CN109455625A - Intelligent slag grabbing system - Google Patents
Intelligent slag grabbing system Download PDFInfo
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- CN109455625A CN109455625A CN201811610152.8A CN201811610152A CN109455625A CN 109455625 A CN109455625 A CN 109455625A CN 201811610152 A CN201811610152 A CN 201811610152A CN 109455625 A CN109455625 A CN 109455625A
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- slag
- control device
- grabbing
- sensor
- crawl section
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- 239000002893 slag Substances 0.000 title claims abstract description 221
- 239000002245 particle Substances 0.000 claims abstract description 63
- 238000001914 filtration Methods 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims description 77
- 230000003028 elevating effect Effects 0.000 claims description 32
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 8
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000013049 sediment Substances 0.000 abstract 9
- 238000000034 method Methods 0.000 description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 239000000706 filtrate Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007480 spreading Effects 0.000 description 4
- 238000003892 spreading Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical group [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000001376 precipitating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/16—Rope, cable, or chain drives for trolleys; Combinations of such drives with hoisting gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C7/00—Runways, tracks or trackways for trolleys or cranes
- B66C7/16—Devices specially adapted for limiting trolley or crane travel; Arrangements of buffer-stops
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides an intelligent slag grabbing system, which is applied to a blast furnace system for cleaning slag particles in a filter tank and comprises the following components: the slag conveying device, the sensor detection device, the control device connected with the sensor detection device and the slag grabbing device connected with the control device; the sensor detection device is used for detecting signals including the positions of slag particles, the position of the slag conveying device and the position of a grabbing part of the slag grabbing device; the control device outputs slag grabbing and slag unloading instructions to the slag grabbing device according to signals detected by the sensor detection device; grab the sediment device and erect on the filtering ponds for grab the sediment and unload the sediment operation according to grabbing the sediment and unloading the sediment instruction to move the sediment grain in the filtering ponds to fortune sediment device, realize grabbing the sediment automatically and unload the sediment, improve degree of automation, the operation of accurate control grab bucket hoist prevents to take place when unloading and spills the material.
Description
Technical field
The present invention relates to metallurgy industry ironmaking fields more particularly to a kind of intelligence to grab slag system.
Background technique
The slag of high-temperature liquid state can be generated when blast furnace process, generallyd use precipitating filtration method both at home and abroad at present and (often claimed bottom filter
Method) slag is handled, it may be assumed that by carrying out hydraulic discharged slag before State of Blast Furnace, slag is smashed using water quenching, it is mixed to form pulp water
It closes object (containing slag particle and liquid water), slag-water slurry enters filtering ponds by sluice.Wherein, slag-water slurry passes through filtering
Filtering layer in pond is filtered, and leaves solid wet slag particle in filtering bottom of pond portion.Pass through manual operation bridge-type grab lifting
Machine grabs slag particle, entrucking is transported outward.
Wherein, the mode of manual operation grab bucket crane makes the degree of automation low, causes operating efficiency low.
Summary of the invention
In view of this, the present invention provides a kind of intelligence to grab slag system, by sensor detecting device, control device and
The cooperation of slag device is grabbed, realizes and grabs slag automatically, improves operating efficiency.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of intelligence grabs slag system, applied to the slag particle cleared up in filtering ponds in blast furnace system, comprising: slag-conveying machinery, biography
Sensor detection device, the control device being connect with sensor detecting device and what is connect with control device grab slag device；
Sensor detecting device is for detecting comprising slag particle position, slag-conveying machinery position, the crawl section position for grabbing slag device
Signal；
According to sensor detecting device signal detected, to grabbing, slag is grabbed in the output of slag device to control device and slag dumping instructs；
It grabs slag device to be set up on filtering ponds, grabs slag for basis and slag dumping instruction carries out grabbing slag and slag dumping operation, it will
Slag particle in filtering ponds moves to slag-conveying machinery.
Further, grabbing slag device includes: two track frames that filtering ponds two sides are arranged in and are parallel to each other, across in-orbit
Traveling mechanism of the larger traveller on road frame, is connected under wheeling mechanism the wheeling mechanism being arranged on traveling mechanism of the larger traveller
The elevating mechanism in portion and the crawl section for being connected to elevating mechanism bottom；
Traveling mechanism of the larger traveller is moved along two track frames, which is provided with the trolley track vertical with track frame；
Elevating mechanism is for promoting or reducing crawl section；
Crawl section slag and slag dumping operation are grabbed by grasping movement realization.
