CN109455625B - Intelligent slag grabbing system - Google Patents
Intelligent slag grabbing system Download PDFInfo
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- CN109455625B CN109455625B CN201811610152.8A CN201811610152A CN109455625B CN 109455625 B CN109455625 B CN 109455625B CN 201811610152 A CN201811610152 A CN 201811610152A CN 109455625 B CN109455625 B CN 109455625B
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- 239000002893 slag Substances 0.000 title claims abstract description 270
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 239000002245 particle Substances 0.000 claims abstract description 63
- 239000000463 material Substances 0.000 claims abstract description 22
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 90
- 238000001914 filtration Methods 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000013049 sediment Substances 0.000 claims description 8
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- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
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- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
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- 239000000203 mixture Substances 0.000 description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
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- 239000010959 steel Substances 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
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Classifications
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- 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 steps: 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 comprising the position of the slag particles, the position of the slag conveying device and the position of the grabbing part of the slag grabbing device; the control device outputs slag grabbing and discharging instructions to the slag grabbing device according to the signals detected by the sensor detection device; the slag grabbing device is arranged on the filter tank and is used for grabbing slag and unloading slag according to slag grabbing and unloading instructions so as to move slag particles in the filter tank to the slag conveying device, automatic slag grabbing and unloading are achieved, the automation degree is improved, the operation of the grab bucket crane is accurately controlled, and the scattering of materials during unloading is prevented.
Description
Technical Field
The invention relates to the field of iron making in the metallurgical industry, in particular to an intelligent slag grabbing system.
Background
High-temperature liquid slag is generated during blast furnace smelting, and a precipitation filtration method (commonly called a bottom filtration method) is generally adopted at home and abroad at present to treat the slag, namely: the hydraulic slag flushing is carried out in front of the blast furnace, the slag is crushed by water quenching, a slag-water mixture (containing slag particles and liquid water) is formed, and the slag-water mixture enters the filtering tank through the slag flushing ditch. Wherein, the slag-water mixture is filtered by a filter layer in the filter tank, and solid moist slag particles are left at the bottom of the filter tank. Slag particles are grabbed and loaded and transported outwards by manual operation of the bridge grab crane.
Wherein, the mode of manual operation grab crane makes degree of automation low, leads to the operating efficiency low.
Disclosure of Invention
In view of the above, the invention provides an intelligent slag grabbing system, which realizes automatic slag grabbing and improves the working efficiency by matching a sensor detection device, a control device and a slag grabbing device.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent slag grabbing system is applied to clear up slag particles in the filtering ponds in the blast furnace system, and comprises: 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 comprising the position of the slag particles, the position of the slag conveying device and the position of the grabbing part of the slag grabbing device;
the control device outputs slag grabbing and discharging instructions to the slag grabbing device according to the signals detected by the sensor detection device;
the slag grabbing device is arranged on the filtering tank and is used for carrying out slag grabbing and discharging operations according to slag grabbing and discharging instructions so as to move slag particles in the filtering tank to the slag conveying device.
Further, the slag grasping device includes: the device comprises two track frames which are arranged on two sides of a filter tank and are parallel to each other, a cart running mechanism which spans the track frames, a trolley running mechanism which is arranged on the cart running mechanism, a lifting mechanism which is connected to the lower part of the trolley running mechanism, and a grabbing part which is connected to the bottom of the lifting mechanism;
the cart running mechanism moves along two track frames, and a cart track perpendicular to the track frames is arranged on the cart running mechanism;
the lifting mechanism is used for lifting or lowering the grabbing part;
the grabbing part is used for realizing the operations of grabbing slag and unloading slag through grabbing actions.
