[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

EP2199457A1 - A handling device for liquor guns of a recovery boiler plant, a recovery boiler plant, and a method in a recovery boiler - Google Patents

A handling device for liquor guns of a recovery boiler plant, a recovery boiler plant, and a method in a recovery boiler Download PDF

Info

Publication number
EP2199457A1
EP2199457A1 EP09179577A EP09179577A EP2199457A1 EP 2199457 A1 EP2199457 A1 EP 2199457A1 EP 09179577 A EP09179577 A EP 09179577A EP 09179577 A EP09179577 A EP 09179577A EP 2199457 A1 EP2199457 A1 EP 2199457A1
Authority
EP
European Patent Office
Prior art keywords
liquor
gun
handling device
liquor gun
recovery boiler
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP09179577A
Other languages
German (de)
French (fr)
Inventor
Heikki Sainio
Ari Saarela
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valmet Technologies Oy
Original Assignee
Metso Power Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=40240611&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2199457(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Metso Power Oy filed Critical Metso Power Oy
Publication of EP2199457A1 publication Critical patent/EP2199457A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • DTEXTILES; PAPER
    • D21PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21CPRODUCTION OF CELLULOSE BY REMOVING NON-CELLULOSE SUBSTANCES FROM CELLULOSE-CONTAINING MATERIALS; REGENERATION OF PULPING LIQUORS; APPARATUS THEREFOR
    • D21C11/00Regeneration of pulp liquors or effluent waste waters
    • D21C11/12Combustion of pulp liquors