Further, sensor detecting device includes:
To level detection sensor, control device is connected, for whether in place to detect slag-conveying machinery, detection is believed in place for output
Number；
Position-detection sensor connects control device, for detecting the position of slag-conveying machinery, output slag-conveying machinery position letter
Number；
Charge level scanning sensor connects control device, for detecting the charge level state of slag particle in filtering ponds, output charge level inspection
Survey signal；
Level sensor connects control device, for detecting the horizontal position of crawl section, output level position detection
Signal；
Height sensor connects control device, for detecting the height of crawl section, exports height detection signal；
Weight sensor connects control device, for detecting the weight of the slag particle in filtering ponds, output slag particle weight letter
Number；
Wherein, control device controls in sensor detecting device according to signal is detected in place in addition to arriving level detection sensor
Except other sensors and grab slag device starting；
Control device controls crawl section movement according to slag-conveying machinery position signal and completes slag dumping operation；
Control device detects signal according to charge level and determines slag particle position；
Control device detects signal control traveling mechanism of the larger traveller according to horizontal position and wheeling mechanism moves, and makes to grab
Portion is run to slag particle position；
Control device controls elevating mechanism according to height detection signal and promotes or reduce crawl section；
Control device is according to slag particle weight signal, slag particle weight change situation in real-time statistics filtering ponds, and calculates tired
Meter grabs slag weight, when it is accumulative grab slag weight and reach the nominal load capacity of slag-conveying machinery when, control grabs the stopping of slag device and grabs slag operation,
And slag particle weight change situation is fed back into blast furnace central control system.
Further, traveling mechanism of the larger traveller includes: big tramcar motor, cart brake, cart shaft coupling and cart vehicle
Wheel, big tramcar motor connect cart shaft coupling, and cart shaft coupling connects cart wheel, and cart brake connects cart wheel.
Further, wheeling mechanism includes: small tramcar motor, car brake, trolley shaft coupling and trolley vehicle
Wheel, small tramcar motor connect trolley shaft coupling, and trolley shaft coupling connects car wheel, and car brake connects car wheel.
Further, elevating mechanism is hoist engine.
Further, crawl section includes: grab bucket and transmission device, and grab bucket is connected to elevating mechanism by transmission device
Lower end, transmission device drive grab bucket to carry out grasping movement.
Further, sensor detecting device further include: torque sensor,
Torque sensor connects control device, for monitoring the working condition of hoist engine, generates torque signals；
Control device controls elevating mechanism work according to torque signals and height detection signal.
Further, slag-conveying machinery can be muck haulage automobile or sealing-tape machine of mucking haulage.
Further, slag system is intelligently grabbed further include: local area network, control device are detected by local area network and sensor
Device is communicated to connect with slag device is grabbed.
Intelligence provided by the invention grabs slag system, the signal that control device is acquired based on sensor detecting device, and control is grabbed
Traveling mechanism of the larger traveller, wheeling mechanism, elevating mechanism and the crawl section movement of slag device, realize and grab slag and slag dumping automatically,
It can be improved the degree of automation, and then improve operating efficiency, reduce the influence of human factor, the accurate grab bucket crane that controls is made
Industry realizes the thorough cleaning of slag particle, avoids damage to filtrate, prevents that spreading occurs when discharging.
In addition, intelligence provided by the invention grabs slag system, slag particle weight is monitored by weight sensor, control device is based on
The signal of weight sensor acquisition, counts slag weight, feeds back to blast furnace central control system, is conducive to blast furnace central control system and optimizes blast furnace
Raw material and fuel quality and proportion, promote smooth operation of furnace at optimization blast furnace operating, realize predictive production decision.
Also, intelligence provided by the invention grabs slag system, and the working condition of hoist engine, judgement are monitored by torque sensor
Reach on the slag particle whether grab bucket has fallen on inside filtering ponds completely and grab slag height, prevents the line relaxation of hoist engine, avoid
Hoist engine continues the pulley blocks that rotation leads to the line relaxation of hoist engine and deviates from hoist engine after grab bucket falls on slag particle surface.