Further, the sensor detection device includes:
the in-place detection sensor is connected with the control device and is used for detecting whether the slag conveying device is in place or not and outputting an in-place detection signal;
the position detection sensor is connected with the control device and used for detecting the position of the slag conveying device and outputting a slag conveying device position signal;
the material level scanning sensor is connected with the control device and used for detecting the material level state of slag particles in the filter tank and outputting a material level detection signal;
the horizontal position sensor is connected with the control device and used for detecting the horizontal position of the grabbing part and outputting a horizontal position detection signal;
the height sensor is connected with the control device and used for detecting the height of the grabbing part and outputting a height detection signal;
the weight sensor is connected with the control device and used for detecting the weight of slag particles in the filter tank and outputting a slag particle weight signal;
the control device controls other sensors except the in-place detection sensor in the sensor detection device and the slag grabbing device to start according to the in-place detection signal;
the control device controls the action of the grabbing part to finish the slag unloading operation according to the position signal of the slag conveying device;
the control device determines the position of slag particles according to the material level detection signal;
the control device controls the cart running mechanism and the trolley running mechanism to move according to the horizontal position detection signal, so that the grabbing part runs to the slag particle position;
the control device controls the lifting mechanism to lift or lower the grabbing part according to the height detection signal;
the control device counts the change condition of the weight of the slag particles in the filter tank in real time according to the weight signal of the slag particles, calculates accumulated slag grabbing weight, and controls the slag grabbing device to stop slag grabbing operation and feeds back the change condition of the weight of the slag particles to the blast furnace central control system when the accumulated slag grabbing weight reaches the rated carrying capacity of the slag transporting device.
Further, the cart operation mechanism includes: the large vehicle motor is connected with the large vehicle coupling, the large vehicle coupling is connected with the large vehicle wheels, and the large vehicle brake is connected with the large vehicle wheels.
Further, the dolly operation mechanism includes: the trolley motor is connected with the trolley coupling, the trolley coupling is connected with the trolley wheels, and the trolley brake is connected with the trolley wheels.
Further, the lifting mechanism is a winch.
Further, the grasping portion includes: the grab bucket is connected to the lower end of the lifting mechanism through the transmission device, and the transmission device drives the grab bucket to perform grabbing action.
Further, the sensor detection device further includes: the moment sensor is used for detecting the moment of the motor,
the torque sensor is connected with the control device and used for monitoring the working state of the winch and generating a torque signal;
the control device controls the lifting mechanism to work according to the moment signal and the height detection signal.
Further, the slag conveying device can be a slag conveying automobile or a slag conveying belt machine.
Further, the intelligent slag grabbing system further comprises: the control device is in communication connection with the sensor detection device and the slag grabbing device through the local area network.
According to the intelligent slag grabbing system provided by the invention, the control device controls the cart running mechanism, the trolley running mechanism, the lifting mechanism and the grabbing part of the slag grabbing device to act based on the signals acquired by the sensor detection device, so that automatic slag grabbing and slag unloading are realized, the automation degree can be improved, the operation efficiency is further improved, the influence of human factors is reduced, the operation of the grab bucket crane is accurately controlled, the thorough cleaning of slag particles is realized, the filter material is prevented from being damaged, and the material scattering during unloading is prevented.
In addition, the intelligent slag grabbing system provided by the invention monitors the weight of slag particles through the weight sensor, and the control device counts the weight of slag based on signals acquired by the weight sensor and feeds the slag back to the blast furnace central control system, so that the blast furnace central control system is beneficial to optimizing the quality and the proportion of raw fuel of the blast furnace, optimizing the operation of the blast furnace and promoting the forward running of the blast furnace, and a predictive production decision is realized.
In addition, the intelligent slag grabbing system provided by the invention monitors the working state of the winch through the torque sensor, judges whether the grab bucket completely falls onto slag particles in the filter tank to reach the slag grabbing height, prevents the rope of the winch from loosening, and prevents the rope of the winch from loosening and falling out of the pulley block of the winch due to continuous rotation of the winch after the grab bucket falls onto the surface of the slag particles.