Definitions

  • the invention relates to a handling device for liquor guns of a recovery boiler plant.
  • the invention relates to a recovery boiler plant as well as a method in a recovery boiler.
  • the spent lye i.e. the so-called black liquor created in pulp manufacture is burnt in a recovery boiler, on one hand, in order to recover the energy it includes, and on the other hand, in order to recover the chemicals in it and to recycle them back to circulation.
  • Black liquor is fed to a boiler on a so-called liquor gun area, which comprises several liquor guns, with which the pressurized black liquor is brought inside the boiler.
  • a typical plant comprises an access platform (a so-called main service platform). Moving on the main service platform becomes risky if the boiler for some reason changes to positive pressure. For example, if the boiler is becoming plugged, a person walking on the main service platform or working at the gun area may become exposed to a spray of sparks. A similar situation may occur, for example, when the induced draft fans are stopped unintentionally or as a result of locking. Changes in the boiler load are made manually, in which case it is necessary to operate in the vicinity of guns. Perhaps one great disadvantage is that the operators are exposed to dangerous situations when changing liquor guns. When handling liquor nozzles (for example, a change situation, opening of a nozzle attachment, opening a plugged nozzle) the operator comes in direct contact with hot (125-150 • ) black liquor.
  • the liquor gun area is one of the most accident-prone areas of a recovery boiler from the point of view of work safety.
  • Safety has conventionally been aimed to be improved by different ergonomic and mechanical solutions, which take into account the actions of a human being on the area in question.
  • the handling device according to the invention is primarily characterized in what will be presented in the independent claim 1.
  • the recovery boiler plant according to the invention is primarily characterized in what will be presented in the independent claim 6.
  • the method according to the invention is primarily characterized in what will be presented in the independent claim 11.
  • the other, dependent claims will present some preferred embodiments of the invention.
  • the basic idea of the invention is to create the handling device of liquor guns in a recovery boiler plant in such a manner that the handling device comprises transfer means for transferring the head of a liquor gun and the nozzle in it to the furnace of the boiler and out of the furnace.
  • the handling device is arranged to handle at least two liquor guns and the handling device comprises moving means for moving the handling device from a first liquor gun to a second liquor gun.
  • the handling device is arranged to define the location of the handling device by scanning the surroundings.
  • valves used for connecting liquor guns are automated.
  • the liquor guns are placed in holders in such a manner that they can be pulled out.
  • the valves connected to spraying black liquor are automated in such a manner that liquor spraying can be started sequentially controlled via a distributed control system (DCS), for example, one liquor gun at a time.
  • DCS distributed control system
  • the construction is composed of one or more robots, which perform different actions on the main service platform, mainly in the black liquor gun area.
  • the robot is connected to the rest of the control system of the plant, such as, for example, a distributed control system.
  • the robot circulates in the furnace along a guide rail or the like.
  • the handling device comprising an actuator is a moving 6-axis robot unit.
  • the work are of liquor guns is separated from the rest of the area by a curtain or a light screen.
  • FIG. 1 shows in principle a recovery boiler plant.
  • the plant comprises a furnace 1, where the black liquor to be combusted is fed by liquor guns 2.
  • the figure shows that the liquor gun area 3 is in the lower part of the plant.
  • the liquor gun area 3 typically comprises a so-called main service platform for using and maintaining the liquor guns 2.
  • Below the liquor gun area 3 is the smelt spout area 4.
  • air supply platforms 5 may vary depending on the application.
  • the different parts of the figure are not dimensioned correctly in relation to each other, because the purpose of the figure is to show the location of the liquor gun area 3 of the invention.
  • FIG. 2 shows a detail of the liquor gun area 3.
  • the figure shows the placement of a liquor gun 2 in the vicinity of the wall 6 of the boiler.
  • the output end of the liquor gun 2 comprises a nozzle 7, from where the black liquor is fed out of the liquor gun.
  • the head of the liquor gun 2 and the nozzle 7 attached to it are in the inside position and placed inside the furnace 1, i.e. the liquor gun is in the use position.
  • a liquor gun opening 8 is formed in the wall 6 of the boiler for placing the liquor gun 2 inside the furnace 1.
  • the liquor gun opening 8 can advantageously be closed by a hatch 9 when the head of the liquor gun 2 and the nozzle 7 attached to it are in the outside position (maintenance position), i.e. out of the furnace 1.
  • the liquor guns 2 are placed in the holders 10 in such a manner that the liquor guns can be moved by means of movable holders.
  • the holder 10 is moved by an actuator 11, such as, for example, a motor, a cylinder or a robot (a robot is shown in figure 3 ).
  • the holder 10 and the actuator 11 form the handling device of a liquor gun 2 and the actuator 11 operates as a transfer means.
  • the hatch 9 of the liquor gun opening 8 is also moved by an actuator 12, such as, for example, a motor, a cylinder or a robot (a robot is shown in figure 3 ).
  • valves 13 relating to the black liquor spraying are automated.
  • the valves 13 are automated in such a manner the liquor spraying can be started via a Distributed Control System (DCS) in a sequentially controlled manner, for example, one liquor gun 2 at a time.
  • DCS Distributed Control System
  • Moving the liquor guns 2 by the actuator 11 and the automated control of the valves 13 enable different functions. For example, when removing a liquor gun 2 from the furnace 1, either for maintenance, load decrease or other reasons, the following actions take place: in a sequentially controlled manner the black liquor feeding is closed and the nozzle 7 is blown clean with steam, non-pressure is confirmed, the nozzle is pulled with the actuator to the outside position and the hatch 9 of the gun opening 8 is closed by the actuator 12. After this the liquor gun 2 is in a relatively safely operatable position.
  • Fig. 3 shows another embodiment of a handling device for liquor guns 2 of a boiler.
  • the handling device comprises a moving handling unit 14, which can move on the path 15 and the operation of the handling device is controlled by a control unit (not shown).
  • the path 15 is formed by the guide rails on the floor of the service platform.
  • the handling unit in turn, is formed by a carriage 16 and a handling member 17, which are described more in detail later in the description.
  • the handling unit may travel along the path 15 horizontally parallel to the wall 6 of the boiler.
  • the path 15, which here refers to the structure guiding the carriage 16 of the handling unit 14, can also be implemented in several ways.