For above and other objects, features and advantages of the invention can be clearer and more comprehensible, preferred embodiment is cited below particularly,
And cooperate institute's accompanying drawings, it is described in detail below.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structure chart one that a kind of intelligence of the embodiment of the present invention grabs slag system；
Fig. 2 is the circuit diagram one that a kind of intelligence of the embodiment of the present invention grabs slag system；
Fig. 3 is the structure chart two that a kind of intelligence of the embodiment of the present invention grabs slag system；
Fig. 4 is the circuit diagram two that a kind of intelligence of the embodiment of the present invention grabs slag system；
Fig. 5 is the circuit diagram three that a kind of intelligence of the embodiment of the present invention grabs slag system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The prior art grabs slag particle using manual operation crane, and the degree of automation is low, causes operating efficiency low.
The embodiment of the present invention provides a kind of intelligence and grabs slag system, can applied to the slag particle cleared up automatically in filtering ponds in blast furnace system
The degree of automation is improved, and then improves operating efficiency, reduces the influence of human factor, it is accurate to control grab bucket crane operation, in fact
The thorough cleaning of existing slag particle, avoids damage to filtrate, prevents that spreading occurs when discharging.
Fig. 1 is the structure chart one that a kind of intelligence of the embodiment of the present invention grabs slag system.As shown in Figure 1, the intelligence grabs slag system
Include: slag-conveying machinery, sensor detecting device (not shown), the control device (not regarding out) that is connect with sensor detecting device with
And what is connect with control device grabs slag device 10.
Wherein, slag-conveying machinery can be using automobile 30 of mucking haulage, certainly, and slag-conveying machinery can also be using railcar of mucking haulage, fortune
Slag sealing-tape machine etc., the invention is not limited in this regard.
In addition, the one side in filtering ponds 20 can be set in slag-conveying machinery, if being equipped with partition wall among filtering ponds 20, can also incite somebody to action
Slag-conveying machinery is arranged on the partition wall among filtering ponds 20, the embodiment of the present invention to this with no restriction.
Sensor detecting device is for detecting comprising slag particle position, slag-conveying machinery position, the crawl position for grabbing slag device 10
The signal set.
Control device is filtered according to sensor detecting device signal detected and the filtering ponds position range prestored, protection
Material it is minimum grab slag limiting altitude etc. to grab slag device 10 output grab slag and slag dumping instruction.
It grabs slag device 10 to be set up on filtering ponds 20, grabs slag for basis and slag dumping instruction carries out grabbing slag and slag dumping operation,
The slag particle in filtering ponds is moved to slag-conveying machinery.
Through the above scheme it is known that intelligence provided in an embodiment of the present invention grabs slag system, control device is based on sensing
Slag device action is grabbed in the signal of device detection device acquisition, control, and realization grabs slag and slag dumping automatically, can be improved the degree of automation,
And then operating efficiency is improved, and the influence of human factor is reduced, it is accurate to control grab bucket crane operation, realize the thorough clear of slag particle
Reason, avoids damage to filtrate, prevents that spreading occurs when discharging.
Fig. 2 is the circuit diagram one that a kind of intelligence of the embodiment of the present invention grabs slag system.As shown in Fig. 2, the intelligence grabs slag system
Circuit structure include: sensor detecting device 50 connect control device 40, control device 40 connection grab slag device 10, wherein
Connection type between device can be electrically connected using conducting wire.
In an alternative embodiment, slag system is intelligently grabbed further include: local area network, control device 40 pass through local area network
It network and sensor detecting device 50 and grabs slag device 10 and communicates to connect.
Certainly, which includes but is not limited to: blueteeth network, cordless communication network.By will be used between device
Radio connection is attached, and can effectively reduce installation work amount.
Wherein, sensor detecting device 50 is for detecting slag particle position, slag-conveying machinery position, the crawl section for grabbing slag device 10
Position signals.Control device 40 is grabbed slag and is unloaded according to the signal detected of sensor detecting device 50 to the output of slag device 10 is grabbed
Slag instruction, grab slag device 10 according to grab slag and slag dumping instruction carry out grabbing slag and slag dumping operation, the slag particle in filtering ponds is moved to
Slag-conveying machinery.