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a first block diagram of an intelligent slag grasping system according to an embodiment of the invention;
FIG. 2 is a circuit diagram I of an intelligent slag grasping system according to an embodiment of the invention;
FIG. 3 is a second block diagram of an intelligent slag grasping system according to an embodiment of the invention;
FIG. 4 is a second circuit diagram of an intelligent slag grasping system according to an embodiment of the invention;
fig. 5 is a circuit diagram III of an intelligent slag grasping system according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the prior art, the manually operated crane is adopted to grab slag particles, so that the automation degree is low, and the operation efficiency is low. The embodiment of the invention provides an intelligent slag grabbing system which is applied to a blast furnace system and used for automatically cleaning slag particles in a filter tank, so that the degree of automation can be improved, the operation efficiency is further improved, the influence of human factors is reduced, the operation of a grab bucket crane is accurately controlled, the thorough cleaning of the slag particles is realized, the damage to filter materials is avoided, and the scattering of the materials during discharging is prevented.
Fig. 1 is a first structural diagram of an intelligent slag grasping system according to an embodiment of the invention. As shown in fig. 1, the intelligent slag grasping system includes: a slag handling device, a sensor detection device (not shown), a control device (not shown) connected to the sensor detection device, and a slag grabbing device 10 connected to the control device.
The slag conveying device may be a slag conveying car 30, and of course, the slag conveying device may also be a slag conveying rail car, a slag conveying belt machine, etc., which is not limited in this invention.
In addition, the slag conveying device may be disposed on one side of the filtering tank 20, and if a partition wall is disposed in the middle of the filtering tank 20, the slag conveying device may also be disposed on the partition wall in the middle of the filtering tank 20, which is not limited in the embodiment of the present invention.
The sensor detection means is for detecting signals comprising the slag particle position, the slag transport means position, the position of the gripping portion of the slag gripping means 10.
The control device outputs slag grabbing and discharging instructions to the slag grabbing device 10 according to signals detected by the sensor detection device, a pre-stored filter tank position range, the minimum slag grabbing limit height of the protective filter material and the like.
The slag grabbing device 10 is erected on the filtering tank 20 and is used for carrying out slag grabbing and slag unloading operations according to slag grabbing and slag unloading instructions so as to move slag particles in the filtering tank to the slag conveying device.
According to the intelligent slag grabbing system provided by the embodiment of the invention, the control device controls the action of the slag grabbing device based on the signals acquired by the sensor detection device, so that automatic slag grabbing and slag unloading are realized, the automation degree can be improved, the operation efficiency is further improved, the influence of human factors is reduced, the operation of the grab bucket crane is accurately controlled, the thorough cleaning of slag particles is realized, the filter material is prevented from being damaged, and the material scattering during unloading is prevented.
Fig. 2 is a circuit diagram of an intelligent slag grasping system according to an embodiment of the invention. As shown in fig. 2, the circuit structure of the intelligent slag grasping system includes: the sensor detection device 50 is connected with the control device 40, the control device 40 is connected with the slag grabbing device 10, and the devices can be electrically connected by adopting a wire.
In an alternative embodiment, the intelligent slag grasping system further comprises: the control device 40 is connected with the sensor detection device 50 and the slag grabbing device 10 in a communication mode through the local area network.
Of course, the local area network includes, but is not limited to: bluetooth network, wireless communication network. The devices are connected in a wireless connection mode, so that the wiring workload can be effectively reduced.
The sensor detection device 50 is used for detecting signals such as a slag particle position, a slag transport device position, a grabbing portion position of the slag grabbing device 10, and the like. The control device 40 outputs a slag grasping and discharging command to the slag grasping device 10 according to the signal detected by the sensor detecting device 50, and the slag grasping device 10 performs slag grasping and discharging operations according to the slag grasping and discharging command to move slag particles in the filtering tank to the slag transporting device.
Fig. 3 is a second structural diagram of an intelligent slag grasping system according to an embodiment of the invention. As shown in fig. 3, the intelligent slag grasping system includes: the device comprises a slag conveying device, a sensor detection device, a control device connected with the sensor detection device and a slag grabbing device connected with the control device.