  • the path 15 can be, for example, a guide bar or a rail, which directs and supports the handling unit 14. It is also possible to implement a moving handling unit 14 without the actual structural path 15, in which case the handling unit can travel, for example, on the travel area on the service platform.
  • the path 15 is attached to the wall 6 of the boiler.
  • the handling unit 14 is preferably arranged primarily below the guide rail 15, i.e. the handling unit is in a way suspended from the guide rail.
  • the guide rail 15 enables as unobstructed movement as possible to the area below the rail.
  • the guide rail 15 can in some embodiments be located below the handling unit 14 or on its side as well. It is possible to place the guide rail 15 in other ways as well, but then the variation in the locations of different parts caused by thermal expansion must be taken into account with some other solutions.
  • a handling unit 14 moving on the path 15 comprises the above-mentioned carriage 16 and a handling member 17.
  • the handling unit 14 in this embodiment operates also as a transfer means.
  • the handling unit 14 is connected to the path 15 via the carriage 16 of the handling unit and the handling unit may travel horizontally in parallel with the boiler wall 6 by means of an actuator, such as, for example, an electric motor.
  • the carriage 16 is arranged to travel along the path 15.
  • the carriage 16 and/or the path 15 comprise suitable transfer structures and glide structures, by means of which the carriage 16 can move from one position to another.
  • the handling member 17 is connected to the carriage 16 in such a manner that the handling member can move at least towards the boiler and away from the boiler and advantageously vertically as well.
  • the carriage 16 and the handling member 17 are connected to each other via a first pivot (hinging structure), such as, for example a gear system.
  • the first pivot enables the turning of the handling member 17 in relation to the axis line of the pivot (gear system), in which case the head of the handling member 17 can move in the height direction.
  • the handling member 17 can also turn horizontally in relation to the carriage.
  • the handling device comprises a 6-axis robot unit, in which case it is possible to perform versatile movements.
  • the robot unit is placed in a movable carriage 16, by means of which the robot unit can be moved to a suitable position.
  • the robot unit can be used as a transfer means, with which the liquor guns 2 and hatches 9 can be moved.
  • the actuators creating the dynamics of the handling device it is possible to use devices suitable for the purpose, such as, for example, different electric motors, hydraulic and pneumatic actuators, and their direction of movement can be, for example, linear or rotating.
  • the actuators can be placed in various ways. For example, they can be located centralized in connection with the carriage 16, from where the power is transferred with suitable structures to the arm parts and other necessary targets.
  • the actuators can also be placed in different locations of the handling device and/or handling unit 14, in which case, for example, the actuator creating the movement of the arm part can be in the arm part or in the connection of the arm part.
  • the path 15 can comprise identification structures, by means of which the location and/or positioning of the handling unit 14 can be made. In an embodiment the positioning takes place by means of computer vision and in an application measuring members are used, and the position is determined on the basis of the measuring information received from them. It is also possible to use different mechanical, electrical and/or optical switches and controls (such as, for example, different limit switches).
  • a camera that records the target substantially on the wavelength of visible light. It is also possible to use a sensor, which forms an image on some other wavelength area, such as, for example, the IR-area.
  • An embodiment uses a computer vision, which utilizes information received from several different wavelength areas.
  • the handling unit 14 defines its own position in relation to the target by scanning the target with the handling member 17. On the basis of the detected characteristics, the location is defined and coordinates are formed. After this the paths required by the operations are fitted to the coordinates. In an advantageous embodiment computer vision and scanning are used for determining the location. Thus, on the basis of the characteristics detected by computer vision and/or scanning, the location is defined and the coordinates are formed, if necessary.
  • the operation of the handling device is controlled by a control unit.
  • the control unit can be implemented in a variety of ways.
  • the functions of the control unit can be implemented by programming and the program can be either in its own data handling unit or in a data handling unit together with some other program.
  • the commands of the control unit are a part of the other command set of the boiler usage control program.
  • Program-based control makes it possible to take into account the individual properties of different targets and their possible effects on the handling.
  • Programming the program-based control can be implemented in various ways, such as, for example, by inputting the commands separately to a control unit or by guiding or teaching the desired function to the control unit.
  • programming inter alia the paths of movement of the handling member 17 and information connected to the carriage 16 movement are determined.
  • the program comprises the necessary commands for implementing the handling method.
  • the method may comprise, for example, working phases with which it is possible to control the handling device in such a manner that it
  • the handling unit 14 can be manually controlled.
  • a person can in a suitable manner control the operation and movement of the handling unit 14. For example, taking care of unusual situations is therefore possible.
  • Control can take place, for example, by means of a portable control unit or by remote usage from the control room. Remote usage often requires receiving image information, which is why it is advantageous to fit at least one camera in the handling unit, the information produced by which camera is transferred to the control room.
  • handling unit 14 there is one handling unit 14 on one wall of the boiler. In another embodiment there are, in turn, two or more handling units 14 on one wall of the boiler. Thus, it is possible to maintain one handling unit 14 and at the same time us another handling unit. Using several handling units 14 also enables equipping the handling units in different ways, in which case in different situations it is possible to use a differently equipped handling unit.
  • the work area of liquor guns 2 can be separated from the rest of the area by curtains or a light screen 18, through which it is possible to safely monitor the operation of a handling device, such as, for example, a robot and the combustion of the boiler.
  • Figure 3 shows by a dashed line an advantageous location for a protective wall 18 that can be opened.
  • the curtain or screen 18 can be partly opened in such a manner that it is easy to target the necessary operations on the desired limited area of the liquor gun area 3.
  • the created solution comprises two or more of the above-described structures and/or modes of operation.

