinate origin (10) is (0,0,0), and three-axis robot (7) is fixed Mounted on coordinate origin (10).

3. a kind of ash sample transport mechanism of carbon containing amount detecting device based on three-axis robot according to claim 1, It is characterized in that：The coordinate of the sampling mouth (1) is (- 15, -15,20), and the coordinate of ash discharge mouth (2) is (- 15,15,20), is claimed The coordinate of emphasis (4) is (20,15,2), and the coordinate of manual sampling point (5) is (10,15,2), the coordinate of electric furnace entrance (3) Inside hot spot position coordinates for (20, -30,20), electric furnace (8) are (20, -30,30).

4. a kind of ash sample transport mechanism of carbon containing amount detecting device based on three-axis robot according to claim 1, It is characterized in that：The three-axis robot (7) is three axis articulated jib Cartesian robot of closed type, and crucible (6) is mounted on three On the trunnion axis of axis robot (7).