The slag conveying device may be a slag conveying car 30, and of course, the slag conveying device may also be a slag conveying rail car, a slag conveying belt machine, etc., which is not limited in this invention.
The slag grabbing device comprises: two rail frames 11 disposed on both sides of the filter tank 20 and parallel to each other, a cart running mechanism 12 straddling the rail frames 11, a cart running mechanism 13 disposed on the cart running mechanism 12, a lifting mechanism 14 connected to a lower portion of the cart running mechanism 13, and a grasping portion 15 connected to a bottom portion of the lifting mechanism 14.
Wherein the cart operation mechanism 12 may include: the crane comprises a travelling crane beam, a crane motor, a crane brake, a crane coupler and a crane wheel 12a, wherein the travelling crane beam is horizontally erected between two track frames, the crane motor is connected with the crane coupler, the crane coupler is connected with the crane wheel, and the crane brake is connected with the crane wheel. The cart wheels 12a are arranged below both sides of the running beam, moving along the two rail brackets 11. The cart motor, cart brake, and cart coupling are all connected to the control device 40.
In an alternative embodiment, the cart operating mechanism 12 may further include: the motor of the cart is connected with the cart coupler through the decelerator, and the decelerator is connected with the control device 40.
In an alternative embodiment, the cart operating mechanism 12 may further include: a travel limiter connected to the control device 40. The travel limiter is used as a travel switch for controlling travel of a cart running mechanism and changing running direction or speed.
In addition, the travelling beam is provided with a trolley track perpendicular to the track frame 11.
The trolley operating mechanism 13 moves along the trolley track in a direction perpendicular to the direction of movement of the trolley operating mechanism 12. Specifically, the dolly operation 13 may include: the trolley comprises a trolley frame, a trolley motor, a trolley brake, a trolley coupler and trolley wheels, wherein the trolley motor is connected with the trolley coupler, the trolley coupler is connected with the trolley wheels, and the trolley brake is connected with the trolley wheels. The lower side of the lower frame is provided with trolley wheels and a connecting structure. The cart motor, cart brake, and cart coupling are all connected to the control device 40.
In an alternative embodiment, the trolley operating mechanism 13 may further include: the trolley motor is connected to the trolley coupling via a reducer, which is also connected to the control device 40. The speed reducer may employ independent components consisting of a gear drive, a worm drive, a gear-worm drive enclosed within a rigid housing for matching rotational speed and torque transfer between the trolley motor and the trolley coupling.
In an alternative embodiment, the trolley operating mechanism 13 may further include: a travel limiter, which is also connected to the control device 40. The travel limiter is used as a travel switch for controlling the travel of the trolley running mechanism and changing the running direction or speed.
The elevating mechanism 14 is connected to the lower part of the trolley operating mechanism 13 through the connecting structure, and the position of the elevating mechanism 14 changes with the position change of the trolley operating mechanism.
In an alternative embodiment, the lifting mechanism 14 is connected to the gripping portion 15 by a wire rope 14a for lifting or lowering the gripping portion 15.
In an alternative embodiment, the lifting mechanism 14 may comprise: the motor, the decelerator, the drum and the brake are connected to the decelerator, the decelerator and the brake are connected to the drum, and the motor, the decelerator and the brake are connected to the control device 40. The motor, the decelerator, and the brake are connected to the control device 40. The reducer may employ separate components consisting of a gear drive, a worm drive, a gear-worm drive enclosed within a rigid housing for matching rotational speed and transmitting torque.
In an alternative embodiment, the lift mechanism 14 may be implemented using a hoist.
The grasping portion 15 performs the operations of grasping and discharging the slag by the grasping action. Wherein, this grasping portion 15 includes: the grab bucket and the transmission device are connected to the lower end of the lifting mechanism 14 through the transmission device, and the transmission device drives the grab bucket to perform grabbing action.