Landscapes

  • Paper (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

A handling device for liquor guns (2) of a recovery boiler plant, which device comprises transfer means (11) for transferring a nozzle (7) of a liquor gun to the furnace (1) of a boiler and out from the furnace. In addition, the invention relates to a recovery boiler plant as well as a method in a recovery boiler plant.

Description

    Field of the invention
  • The invention relates to a handling device for liquor guns of a recovery boiler plant. In addition, the invention relates to a recovery boiler plant as well as a method in a recovery boiler.
  • Background of the invention
  • The spent lye, i.e. the so-called black liquor created in pulp manufacture is burnt in a recovery boiler, on one hand, in order to recover the energy it includes, and on the other hand, in order to recover the chemicals in it and to recycle them back to circulation.
  • Black liquor is fed to a boiler on a so-called liquor gun area, which comprises several liquor guns, with which the pressurized black liquor is brought inside the boiler. For using and maintaining liquor guns, a typical plant comprises an access platform (a so-called main service platform). Moving on the main service platform becomes risky if the boiler for some reason changes to positive pressure. For example, if the boiler is becoming plugged, a person walking on the main service platform or working at the gun area may become exposed to a spray of sparks. A similar situation may occur, for example, when the induced draft fans are stopped unintentionally or as a result of locking. Changes in the boiler load are made manually, in which case it is necessary to operate in the vicinity of guns. Perhaps one great disadvantage is that the operators are exposed to dangerous situations when changing liquor guns. When handling liquor nozzles (for example, a change situation, opening of a nozzle attachment, opening a plugged nozzle) the operator comes in direct contact with hot (125-150 • ) black liquor.
  • The liquor gun area is one of the most accident-prone areas of a recovery boiler from the point of view of work safety. Safety has conventionally been aimed to be improved by different ergonomic and mechanical solutions, which take into account the actions of a human being on the area in question.
  • Brief summary of the invention
  • Now a solution has been invented, which enables decreasing the amount of work required of the operators at the liquor gun area.
  • To achieve this aim, the handling device according to the invention is primarily characterized in what will be presented in the independent claim 1. The recovery boiler plant according to the invention, in turn, is primarily characterized in what will be presented in the independent claim 6. The method according to the invention is primarily characterized in what will be presented in the independent claim 11. The other, dependent claims will present some preferred embodiments of the invention.
  • The basic idea of the invention is to create the handling device of liquor guns in a recovery boiler plant in such a manner that the handling device comprises transfer means for transferring the head of a liquor gun and the nozzle in it to the furnace of the boiler and out of the furnace.
  • In an embodiment the handling device is arranged to handle at least two liquor guns and the handling device comprises moving means for moving the handling device from a first liquor gun to a second liquor gun.
  • In an embodiment the handling device is arranged to define the location of the handling device by scanning the surroundings.
  • In an embodiment the handling device is arranged to perform at least one of the following:
    • operator tasks relating to starting or finishing liquor combustion (such as, for example, taking the liquor gun in and out of the furnace)
    • rodding the liquor gun opening
    • cleaning the nozzle area
    • trimming the position of the gun
    • detaching the liquor gun
    • blowing the liquor gun clean, for example, to a blowing well
    • washing the liquor gun
    • changing the liquor gun
    • changing the nozzle
    • sampling the black liquor
  • In an embodiment also the following monitoring operations are automated:
    • monitoring that the liquor gun is safely at its place and inside the furnace during liquor spraying
    • stopping the liquor spraying to the gun in question if the value "gun in furnace of the limit switch of the gun holder is no longer valid
    • leakage monitoring of the pipework on the basis of pressure changes
  • In an embodiment the handling device comprises computer vision means and by means of the computer vision at least some of the following are determined:
    • the form of the spray formed by the liquor gun
    • droplet size
    • rodding need of the liquor gun
    • need to change the liquor gun
  • In an embodiment the valves used for connecting liquor guns are automated.
  • In an embodiment the recovery boiler plant comprises
    • a hatch that can be used to close the liquor gun opening,
    • transfer means for moving the hatch.
  • In an embodiment the liquor guns are placed in holders in such a manner that they can be pulled out. The valves connected to spraying black liquor are automated in such a manner that liquor spraying can be started sequentially controlled via a distributed control system (DCS), for example, one liquor gun at a time.
  • In an embodiment the construction is composed of one or more robots, which perform different actions on the main service platform, mainly in the black liquor gun area. The robot is connected to the rest of the control system of the plant, such as, for example, a distributed control system. Preferably the robot circulates in the furnace along a guide rail or the like. In an embodiment the handling device comprising an actuator is a moving 6-axis robot unit.
  • In an embodiment the work are of liquor guns is separated from the rest of the area by a curtain or a light screen.
  • The different embodiments of the above-described arrangement, taken separately and in various combinations, provide several advantages. A single application may comprise one or more of the following advantages depending on its implementation.
    • Safety of use is improved
    • Operations to be performed by humans are minimized
    • Work time in the vicinity of guns is decreased significantly. The remaining compulsory visits take place more safely than at the moment
    • The risk of personal injuries is decreased
    • With the black liquor guns the operations take place in a controlled manner and always in the same way
    • The possibility of misuse is decreased
    • Usability is improved
    Description of the drawings
  • In the following, the invention will be described in more detail with reference to the appended principle drawings, in which
  • Fig. 1
    shows a recovery boiler plant in principle
    Fig. 2
    shows a detail of the liquor gun area
    Fig. 3
    shows another embodiment of the handling unit.
  • For the sake of clarity, the drawings only show the details necessary for understanding the invention. The structures and details that are not necessary for understanding the invention but are obvious for anyone skilled in the art have been omitted in the figures in order to emphasize the characteristics of the invention.
  • Detailed description of the invention
  • Figure 1 shows in principle a recovery boiler plant. The plant comprises a furnace 1, where the black liquor to be combusted is fed by liquor guns 2. The figure shows that the liquor gun area 3 is in the lower part of the plant. The liquor gun area 3 typically comprises a so-called main service platform for using and maintaining the liquor guns 2. Below the liquor gun area 3 is the smelt spout area 4. In the example, above the liquor gun area 3 are, in turn, air supply platforms 5. The number and location of air supply platforms 5 may vary depending on the application. The different parts of the figure are not dimensioned correctly in relation to each other, because the purpose of the figure is to show the location of the liquor gun area 3 of the invention.
  • Figure 2 shows a detail of the liquor gun area 3. The figure shows the placement of a liquor gun 2 in the vicinity of the wall 6 of the boiler. The output end of the liquor gun 2 comprises a nozzle 7, from where the black liquor is fed out of the liquor gun. In the figure the head of the liquor gun 2 and the nozzle 7 attached to it are in the inside position and placed inside the furnace 1, i.e. the liquor gun is in the use position. A liquor gun opening 8 is formed in the wall 6 of the boiler for placing the liquor gun 2 inside the furnace 1. The liquor gun opening 8 can advantageously be closed by a hatch 9 when the head of the liquor gun 2 and the nozzle 7 attached to it are in the outside position (maintenance position), i.e. out of the furnace 1.
  • In the embodiment according to figure 2 the liquor guns 2 are placed in the holders 10 in such a manner that the liquor guns can be moved by means of movable holders. Thus, the heads of the liquor guns 2, as well as the nozzles 7 of the liquor guns can be pulled out. The holder 10 is moved by an actuator 11, such as, for example, a motor, a cylinder or a robot (a robot is shown in figure 3). In the example the holder 10 and the actuator 11 form the handling device of a liquor gun 2 and the actuator 11 operates as a transfer means. The hatch 9 of the liquor gun opening 8 is also moved by an actuator 12, such as, for example, a motor, a cylinder or a robot (a robot is shown in figure 3).
  • The valves 13 relating to the black liquor spraying are automated. Advantageously the valves 13 are automated in such a manner the liquor spraying can be started via a Distributed Control System (DCS) in a sequentially controlled manner, for example, one liquor gun 2 at a time.
  • Moving the liquor guns 2 by the actuator 11 and the automated control of the valves 13 enable different functions. For example, when removing a liquor gun 2 from the furnace 1, either for maintenance, load decrease or other reasons, the following actions take place: in a sequentially controlled manner the black liquor feeding is closed and the nozzle 7 is blown clean with steam, non-pressure is confirmed, the nozzle is pulled with the actuator to the outside position and the hatch 9 of the gun opening 8 is closed by the actuator 12. After this the liquor gun 2 is in a relatively safely operatable position.
  • In the application according to figure 2, the following operations are advantageously automated:
    • taking the liquor gun in and out of the furnace
    • starting and stopping spraying with the required preparations