Fig. 3 is the structure chart two that a kind of intelligence of the embodiment of the present invention grabs slag system.As shown in figure 3, the intelligence grabs slag system
Include: slag-conveying machinery, sensor detecting device, the control device being connect with sensor detecting device and is connect with control device
Grab slag device.
Wherein, slag-conveying machinery can be using automobile 30 of mucking haulage, certainly, and slag-conveying machinery can also be using railcar of mucking haulage, fortune
Slag sealing-tape machine etc., the invention is not limited in this regard.
Grabbing slag device includes: two track frames 11 that 20 two sides of filtering ponds are arranged in and are parallel to each other, across in track frame
Traveling mechanism of the larger traveller 12 on 11, is connected to trolley travelling machine at the wheeling mechanism 13 being arranged on traveling mechanism of the larger traveller 12
The elevating mechanism 14 of 13 lower part of structure and the crawl section 15 for being connected to 14 bottom of elevating mechanism.
Wherein, traveling mechanism of the larger traveller 12 may include: crane beam, big tramcar motor, cart brake, cart shaft coupling with
And cart wheel 12a, crane beam level are erected between two track frames, big tramcar motor connects cart shaft coupling, cart connection
Axis device connects cart wheel, and cart brake connects cart wheel.The down either side of crane beam, edge is arranged in cart wheel 12a
Two track frames 11 move.In addition, big tramcar motor, cart brake, cart shaft coupling are all connected with control device 40.
In an alternative embodiment, which can also include: retarder, and big tramcar motor passes through
Retarder connects cart shaft coupling, and retarder connects control device 40.
In an alternative embodiment, which can also include: range limiter, the trip limit
Device connects control device 40.The trip limiter is as travel switch, for controlling stroke, the transformation operation of traveling mechanism of the larger traveller
Direction or speed.
In addition, crane beam is equipped with the trolley track vertical with 11 direction of track frame.
Wheeling mechanism 13 is moved along trolley track, and the direction of motion and the direction of motion of traveling mechanism of the larger traveller 12 are mutually hung down
Directly.Specifically, the wheeling mechanism 13 may include: trolley frame, small tramcar motor, car brake, trolley shaft coupling with
And car wheel, small tramcar motor connect trolley shaft coupling, trolley shaft coupling connects car wheel, and car brake connects trolley
Wheel.Setting car wheel and connection structure on the downside of lower vehicle frame.In addition, small tramcar motor, car brake, trolley shaft coupling are equal
Connect control device 40.
In an alternative embodiment, which can also include: retarder, and small tramcar motor passes through
Retarder connects trolley shaft coupling, which also connects control device 40.The retarder can be using by being enclosed in rigid crust
Intracorporal gear drive, worm-drive, pinion-endless screw are driven composed individual components, in small tramcar motor and trolley
Play a part of to match revolving speed between shaft coupling and transmits torque.
In an alternative embodiment, which can also include: range limiter, the trip limit
Device also connects control device 40.The trip limiter is as travel switch, for controlling stroke, the transformation fortune of wheeling mechanism
Line direction or speed.
Elevating mechanism 14 is connected to the lower part of the wheeling mechanism 13, the position of elevating mechanism 14 by the connection structure
It is changed with the shift in position of wheeling mechanism.
In an alternative embodiment, elevating mechanism 14 is by wirerope 14a connection crawl section 15, for being promoted or being dropped
Low crawl section 15.
In an alternative embodiment, which may include: motor, retarder, reel and brake,
Wherein, motor connects retarder, and retarder connects reel with brake, and motor, retarder and brake are connected to control
Device 40 processed.In addition, the motor, retarder, brake are all connected with control device 40.The retarder can be using by being enclosed in
The intracorporal gear drive of rigid crust, worm-drive, pinion-endless screw are driven composed individual components, for matching revolving speed and biography
Pass torque.
In an alternative embodiment, which can be realized using hoist engine.
Crawl section 15 slag and slag dumping operation are grabbed by grasping movement realization.Wherein, which includes: grab bucket and biography
Dynamic device, grab bucket are connected to the lower end of elevating mechanism 14 by transmission device, and transmission device drives grab bucket to carry out grasping movement.