In an alternative embodiment, a shock absorbing device is provided within the transmission.
The sensor detection device 50 detects signals such as the position of the slag particles, the position of the slag transport device, and the position of the gripping portion of the slag gripping device.
The control device 40 controls the movement direction and movement distance of the cart operation mechanism 12 and the cart operation mechanism 13 according to the position of the slag particles and the position of the gripping portion so that the gripping portion 15 moves above the position of the slag particles for the subsequent slag-gripping operation.
When the grabbing portion 15 moves to the position above the slag particles, the control device 40 controls the lifting mechanism 14 to lift the grabbing portion 15 according to the height position of the grabbing portion 15, so that the grabbing portion 15 descends to the position above the slag particles;
when the grasping portion 15 is located above the slag particles, the control device 40 sends a grasping operation instruction to the grasping portion 15, and the grasping portion 15 performs a slag grasping operation.
When the grabbing portion 15 finishes grabbing the slag, the control device 40 controls the lifting mechanism 14 to act according to the height position of the grabbing portion, so that the grabbing portion 15 ascends by a preset distance. Then, the control device 40 controls the movement direction and movement distance of the cart operation mechanism 12 and the cart operation mechanism 13 according to the slag transport device position so that the grasping portion 15 moves to above the slag transport device.
When the grabbing portion 15 moves to the position above the slag conveying device, the control device 40 controls the lifting mechanism 14 to act according to the height position of the grabbing portion 15, adjusts the height of the grabbing portion 15 to enable the grabbing portion 15 to be located at a preset position above the slag conveying device, then controls the transmission device of the grabbing portion 15, and enables the grab bucket to be dumped or opened through the action of the transmission device, so that slag unloading operation is achieved.
By analyzing the above-described intelligent slag grasping system, it can be known that the control device 40 controls the cart operation mechanism 12, the cart operation mechanism 13, the lifting mechanism 14, and the grasping portion 15 of the slag grasping device 10 to operate based on the signals collected by the sensor detection device 50, thereby realizing automatic slag grasping and slag discharging.
Fig. 4 is a circuit diagram II of an intelligent slag grasping system according to an embodiment of the invention. As shown in fig. 4, the circuit structure of the intelligent slag grasping system includes: the sensor detection device 50 is connected with the control device 40, and the control device 40 is connected with the cart running mechanism 13, the trolley running mechanism 13, the lifting mechanism 14 and the grabbing part 15 of the slag grabbing device 10, wherein the devices can be electrically connected by adopting wires.
Of course, the connection mode between the devices may also adopt a local area network wireless connection mode, including but not limited to: bluetooth connection, wireless communication network connection. The devices are connected in a wireless connection mode, so that the wiring workload can be effectively reduced.
The sensor detection device 50 is used for detecting signals such as a slag particle position, a slag transport device position, a grabbing portion 14 of the slag grabbing device, and the like. The control device 40 controls the operations of the cart operation mechanism 12, the cart operation mechanism 13, the lifting mechanism 14, and the grasping portion 15 based on the signals detected by the sensor detection device 50, thereby realizing an automated operation.
In an alternative embodiment, the sensor detection apparatus 50 includes: an in-place detection sensor 51, a position detection sensor 52, a charge level scanning sensor 53, a horizontal position sensor 54, and a height sensor 55, as shown in fig. 5.
The in-place detection sensor 51 is provided near the slag conveying device parking position, and is connected to the control device 40, and outputs an in-place detection signal to the control device 40 when the arrival of the slag conveying device is detected.
The control device 40 controls the other sensors of the sensor detection device 50 except the in-place detection sensor 51 and the slag grasping device 10 to be started according to the in-place detection signal.
Wherein, through setting up the detection sensor 51 in place, when detecting the main part of fortune sediment device after arriving restarting the system, can reduce power consumption, save the cost, accord with energy-conserving emission reduction's needs.