    • monitoring the position of the liquor gun in order to ensure that the gun is safely at its place and inside the furnace during liquor spraying
    • stopping the liquor spraying if the value "gun in furnace" of the limit switch of the gun holder is no longer valid
    • leakage monitoring of the pipework on the basis of pressure changes
    • trimming the positions of guns from the monitor room
    • rodding the liquor gun openings
    • washing the tubes and liquor guns
  • It is possible to use different mechanical, electrical and/or optical switches and controllers (such as, for example, different limit switches) for identifying the position of the gun holder 10.
  • Fig. 3 shows another embodiment of a handling device for liquor guns 2 of a boiler. In this embodiment the handling device comprises a moving handling unit 14, which can move on the path 15 and the operation of the handling device is controlled by a control unit (not shown). In the figure the path 15 is formed by the guide rails on the floor of the service platform. The handling unit, in turn, is formed by a carriage 16 and a handling member 17, which are described more in detail later in the description. The handling unit may travel along the path 15 horizontally parallel to the wall 6 of the boiler.
  • The path 15, which here refers to the structure guiding the carriage 16 of the handling unit 14, can also be implemented in several ways. The path 15 can be, for example, a guide bar or a rail, which directs and supports the handling unit 14. It is also possible to implement a moving handling unit 14 without the actual structural path 15, in which case the handling unit can travel, for example, on the travel area on the service platform.
  • In an embodiment the path 15 is attached to the wall 6 of the boiler. By attaching the guide rail to the boiler wall 6, the mutual position of the guide rail and the liquor guns 2 remains substantially constant irrespective of the temperature of the wall. The dimensions of the boiler wall 6 typically change when the temperature changes due to the thermal expansion of the material. The handling unit 14 is preferably arranged primarily below the guide rail 15, i.e. the handling unit is in a way suspended from the guide rail. Advantageously the guide rail 15 enables as unobstructed movement as possible to the area below the rail. The guide rail 15 can in some embodiments be located below the handling unit 14 or on its side as well. It is possible to place the guide rail 15 in other ways as well, but then the variation in the locations of different parts caused by thermal expansion must be taken into account with some other solutions.
  • A handling unit 14 moving on the path 15 comprises the above-mentioned carriage 16 and a handling member 17. The handling unit 14 in this embodiment operates also as a transfer means. The handling unit 14 is connected to the path 15 via the carriage 16 of the handling unit and the handling unit may travel horizontally in parallel with the boiler wall 6 by means of an actuator, such as, for example, an electric motor. In the embodiment according to the example the carriage 16 is arranged to travel along the path 15. The carriage 16 and/or the path 15 comprise suitable transfer structures and glide structures, by means of which the carriage 16 can move from one position to another. The handling member 17 is connected to the carriage 16 in such a manner that the handling member can move at least towards the boiler and away from the boiler and advantageously vertically as well. In the example the carriage 16 and the handling member 17 are connected to each other via a first pivot (hinging structure), such as, for example a gear system. The first pivot enables the turning of the handling member 17 in relation to the axis line of the pivot (gear system), in which case the head of the handling member 17 can move in the height direction. In an embodiment the handling member 17 can also turn horizontally in relation to the carriage. In an advantageous embodiment the handling device comprises a 6-axis robot unit, in which case it is possible to perform versatile movements. Preferably the robot unit is placed in a movable carriage 16, by means of which the robot unit can be moved to a suitable position. The robot unit can be used as a transfer means, with which the liquor guns 2 and hatches 9 can be moved.
  • As the actuators creating the dynamics of the handling device it is possible to use devices suitable for the purpose, such as, for example, different electric motors, hydraulic and pneumatic actuators, and their direction of movement can be, for example, linear or rotating. The actuators can be placed in various ways. For example, they can be located centralized in connection with the carriage 16, from where the power is transferred with suitable structures to the arm parts and other necessary targets. The actuators can also be placed in different locations of the handling device and/or handling unit 14, in which case, for example, the actuator creating the movement of the arm part can be in the arm part or in the connection of the arm part.
  • In order to determine the location of the handling unit 14, it is possible to use various solutions. The path 15 can comprise identification structures, by means of which the location and/or positioning of the handling unit 14 can be made. In an embodiment the positioning takes place by means of computer vision and in an application measuring members are used, and the position is determined on the basis of the measuring information received from them. It is also possible to use different mechanical, electrical and/or optical switches and controls (such as, for example, different limit switches).
  • As computer vision it is possible to use, for example, a camera that records the target substantially on the wavelength of visible light. It is also possible to use a sensor, which forms an image on some other wavelength area, such as, for example, the IR-area. An embodiment uses a computer vision, which utilizes information received from several different wavelength areas.
  • In an embodiment the handling unit 14 defines its own position in relation to the target by scanning the target with the handling member 17. On the basis of the detected characteristics, the location is defined and coordinates are formed. After this the paths required by the operations are fitted to the coordinates. In an advantageous embodiment computer vision and scanning are used for determining the location. Thus, on the basis of the characteristics detected by computer vision and/or scanning, the location is defined and the coordinates are formed, if necessary.
  • The operation of the handling device is controlled by a control unit. The control unit can be implemented in a variety of ways. For example, the functions of the control unit can be implemented by programming and the program can be either in its own data handling unit or in a data handling unit together with some other program. In an application the commands of the control unit are a part of the other command set of the boiler usage control program. Program-based control makes it possible to take into account the individual properties of different targets and their possible effects on the handling.
  • Programming the program-based control can be implemented in various ways, such as, for example, by inputting the commands separately to a control unit or by guiding or teaching the desired function to the control unit. In the programming, inter alia the paths of movement of the handling member 17 and information connected to the carriage 16 movement are determined.
  • The program comprises the necessary commands for implementing the handling method. The method may comprise, for example, working phases with which it is possible to control the handling device in such a manner that it
    • defines by means of computer vision the form of the spray formed by the liquor gun
    • defines droplet size by means of, for example, an endoscopic camera attached to a robot
    • defines by means of computer vision whether the liquor gun requires rodding
    • defines by means of computer vision whether the liquor gun needs to be changed
    • performs the operator tasks connected to starting and stopping liquor combustion
    • rods the liquor gun opening
    • cleans the nozzle area
    • trims the position of the gun
    • detaches the liquor gun after receiving permission
    • blows the liquor gun clean to, for example, a blowing well
    • washes the liquor gun
    • changes the liquor gun
    • changes the nozzle
    • samples the black liquor
  • In an embodiment the handling unit 14 can be manually controlled. Thus, a person can in a suitable manner control the operation and movement of the handling unit 14. For example, taking care of unusual situations is therefore possible. Control can take place, for example, by means of a portable control unit or by remote usage from the control room. Remote usage often requires receiving image information, which is why it is advantageous to fit at least one camera in the handling unit, the information produced by which camera is transferred to the control room.
  • In an embodiment there is one handling unit 14 on one wall of the boiler. In another embodiment there are, in turn, two or more handling units 14 on one wall of the boiler. Thus, it is possible to maintain one handling unit 14 and at the same time us another handling unit. Using several handling units 14 also enables equipping the handling units in different ways, in which case in different situations it is possible to use a differently equipped handling unit.
  • The work area of liquor guns 2 can be separated from the rest of the area by curtains or a light screen 18, through which it is possible to safely monitor the operation of a handling device, such as, for example, a robot and the combustion of the boiler. Figure 3 shows by a dashed line an advantageous location for a protective wall 18 that can be opened. Preferably the curtain or screen 18 can be partly opened in such a manner that it is easy to target the necessary operations on the desired limited area of the liquor gun area 3.
  • It is also possible to combine the above-described applications and embodiments in such a manner that the created solution comprises two or more of the above-described structures and/or modes of operation.
  • By combining, in various ways, the modes and structures disclosed in connection with the different embodiments of the invention presented above, it is possible to produce various embodiments of the invention in accordance with the spirit of the invention. Therefore, the above-presented examples must not be interpreted as restrictive to the invention, but the embodiments of the invention may be freely varied within the scope of the inventive features presented in the claims hereinbelow.