In an alternative embodiment, damping device is equipped in transmission device.
In addition, sensor detecting device 50 detects slag particle position, slag-conveying machinery position, the crawl section position for grabbing slag device etc.
Signal.
Control device 40 is according to the position control traveling mechanism of the larger traveller 12 and trolley travelling machine of slag particle position and crawl section
13 direction of motion of structure and move distance, so that crawl section 15 is moved to the top of slag particle position, to carry out subsequent grabbing slag operation.
After crawl section 15 is moved to the top of slag particle position, control device 40 is controlled according to the height and position of crawl section 15
Elevating mechanism 14 goes up and down crawl section 15, so that crawl section 15 drops to above slag particle；
When crawl section 15 is located above slag particle, control device 40 sends grasping movement instruction, crawl section to crawl section 15
15 carry out grabbing slag operation.
After crawl section 15 completes to grab slag, it is dynamic to control elevating mechanism 14 according to the height and position of crawl section for control device 40
Make, crawl section 15 is made to rise pre-determined distance.Then, control device 40 is according to 12 He of slag-conveying machinery position control traveling mechanism of the larger traveller
13 direction of motion of wheeling mechanism and move distance, so that crawl section 15 is moved to the top of slag-conveying machinery.
When crawl section 15 is moved to the top of slag-conveying machinery, height and position of the control device 40 according to crawl section 15, control
Elevating mechanism 14 processed acts, and adjusts 15 height of crawl section, so that crawl section 15 is located at predetermined position above slag-conveying machinery, then control
The transmission device of crawl section 15 makes grab bucket tipping bucket or opening by transmission device movement, realizes slag dumping operation.
Slag system is grabbed by analyzing above-mentioned intelligence, it is known that control device 40 is acquired based on sensor detecting device 50
Signal, traveling mechanism of the larger traveller 12, wheeling mechanism 13, elevating mechanism 14 and the crawl section 15 that slag device 10 is grabbed in control be dynamic
Make, realizes and grab slag and slag dumping automatically.
Fig. 4 is the circuit diagram two that a kind of intelligence of the embodiment of the present invention grabs slag system.As shown in figure 4, the intelligence grabs slag system
Circuit structure include: that sensor detecting device 50 connects control device 40, control device 40, which connects, grabs the cart of slag device 10
Operating mechanism 13, wheeling mechanism 13, elevating mechanism 14 and crawl section 15, wherein connection type between device can be with
It is electrically connected using conducting wire.
Certainly, the connection type between device can also use local area network radio connection, including but not limited to: blue
Tooth connection, cordless communication network connection.By will be attached between device using radio connection, cloth can be effectively reduced
Line workload.
Wherein, sensor detecting device 50 is for detecting slag particle position, slag-conveying machinery position, the crawl section 14 for grabbing slag device
Position signals.Control device 40 controls traveling mechanism of the larger traveller 12, trolley according to the signal detected of sensor detecting device 50
Operating mechanism 13, elevating mechanism 14 and crawl section 15 act, and realize automated job.
In an alternative embodiment, sensor detecting device 50 includes: to pass to level detection sensor 51, position detection
Sensor 52, charge level scanning sensor 53, level sensor 54, height sensor 55, as shown in Figure 5.
It is arranged near slag-conveying machinery stand to level detection sensor 51, and connects control device 40, when detects
After slag-conveying machinery reaches, output detects signal to control device 40 in place.
Control device 40 controls in sensor detecting device 50 according to signal is detected in place in addition to arriving level detection sensor 51
Except other sensors and grab slag device 10 starting.
Wherein, level detection sensor 51 is arrived by setting, restarts the main of system after detecting that slag-conveying machinery reaches
Component can reduce power consumption, save cost, meet the needs of energy-saving and emission-reduction.
Position-detection sensor 52 is arranged in slag-conveying machinery stand, and connects control device 40, mucks haulage when detecting
Device exports slag-conveying machinery position signal when reaching specified stand.
Control device 40 controls traveling mechanism of the larger traveller 12 according to slag-conveying machinery position signal and wheeling mechanism 13 acts,
So that crawl section 15 is moved to slag-conveying machinery position, carries out subsequent slag dumping operation.