The position detection sensor 52 is provided at the slag conveying device parking position, and is connected to the control device 40, and outputs a slag conveying device position signal when it is detected that the slag conveying device reaches the specified parking position.
The control device 40 controls the cart operation mechanism 12 and the cart operation mechanism 13 to operate according to the slag conveying device position signal, so that the grabbing part 15 moves to the slag conveying device position, and the subsequent slag discharging operation is performed.
Wherein, detect the sediment device position through position detection sensor 52, and then accurate position of unloading, the problem of spilling the material when unloading can be prevented.
It will be appreciated that if the carriage of the slag conveying device is large, the whole carriage cannot be fully loaded by unloading at one unloading point, and accurate position information of the carriage can be fed back to the control system by arranging a plurality of position detection sensors 52, and the control system operates the grab bucket to a plurality of corresponding unloading points according to a preset program to complete efficient and accurate slag unloading operation.
The level scanning sensor 53 is disposed above the filtering tank 20 and connected to the control device 40, and is configured to detect a level state of the slag particles 21 in the filtering tank 20 and output a level detection signal.
In an alternative embodiment, the level scanning sensor 53 may be disposed on the cart running mechanism to perform 3D scanning, and of course, the present invention is not limited thereto, and the level scanning sensor may be disposed at a position above the filtering tank, so long as the level scanning sensor is located above the filtering tank and can be completely scanned to the filtering tank.
The horizontal position sensor 54 is provided on the grasping portion 15, or on the carriage running mechanism 13, or on the lifting mechanism 14, and is connected to the control device 40 for detecting the horizontal position of the grasping portion 15 and outputting a horizontal position detection signal.
The control device 40 determines the slag particle position from the level detection signal, and then controls the cart operation mechanism 12 and the cart operation mechanism 13 to move so that the gripping portion 15 moves above the slag particle position based on the slag particle position and the horizontal position of the gripping portion 15.
Wherein, through charge level scanning sensor 53 and horizontal position sensor 54 collection signal, controlling means 40 is based on the signal control of collection, can pinpoint slag grain position, grab sediment position and grab sediment height, realizes accurate sediment of grabbing.
The height sensor 55 may be provided on the grip portion 15, or on the lifting mechanism 14, or on a side wall of the filter tank 20, and connected to the control device 40 for detecting the height of the grip portion 15 and outputting a height detection signal.
The control device 40 controls the lifting mechanism 14 to lift or lower the grip portion 15 according to the height detection signal so that the grip portion 15 reaches a position above the slag particles 21.
Wherein, through the high information of high sensor 55 collection grabbing portion 15, controlling means 40 is based on the signal control of gathering, can pinpoint and grab the sediment height, realizes accurate sediment of grabbing.
In an alternative embodiment, the sensor detection apparatus 50 may further include: a weight sensor 56 arranged at the bottom of the filter tank 20 and connected with the control device 40 for detecting the weight of the slag particles 21 in the filter tank 20 and outputting a slag particle weight signal;
the control device 40 counts the weight change condition of the slag particles 21 in the filter tank 20 in real time according to the weight signal of the slag particles 21, calculates the accumulated slag grabbing weight, controls the slag grabbing device 10 to stop slag grabbing operation when the accumulated slag grabbing weight reaches the rated carrying capacity of the slag transporting device, and feeds back the slag particle weight change condition to the blast furnace central control system 60, so that the blast furnace central control system 60 is beneficial to optimizing the quality and the proportion of raw fuel of the blast furnace, optimizing the operation of the blast furnace and promoting the smooth running of the blast furnace.
In an alternative embodiment, when the weight sensor 56 detects that the weight of the slag particles 21 in the filter tank 20 detects a preset value, starting information is sent to the control device 40, the control device 40 controls the slag conveying device to start, navigation information is sent to the slag conveying device according to position information uploaded by a GPS on the slag conveying device, the slag conveying device automatically moves to a slag conveying device parking position according to the navigation information, slag conveying operation is waited to be carried out, and after the slag conveying device is in place, the slag grabbing device and the sensor are started, so that slag grabbing operation is realized.