Claims (15)

  1. A handling device for liquor guns of a recovery boiler plant, characterized in that the handling device comprises transfer means for transferring the nozzle of a liquor gun to the furnace of a boiler, and out from the furnace.
  2. The handling device according to claim 1, characterized in that the handling device is arranged to handle at least two liquor guns and the handling device comprises moving means for moving the handling device from the first liquor gun to the second liquor gun.
  3. The handling device according to claim 1 or 2, characterized in that the handling device comprises computer vision means, and by means of the computer vision, at least some of the following are determined:
    - the form of the spray formed by the liquor gun
    - droplet size
    - rodding need of the liquor gun
    - need to change the liquor gun
  4. The handling device according to any of the preceding claims 1 to 3, characterized in that the handling device is arranged to define the location of the handling device by scanning the environment.
  5. The handling device according to any of the preceding claims 1 to 4, characterized in that the handling device is arranged to perform at least one of the following:
    - starting and stopping the operator tasks connected to liquor combustion
    - rodding the liquor gun opening
    - cleaning the nozzle area
    - trimming the position of the gun
    - detaching the liquor gun
    - blowing the liquor gun clean, for example, to a blowing well
    - washing the liquor gun
    - changing the liquor gun
    - changing the nozzle
    - sampling the black liquor
  6. A recovery boiler plant, which comprises a liquor gun area, wherein the nozzles of liquor guns are brought to a furnace via liquor gun openings, and which area comprises at least one handling device for liquor guns, characterized in that the handling device comprises transfer means for transferring the nozzle of the liquor gun to the furnace of the boiler and out of the furnace.
  7. The recovery boiler plant according to claim 6, characterized in that the handling device is arranged to handle at least two liquor guns and the handling device comprises moving means for moving the handling device from the first liquor gun to the second liquor gun.
  8. The recovery boiler plant according to claim 6 or 7, characterized in that the handling device comprises computer vision means, and by means of the computer vision at least some of the following are determined:
    - the form of the spray formed by the liquor gun
    - droplet size
    - rodding need of the liquor gun
    - need to change the liquor gun
  9. The recovery boiler plant according to any of the preceding claims 6 to 8, characterized in that the valves used for connecting liquor guns are automated.
  10. The recovery boiler plant according to any of the preceding claims 6 to 8, characterized in that the recovery boiler plant comprises
    - a hatch that can be used to close a liquor gun opening,
    - transfer means for moving the hatch.
  11. A method in a recovery boiler plant, wherein black liquor is fed to a furnace with liquor guns via liquor gun openings, characterized in that the nozzle of the liquor gun is transferred to the furnace of the boiler and out of the furnace by an actuator.
  12. The method according to claim 11, characterized in that several liquor guns are transferred individually with the handling device comprising the actuator.
  13. The method according to claim 11 or 12, characterized in that with the handling device comprising the actuator, at least one of the following tasks is performed:
    - defining the form of the spray formed by the liquor gun
    - defining droplet size
    - defining whether the liquor gun needs rodding
    - defining whether the liquor gun needs to be changed
    - performing the operator tasks connected to starting and stopping liquor combustion
    - rodding the liquor gun opening
    - cleaning the nozzle area
    - trimming the position of the gun
    - detaching the liquor gun
    - blowing the liquor gun clean to, for example, a blowing well
    - washing the liquor gun
    - changing the liquor gun
    - changing the nozzle
    - sampling the black liquor
  14. The method according to any of the preceding claims 11 to 13, characterized in that the hatch of the liquor gun opening is opened and closed by the same actuator that transfers the nozzle of the liquor gun to the furnace of the boiler and out from the boiler.
  15. The method according to any of the preceding claims 11 to 14, characterized in that the handling device comprising the actuator is a moving 6-axis robot unit.
EP09179577A 2008-12-19 2009-12-17 A handling device for liquor guns of a recovery boiler plant, a recovery boiler plant, and a method in a recovery boiler Pending EP2199457A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20086215A FI126366B (en) 2008-12-19 2008-12-19 Treatment device for aerosol sprays of a soda boiler plant, soda boiler plant, and method of a soda boiler

Publications (1)

Publication Number Publication Date
EP2199457A1 true EP2199457A1 (en) 2010-06-23

Family

ID=40240611

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09179577A Pending EP2199457A1 (en) 2008-12-19 2009-12-17 A handling device for liquor guns of a recovery boiler plant, a recovery boiler plant, and a method in a recovery boiler

Country Status (6)

Country Link
US (1) US20100154691A1 (en)
EP (1) EP2199457A1 (en)
CN (1) CN101786064A (en)
BR (1) BRPI0905149A2 (en)
CA (1) CA2688910A1 (en)
FI (1) FI126366B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI122899B (en) * 2006-10-16 2012-08-31 Metso Power Oy Cleaner for the soda boiler
FI128290B (en) * 2016-12-22 2020-02-28 Valmet Technologies Oy Chemical recovery boiler
FI20235345A1 (en) * 2023-03-24 2024-09-25 Andritz Oy A method of controlling a maintenance operation apparatus of a recovery boiler and a maintenance operation apparatus