Wherein, slag-conveying machinery position, and then accurate discharge position are detected by position-detection sensor 52, can prevents from unloading
When material the problem of spreading.
It is understood that an emptying point discharging cannot fill entire material compartment if the material compartment of slag-conveying machinery is larger, it can
By the way that multiple position-detection sensors 52 are arranged, the accurate location information in material compartment is fed back to control system, control system root
The slag dumping operation of efficiently and accurately is completed to corresponding multiple emptying points according to preset procedure operation grab bucket.
Charge level scanning sensor 53 is set to 20 top position of filtering ponds, and connects control device 40, for detecting filtering
The charge level state of slag particle 21 in pond 20, output charge level detect signal.
In an alternative embodiment, which can be set on traveling mechanism of the larger traveller, carry out
3D scanning, certainly, invention is not limited thereto, as long as be located above filtering ponds, can complete scan to the position of filtering ponds
The settable charge level scanning sensor.
Level sensor 54 is arranged on crawl section 15, is perhaps arranged on wheeling mechanism 13 or is arranged
On elevating mechanism 14, and control device 40 is connected, for detecting the horizontal position of crawl section 15, output level position detection letter
Number.
Control device 40 detects signal according to charge level and determines slag particle position, is then based on slag particle position and crawl section 15
Horizontal position, controls traveling mechanism of the larger traveller 12 and wheeling mechanism 13 moves, and is moved to crawl section 15 above slag particle position.
Wherein, signal is acquired by charge level scanning sensor 53 and level sensor 54, control device 40 is based on adopting
The signal of collection is controlled, and slag particle position can be accurately positioned, grab slag position and grab slag height, is realized and is precisely grabbed slag.
Height sensor 55 can be set on crawl section 15, or be arranged on elevating mechanism 14, or be arranged in filtering ponds
On 20 side wall, and control device 40 is connected, for detecting the height of crawl section 15, exports height detection signal.
Control device 40 controls the promotion of elevating mechanism 14 according to height detection signal or reduces crawl section 15, so that crawl section
15 reach 21 top position of slag particle.
Wherein, the elevation information of crawl section 15, signal of the control device 40 based on acquisition are acquired by height sensor 55
It is controlled, can be accurately positioned and grab slag height, realized and precisely grab slag.
In an alternative embodiment, which can also include: weight sensor 56, and setting exists
20 bottom of filtering ponds, and control device 40 is connected, for detecting the weight of the slag particle 21 in filtering ponds 20, output slag particle weight letter
Number；
Control device 40 is according to 21 weight signal of slag particle, 21 weight change situation of slag particle in real-time statistics filtering ponds 20,
And calculate it is accumulative grab slag weight, when it is accumulative grab slag weight and reach the nominal load capacity of slag-conveying machinery when, control is grabbed slag device 10 and is stopped
Slag operation is only grabbed, and slag particle weight change situation is fed back into blast furnace central control system 60, optimizes height conducive to blast furnace central control system 60
Furnace raw material and fuel quality and proportion, promote smooth operation of furnace at optimization blast furnace operating.
In an alternative embodiment, weight sensor 56 detects that the weight of the slag particle 21 in filtering ponds 20 finds pre-
If when value, sending starting information to control device 40, control device 40 controls slag-conveying machinery starting, according to GPS on slag-conveying machinery
The location information of upload sends navigation information to slag-conveying machinery, and slag-conveying machinery is according to navigation information automatic running to slag-conveying machinery
Stand waits for operation of mucking haulage, when slag-conveying machinery in place after, slag device and sensor are grabbed in starting, and slag operation is grabbed in realization.
In an alternative embodiment, which can also include: torque sensor 57, which passes
Sensor 57 is arranged on wirerope 14a, and connects control device 40, for monitoring the working condition of elevating mechanism 14, generates
Torque signals；Control device 40 controls elevating mechanism work according to torque signals and height detection signal.
It is worth noting that the water surface is to the crawl when crawl section 15 drops to the water surface of the liquid water in filtering ponds 20
Portion generates a upward buoyancy, and torque sensor 57 can experience the buoyancy acted on wirerope 14a, generates torque letter
Number, the revolving speed of elevating mechanism 14 is turned down based on the torque signals, so that the speed that crawl section 15 declines reduces, it being capable of pre- hoist
The line relaxation of machine, hoist engine, which continues rotation, after avoiding grab bucket from falling on slag particle surface leads to the line relaxation of hoist engine and deviates from volume
Raise the pulley blocks of machine.
In an alternative embodiment, which is PLC, wherein prestoring filtering ponds position range, protection filter
The minimum control program grabbing slag limiting altitude and setting of material.
In an alternative embodiment, which is equipped with movement controller, movement controller connection control
Device 40, control device 40 issue working signal, the movement according to 21 weight of slag particle in filtering ponds 20, to the movement controller
Controller grabs slag device 10 and is moved to designated position according to working signal, control.
In an alternative embodiment, it can also include: alarm, alarm connection control which, which grabs slag system,
Device, when the slag particle weight in filtering ponds is beyond preset threshold or grabs slag device action exception, control device is sent out to alarm
Alarm signal is sent, alarm is based on alarm signal and carries out sound-light alarm, operator on duty is found the problem in time, prevents from setting
Standby damage.
Intelligence provided in an embodiment of the present invention grabs slag system, can not be needed according to pre-set program automatic running
Staff on duty avoids sulfur-bearing steam from endangering operator's health, realizes that unattended be carried out continuously grabs slag, slag dumping operation,
The influence of human factor is reduced, it is accurate to control grab bucket crane operation, it realizes the thorough cleaning of slag particle, avoids damage to filtrate, benefit
In blast furnace central control system optimization blast furnace raw material and fuel quality and proportion, optimization blast furnace operating, promote smooth operation of furnace, prevents hoist engine
Line relaxation, hoist engine, which continues rotation, after avoiding grab bucket from falling on slag particle surface leads to the line relaxation of hoist engine and deviates from hoist engine
Pulley blocks, and can effectively slow down that filtrate is hardened, the service life of filtering ponds filtrate be substantially improved, and then reduce filter material replacement and take
With.
Control device or controller described herein can take specific integrated circuit (Application
Specific Integrated Circuit, ASIC), programmable logic controller (PLC) and be embedded in microcontroller form, controller
Example include but is not limited to following microcontroller: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 with
And Silicone Labs C8051F320.It is also known in the art that in addition in a manner of pure computer readable program code
Realize other than controller, completely can by by method and step carry out programming in logic come so that controller with logic gate, switch, special
Identical function is realized with the form of integrated circuit, programmable logic controller (PLC) and insertion microcontroller etc..Therefore this control
Device is considered a kind of hardware component, and can also be considered as firmly to the device for realizing various functions that its inside includes
Structure in part component.Or even, can will be considered as realizing the device of various functions either implementation method it is soft
Part module can be the structure in hardware component again.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of intelligence grabs slag system, applied to the slag particle cleared up in blast furnace system in filtering ponds characterized by comprising fortune
Slag device, sensor detecting device, the control device being connect with the sensor detecting device and with the control device connect
What is connect grabs slag device；
The sensor detecting device is for detecting comprising slag particle position, slag-conveying machinery position, the crawl section position for grabbing slag device
Signal；
The control device according to sensor detecting device signal detected to it is described grab the output of slag device and grab slag and unload
Slag instruction；
The slag device of grabbing is set up on the filtering ponds, carries out grabbing slag and slag dumping work for grabbing slag and slag dumping instruction according to
Slag particle in the filtering ponds is moved to the slag-conveying machinery by industry.
2. intelligence grabs slag system according to claim 1, which is characterized in that the slag device of grabbing includes: to be arranged in the mistake
Filter tank two sides and two track frames being parallel to each other, across in the track frame traveling mechanism of the larger traveller, setting is described big
Wheeling mechanism on vehicle operating mechanism is connected to the elevating mechanism of the wheeling mechanism lower part and is connected to lifting
The crawl section of actuator base；
The traveling mechanism of the larger traveller is moved along two track frames, which is provided with the small track vertical with the track frame
Road；
The elevating mechanism is for promoting or reducing the crawl section；
The crawl section slag and slag dumping operation are grabbed by grasping movement realization.