In an alternative embodiment, the sensor detection device may further include: a torque sensor 57, wherein the torque sensor 57 is arranged on the steel wire rope 14a and is connected with the control device 40, and is used for monitoring the working state of the lifting mechanism 14 and generating a torque signal; the control device 40 controls the operation of the lifting mechanism according to the moment signal and the height detection signal.
It should be noted that, when the grabbing portion 15 descends to the surface of the liquid water in the filtering tank 20, the surface of the water generates an upward buoyancy force for the grabbing portion, the moment sensor 57 senses the buoyancy force acting on the steel wire rope 14a to generate a moment signal, and the rotation speed of the lifting mechanism 14 is adjusted based on the moment signal, so that the descending speed of the grabbing portion 15 is reduced, rope slackening of the winch can be prevented, and the situation that the winch continuously rotates to cause rope slackening of the winch to be separated from a pulley block of the winch after the grab falls onto the surface of the slag particles is avoided.
In an alternative embodiment, the control device is a PLC in which a range of filter tank positions, a minimum slag grasping limit height of the protective filter material, and a set control program are pre-stored.
In an alternative embodiment, the slag conveying device is provided with an action controller, the action controller is connected with the control device 40, the control device 40 sends an operation signal to the action controller according to the weight of slag particles 21 in the filter tank 20, and the action controller controls the slag grabbing device 10 to move to a designated position according to the operation signal.
In an alternative embodiment, the intelligent slag grasping system may further include: and the alarm is connected with the control device, and when the weight of slag particles in the filtering pond exceeds a preset threshold or the action of the slag grabbing device is abnormal, the control device sends an alarm signal to the alarm, and the alarm carries out audible and visual alarm based on the alarm signal, so that a person on duty can timely find out problems and prevent equipment damage.
The intelligent slag grabbing system provided by the embodiment of the invention can automatically operate according to a preset program, does not need to be attended by a special person, avoids the harm of sulfur-containing steam to the health of operators, realizes unmanned continuous slag grabbing and unloading operations, reduces the influence of human factors, accurately controls the operation of a grab bucket crane, thoroughly cleans slag particles, avoids damaging filter materials, is beneficial to a blast furnace central control system to optimize the quality and proportion of raw fuel of a blast furnace, optimize the operation of the blast furnace, promote the forward running of the blast furnace, prevent the loosening of ropes of a winch, prevent the rope of the winch from loosening to be separated from a pulley block of the winch due to continuous rotation of the winch after the grab bucket falls onto the surface of the slag particles, effectively slows down the hardening of the filter materials, greatly prolongs the service life of the filter materials of a filter tank, and further reduces the replacement cost of the filter materials.