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3795475A (en) * 1973-03-16 1974-03-05 Goetaverken Angteknik Ab Burner for liquid waste fuel
US4695881A (en) * 1985-12-16 1987-09-22 Kennedy Jesse R Apparatus for imaging infrared emitting surfaces
WO2000052259A1 (en) * 1999-03-03 2000-09-08 Soederstroem Per Device for the cleaning of a liquor spray nozzle assembly of a soda recovery boiler
EP1416083A1 (en) * 2002-11-01 2004-05-06 Kvaerner Power Oy Black liquor nozzle
US20050263108A1 (en) * 2004-05-28 2005-12-01 Diamond Power International, Inc. Retractable liquor gun holder for a recovery furnace
US20080236459A1 (en) * 2007-03-28 2008-10-02 Wessel Richard A Recovery boiler combustion air system with intermediate air ports vertically aligned with multiple levels of tertiary air ports
US20080289782A1 (en) * 2007-04-23 2008-11-27 Andritz Oy recovery process and system for a pulp mill
EP2022888A1 (en) * 2007-07-13 2009-02-11 Andritz Oy Device and method for cleaning and/or cooling a liquor gun

Family Cites Families (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL214582A (en) * 1956-02-20
US3617717A (en) * 1969-04-28 1971-11-02 Westinghouse Electric Corp Optimizing control systems
US4212628A (en) * 1979-04-25 1980-07-15 Westvaco Corporation Recovery furnace safety system
US4367787A (en) * 1980-05-16 1983-01-11 Haden Schweitzer Corporation Air conditioning apparatus and method for paint spray booths
GB2079226B (en) * 1980-05-29 1983-11-30 Honda Motor Co Ltd Welding motor vehicle bodies
US4430698A (en) * 1981-08-20 1984-02-07 Harrel, Incorporated Three-mode process control
US4768469A (en) * 1985-07-31 1988-09-06 Kabushiki Kaisha Toshiba Operation control apparatus for recovery boilers
US4687686A (en) * 1985-10-28 1987-08-18 George Koch Sons, Inc. Spray booth with climate regulation system
JPS62152569A (en) * 1985-12-27 1987-07-07 Trinity Ind Corp Method for operating painting booth with air supply mechanism
US4730553A (en) * 1985-12-27 1988-03-15 Trinity Industrial Corporation Method of operating an air-supplied type coating booth
US4795088A (en) * 1987-06-11 1989-01-03 Mitsubishi Denki Kabushiki Kaisha Air conditioning system
JPH01208646A (en) * 1988-02-15 1989-08-22 Sanden Corp Controller of cooling, heating and hot-water supply system
US4991770A (en) * 1990-03-27 1991-02-12 Honeywell Inc. Thermostat with means for disabling PID control
ATE143509T1 (en) * 1990-06-21 1996-10-15 Honeywell Inc VARIABLE HORIZON BASED ADAPTIVE CONTROL WITH MEANS OF MINIMIZING OPERATING COSTS
US5819845A (en) * 1990-11-24 1998-10-13 Samsung Electronics Co., Ltd. Temperature control method for a heating/cooling system
US5270952A (en) * 1991-09-30 1993-12-14 Honeywell Inc. Self-adjusting recovery algorithm for a microprocessor-controlled setback thermostat
US6264111B1 (en) * 1993-06-16 2001-07-24 Siemens Building Technologies, Inc. Proportional-integral-derivative controller having adaptive control capability
US5346128A (en) * 1993-07-22 1994-09-13 Honeywell Inc. Humidity control system
AU7839794A (en) * 1993-09-24 1995-04-10 Optimum Air Corporation Automated air filtration and drying system for waterborne paint and industrial coatings
US5408838A (en) * 1993-10-21 1995-04-25 Air & Refrigeration Corp. Method and apparatus for conditioning unrecycled ambient air
US5490774A (en) * 1994-09-28 1996-02-13 Combustion Engineering, Inc. Oil gun mounting for use in steam generation boilers
US6574581B1 (en) * 1994-10-25 2003-06-03 Honeywell International Inc. Profile based method for deriving a temperature setpoint using a ‘delta’ based on cross-indexing a received price-point level signal
US5573181A (en) * 1995-01-06 1996-11-12 Landis & Gyr Powers, Inc. Global control of HVAC distribution system
US5542650A (en) * 1995-02-10 1996-08-06 Anthony-Ross Company Apparatus for automatically cleaning smelt spouts of a chemical recovery furnace
US5715763A (en) * 1995-09-11 1998-02-10 The Mead Corporation Combustion system for a black liquor recovery boiler
US5915473A (en) * 1997-01-29 1999-06-29 American Standard Inc. Integrated humidity and temperature controller
US6240324B1 (en) * 1997-07-31 2001-05-29 Honeywell International Inc. Adaptive cascade control algorithm
US5924486A (en) * 1997-10-29 1999-07-20 Tecom, Inc. Environmental condition control and energy management system and method
US5950902A (en) * 1998-06-10 1999-09-14 Moore, Sr.; George Carlton Corner bead fastening tool
US6045067A (en) * 1998-07-09 2000-04-04 Foster; Wayne R. Chemical edger
US6253113B1 (en) * 1998-08-20 2001-06-26 Honeywell International Inc Controllers that determine optimal tuning parameters for use in process control systems and methods of operating the same
US6269274B1 (en) * 1998-09-09 2001-07-31 Honeywell International Inc System and method for balancing and distributing control algorithm processing load and real time plant control system employing the same
US6829522B1 (en) * 2000-04-19 2004-12-07 Ford Global Technologies, Llc Portable advisory system for balancing airflows in paint booth
JP3666578B2 (en) * 2000-08-18 2005-06-29 株式会社安川電機 Predictive control device
FI115998B (en) * 2000-10-17 2005-08-31 Andritz Oy Device for feeding black liquor into a recovery boiler
US6502629B2 (en) * 2001-01-24 2003-01-07 Robert Valachovic Paint booth temperature control system
US20030127030A1 (en) * 2001-12-27 2003-07-10 Cardin J. Peter Method and apparatus for sodium recovery in a semi-chemical pulping operation
US7024254B2 (en) * 2002-02-14 2006-04-04 Johnson Controls Technology Company Method for controlling a discrete system
US20070066203A1 (en) * 2003-05-12 2007-03-22 Giovanni Melegatti System for the control of painting process in a spray booth, and spray booth therefor
CN1260431C (en) * 2003-11-04 2006-06-21 于成春 Alkali recovery device for straw pulp papermaking black liquor
US7360534B2 (en) * 2004-03-25 2008-04-22 Supplier Support International Inc. Heated replacement air system for commercial applications
CN2818533Y (en) * 2005-08-01 2006-09-20 冯长祯 Alkali recovery furnace
US7310572B2 (en) * 2005-09-16 2007-12-18 Honeywell International Inc. Predictive contract system and method
US20080071395A1 (en) * 2006-08-18 2008-03-20 Honeywell International Inc. Model predictive control with stochastic output limit handling
US7787978B2 (en) * 2006-10-03 2010-08-31 Honeywell International Inc. Apparatus and method for controller performance monitoring in a process control system
FI122899B (en) * 2006-10-16 2012-08-31 Metso Power Oy Cleaner for the soda boiler
US7913180B2 (en) * 2006-11-30 2011-03-22 Honeywell International Inc. HVAC zone control panel with mode navigation
US20090130317A1 (en) * 2007-11-20 2009-05-21 Moore John R Hot air drier assembly for a waterborne paint spray booth
US7957842B2 (en) * 2008-02-19 2011-06-07 Honeywell International Inc. Apparatus and method for controlling an air supply for drying painted vehicles and other objects