3. intelligence grabs slag system according to claim 2, which is characterized in that the sensor detecting device includes:
To level detection sensor, the control device is connected, for whether in place to detect the slag-conveying machinery, output detects in place
Signal；
Position-detection sensor connects the control device, for detecting the position of the slag-conveying machinery, exports slag-conveying machinery position
Confidence number；
Charge level scanning sensor connects the control device, for detecting the charge level state of slag particle in filtering ponds, output charge level inspection
Survey signal；
Level sensor connects the control device, for detecting the horizontal position of the crawl section, output level position
Detect signal；
Height sensor connects the control device, for detecting the height of the crawl section, exports height detection signal；
Weight sensor connects the control device, for detecting the weight of the slag particle in the filtering ponds, exports slag particle weight
Signal；
Wherein, the control device detects signal according to described in place, controls in the sensor detecting device and arrives in addition to described
Other sensors and the slag device of grabbing except level detection sensor start；
The control device controls the crawl section movement according to the slag-conveying machinery position signal and completes slag dumping operation；
The control device detects signal according to the charge level and determines slag particle position；
The control device detects signal according to the horizontal position and controls the traveling mechanism of the larger traveller and the trolley travelling machine
Structure movement, runs the crawl section to the slag particle position；
The control device controls the elevating mechanism according to the height detection signal and promotes or reduce the crawl section；
The control device is according to the slag particle weight signal, slag particle weight change situation in filtering ponds described in real-time statistics,
And calculate it is accumulative grab slag weight, when it is described it is accumulative grab slag weight and reach the nominal load capacity of the slag-conveying machinery when, described in control
It grabs the stopping of slag device and grabs slag operation, and the slag particle weight change situation is fed back into blast furnace central control system.
4. intelligence grabs slag system according to claim 3, which is characterized in that the traveling mechanism of the larger traveller includes: that cart is electronic
Machine, cart brake, cart shaft coupling and cart wheel, the big tramcar motor connects the cart shaft coupling, described big
Vehicle shaft coupling connects the cart wheel, and the cart brake connects the cart wheel.
5. intelligence grabs slag system according to claim 4, which is characterized in that the wheeling mechanism includes: that trolley is electronic
Machine, car brake, trolley shaft coupling and car wheel, the small tramcar motor connects the trolley shaft coupling, described small
Vehicle shaft coupling connects the car wheel, and the car brake connects the car wheel.
6. intelligence grabs slag system according to claim 5, which is characterized in that the elevating mechanism is hoist engine.
7. intelligence grabs slag system according to claim 6, which is characterized in that the crawl section includes: grab bucket and transmission dress
It sets, described grab bucket is connected to the lower end of the elevating mechanism by the transmission device, and the transmission device drives the grab bucket
Carry out grasping movement.
8. intelligence grabs slag system according to claim 7, which is characterized in that the sensor detecting device further include: torque
Sensor,
The torque sensor connects the control device, for monitoring the working condition of the hoist engine, generates torque signals；
The control device controls the elevating mechanism work according to the torque signals and the height detection signal.
9. intelligence grabs slag system according to claim 8, which is characterized in that the slag-conveying machinery can be to muck haulage automobile or to muck haulage
Sealing-tape machine.
10. intelligence grabs slag system according to claim 9, which is characterized in that further include: local area network, the control device
It is communicated to connect by the local area network and the sensor detecting device and the slag device of grabbing.
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| CN201811610152.8A CN109455625B (en) | 2018-12-27 | 2018-12-27 | Intelligent slag grabbing system |
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| CN201811610152.8A CN109455625B (en) | 2018-12-27 | 2018-12-27 | Intelligent slag grabbing system |
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| CN110203823A (en) * | 2019-06-14 | 2019-09-06 | 宁夏重工起重设备有限公司 | A kind of crane intelligent feeding system |
| CN111504416A (en) * | 2020-03-18 | 2020-08-07 | 唐山钢铁集团微尔自动化有限公司 | Environment-friendly bottom filtered water slag surface height detection method |
| CN116040457A (en) * | 2023-04-03 | 2023-05-02 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
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|---|---|
| CN109455625B (en) | 2024-02-06 |
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