The control means or controllers described in this application may take the form of application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, silicone Labs C8051F320. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (6)
1. An intelligence is grabbed sediment system is applied to clearance filter tank in the blast furnace system and is constructed in that includes: the device comprises a slag conveying device, a sensor detection device, a control device connected with the sensor detection device and a slag grabbing device connected with the control device;
the sensor detection device is used for detecting signals comprising the position 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 discharging instructions to the slag grabbing device according to the signals detected by the sensor detection device;
the slag grabbing device is arranged on the filtering tank and is used for carrying out slag grabbing and slag unloading operations according to the slag grabbing and slag unloading instructions so as to move slag particles in the filtering tank to the slag conveying device;
the slag grabbing device comprises: the device comprises two track frames, a cart running mechanism, a trolley running mechanism, a lifting mechanism and a grabbing part, wherein the two track frames are arranged on two sides of the filter tank and are parallel to each other, the cart running mechanism spans the track frames, the trolley running mechanism is arranged on the cart running mechanism, the lifting mechanism is connected to the lower part of the trolley running mechanism, and the grabbing part is connected to the bottom of the lifting mechanism;
the cart running mechanism moves along the two track frames, and a cart track perpendicular to the track frames is arranged on the cart running mechanism;
the lifting mechanism is used for lifting or lowering the grabbing part and is a winch;
the grabbing part is used for realizing slag grabbing and slag unloading operations through grabbing actions;
the sensor detection device includes:
the in-place detection sensor is connected with the control device and is used for detecting whether the slag conveying device is in place or not and outputting an in-place detection signal;
the position detection sensor is connected with the control device and used for detecting the position of the slag conveying device and outputting a slag conveying device position signal;
the material level scanning sensor is connected with the control device and used for detecting the material level state of slag particles in the filter tank and outputting a material level detection signal;
the horizontal position sensor is connected with the control device and used for detecting the horizontal position of the grabbing part and outputting a horizontal position detection signal;
the height sensor is connected with the control device and used for detecting the height of the grabbing part and outputting a height detection signal;
the weight sensor is connected with the control device and used for detecting the weight of slag particles in the filter tank and outputting a slag particle weight signal;
the control device controls other sensors except the in-place detection sensor in the sensor detection device and the slag grabbing device to start according to the in-place detection signal;
the control device controls the grabbing part to act according to the position signal of the slag conveying device to finish slag unloading operation;
the control device determines the position of slag particles according to the material level detection signal;
the control device controls the cart running mechanism and the trolley running mechanism to move according to the horizontal position detection signal so that the grabbing part runs to the slag particle position;
the control device controls the lifting mechanism to lift or lower the grabbing part according to the height detection signal;
the control device counts the change condition of the weight of the slag particles in the filter tank in real time according to the weight signal of the slag particles, calculates accumulated slag grabbing weight, controls the slag grabbing device to stop slag grabbing operation when the accumulated slag grabbing weight reaches the rated carrying capacity of the slag transporting device, and feeds back the change condition of the weight of the slag particles to the blast furnace central control system;
the sensor detection device further includes: the moment sensor is used for detecting the moment of the motor,
the torque sensor is connected with the control device and is used for monitoring the working state of the winch and generating a torque signal;
the control device controls the lifting mechanism to work according to the moment signal and the height detection signal;
the intelligent slag grabbing system further comprises: an alarm;
the alarm is connected with the control device and is used for receiving an alarm signal sent by the control device when the weight of slag particles in the filtering tank exceeds a preset threshold value or the action of the slag grabbing device is abnormal, and performing audible and visual alarm based on the alarm signal.
2. The intelligent slag grasping system according to claim 1, wherein the cart operation mechanism includes: the large car motor is connected with the large car coupler, the large car coupler is connected with the large car wheels, and the large car brake is connected with the large car wheels.
3. The intelligent slag grasping system according to claim 2, wherein the trolley operating mechanism includes: the trolley comprises a trolley motor, a trolley brake, a trolley coupler and trolley wheels, wherein the trolley motor is connected with the trolley coupler, the trolley coupler is connected with the trolley wheels, and the trolley brake is connected with the trolley wheels.
4. The intelligent slag grasping system according to claim 3, wherein the grasping portion includes: the grab bucket is connected to the lower end of the lifting mechanism through the transmission device, and the transmission device drives the grab bucket to perform grabbing action.
5. The intelligent slag grasping system according to claim 4, wherein the slag transporting device can be a slag transporting car or a slag transporting belt machine.
6. The intelligent slag grasping system according to claim 5, further comprising: the control device is in communication connection with the sensor detection device and the slag grabbing device through the local area network.
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| CN110004256A (en) * | 2019-04-26 | 2019-07-12 | 马鞍山市佳腾节能环保科技有限公司 | A method of blast furnace granulated slag is automatically grabbed using driving |
| CN110203823B (en) * | 2019-06-14 | 2021-04-20 | 宁夏重工起重设备有限公司 | Intelligent feeding system of crane |
| 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 |
| CN116040457B (en) * | 2023-04-03 | 2023-06-09 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
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