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3795475A (en) * 1973-03-16 1974-03-05 Goetaverken Angteknik Ab Burner for liquid waste fuel
US4695881A (en) * 1985-12-16 1987-09-22 Kennedy Jesse R Apparatus for imaging infrared emitting surfaces
WO2000052259A1 (en) * 1999-03-03 2000-09-08 Soederstroem Per Device for the cleaning of a liquor spray nozzle assembly of a soda recovery boiler
EP1416083A1 (en) * 2002-11-01 2004-05-06 Kvaerner Power Oy Black liquor nozzle
US20050263108A1 (en) * 2004-05-28 2005-12-01 Diamond Power International, Inc. Retractable liquor gun holder for a recovery furnace
US20080236459A1 (en) * 2007-03-28 2008-10-02 Wessel Richard A Recovery boiler combustion air system with intermediate air ports vertically aligned with multiple levels of tertiary air ports
US20080289782A1 (en) * 2007-04-23 2008-11-27 Andritz Oy recovery process and system for a pulp mill
EP2022888A1 (en) * 2007-07-13 2009-02-11 Andritz Oy Device and method for cleaning and/or cooling a liquor gun

Also Published As

Publication number Publication date
CA2688910A1 (en) 2010-06-19
FI20086215A0 (en) 2008-12-19
CN101786064A (en) 2010-07-28
BRPI0905149A2 (en) 2011-02-08
FI20086215A (en) 2010-06-20
FI126366B (en) 2016-10-31
US20100154691A1 (en) 2010-06-24

Similar Documents

Publication Publication Date Title
US7891325B2 (en) Cleaner for the smelt spout of a recovery boiler
CA2741710C (en) Robot interaction system
US5358568A (en) Spraying apparatus
KR102669739B1 (en) System for spraying a wall surface of a building and method therefor
US20040104203A1 (en) Thermal cutting machine and cutting method using same
EP2199457A1 (en) A handling device for liquor guns of a recovery boiler plant, a recovery boiler plant, and a method in a recovery boiler
JPH0630855B2 (en) How to place a tool holding robot that works in an environment harmful to the human body
CN110785523A (en) Apparatus and method for cleaning smelt spouts of recovery boilers
US6035811A (en) Water lance blower positioning system
BR112021012756A2 (en) COATING REPLACEMENT SYSTEM AND PROCEDURE, WHOSE CONFIGURATION ALLOWS THE AUTOMATED REMOVAL AND INTRODUCTION OF COATINGS FROM A MINERAL GRINDING MILL
US6101985A (en) Water lance blower with shortened water lance
EP1552233A1 (en) A robot for cleaning a melt stout included in a soda pan
CN113262911A (en) Intelligent spraying device
WO2020139556A1 (en) Remote inspection, removal, and installation of refractory
CN207414955U (en) Safety door and numerically-controlled machine tool
WO2021042219A1 (en) System and method for changing a mill liner, configured to allow the fully automated and robotic manipulation of the method
JP2023026396A (en) Continuum arm robot system
CN114800011A (en) Machining system for machining workpieces
FI20235345A1 (en) A method of controlling a maintenance operation apparatus of a recovery boiler and a maintenance operation apparatus
TWM566650U (en) Stand-alone robotic arm device
WO2023175645A1 (en) Apparatus for inspecting and/or restoring a hostile environment and corresponding method
JP2021049614A (en) Robot control system
JPH08262179A (en) Device for monitoring inside of reactor container
JPS6393480A (en) Arc image detecting system

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

AX Request for extension of the european patent

Extension state: AL BA RS

17P Request for examination filed

Effective date: 20101216

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: VALMET POWER OY

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: VALMET TECHNOLOGIES OY

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20170202

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS