CN115092819A - Automatic slag dragging system - Google Patents
Automatic slag dragging system Download PDFInfo
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- CN115092819A CN115092819A CN202210697288.7A CN202210697288A CN115092819A CN 115092819 A CN115092819 A CN 115092819A CN 202210697288 A CN202210697288 A CN 202210697288A CN 115092819 A CN115092819 A CN 115092819A
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- 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
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B3/00—General features in the manufacture of pig-iron
- C21B3/04—Recovery of by-products, e.g. slag
- C21B3/06—Treatment of liquid slag
- C21B3/08—Cooling slag
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B2400/00—Treatment of slags originating from iron or steel processes
- C21B2400/05—Apparatus features
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Abstract
The application relates to the technical field of steel smelting, and provides an automatic slag fishing system which comprises a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device. The crane movement control device is used for receiving a control instruction sent by the controller and completing the operation of the bridge crane according to the control instruction; the grab bucket weighing detection device is used for measuring the weight of the kiln slag and sending the weight to the controller; the grab bucket position detection device is used for acquiring three-dimensional position information of the grab bucket in the water quenching tank and the middle slag field and sending the three-dimensional position information to the controller; the controller is used for partitioning the water quenching pool and the middle slag field, and accurately positioning the positions of slag salvaging and slag stacking by combining weight and position information. This application need not to set up bridge crane operation post, realizes that the full intellectuality of kiln sediment processing is controlled to avoid erroneous judgement and maloperation, and then increase substantially work efficiency, avoid the waste of manpower, material resources, financial resources and time resource to a very big degree.
Description
Technical Field
The application relates to the technical field of steel smelting, in particular to an automatic slag fishing system.
Background
The steel industry is the basic industry of national economy, and in recent years, with the rapid development of national economy, the steel industry in China also presents a situation of leap-type development. At present, steel production comprises the working procedures of sintering, pelletizing, iron making and the like, and each production working procedure is provided with dust removal equipment to ensure that the emission meets the standard. The iron-containing dust is mainly dust collected by a dust removal system in the steel smelting process, and the main components of the iron-containing dust are iron and carbon, and the iron-containing dust contains partial harmful impurities such as zinc, lead, potassium, sodium and other oxides. In order to recycle the iron dust, the iron-containing dust is mainly sintered back, or agglomerated and then enters a blast furnace or a converter for smelting. However, the continuous enrichment of zinc element in iron-containing dust in the blast furnace process and the gradual increase of the proportion of waste galvanized steel used for steel making lead to the increase of the zinc content in the iron-containing dust, and after the iron-containing dust with high zinc content enters the blast furnace, the zinc with high zinc content volatilizes and is enriched in the blast furnace, and nodules are gradually formed on the upper part of a blast furnace body, thereby affecting the smooth operation of the furnace condition and shortening the service life of the blast furnace.
At present, iron and steel plants mainly adopt a socialized utilization or landfill mode to dispose iron-containing dust, but the mode has high logistics cost and more links and is easy to cause environmental pollution, so that more and more iron and steel plants adopt a rotary kiln iron-extracting and zinc-reducing process to return the iron-containing dust to production and utilization when constructing disposal production lines. In the process, iron-containing dust and ingredients are mixed and then enter a rotary kiln for preheating, drying, heating and high-temperature combustion (1100-1200 ℃). Wherein, the carbon element containing iron dust has a certain heat value, and can replace part of fuel to burn and supply heat during the combustion of the rotary kiln; reducing zinc oxide into metal zinc in a high-temperature reducing atmosphere in the rotary kiln, volatilizing the metal zinc into zinc vapor, allowing the zinc vapor to enter flue gas of the rotary kiln, combining with excess oxygen to regenerate zinc oxide dust, and finally collecting the zinc oxide dust in a bag-type dust collector; and the iron element forms solid iron-containing kiln slag, is discharged from a kiln head, enters a kiln slag treatment system, is treated to serve as a sintering raw material, and is sent to sintering for batching.
Referring to fig. 1, wherein (a) is a top view of a kiln slag processing system in the prior art, and (b) is a side view of the kiln slag processing system in the prior art. As can be seen from the figure, the kiln slag treatment system in the prior art comprises a rotary kiln 1, a slag flushing channel 2, a water quenching tank 3, a bridge crane 4, a crane operation chamber 5 and an intermediate slag field 6, wherein the arrow in the figure is the slag flushing direction. The kiln slag treatment process is as follows: the kiln slag is continuously discharged from a discharge port 11 of the rotary kiln 1, is introduced into a slag flushing chute for granulation, enters a water quenching tank 3 for soaking and cooling, is manually operated by an operator in a crane operation chamber 5 to lift a bridge crane 4, is fished out from the water quenching tank 3 by virtue of personal experience, is conveyed and stacked to an intermediate slag yard 6 for natural drainage and airing according to personal visual judgment and habit preference. The specific structure of the bridge crane is shown in fig. 2, a cart 42 can move on a cart track 43, and a trolley 41 can move on the cart 42; the trolley 41 is provided at the top with a hoist 46 for lifting or lowering the grapple 45 through a wire rope 44 and for controlling the opening or closing of the grapple 45.
In actual production, from rotary kiln 1 exhaust high temperature kiln sediment, get into the shrend 3 back, can produce a large amount of vapor in the twinkling of an eye, seriously disturb operating personnel sight, including the floatable impurity also can let operating personnel sight be obstructed in the shrend 3, cause to drag for sediment position and judge the error, lead to dragging for sediment inefficiency, need consume more manpower, material resources and time. In addition, the kiln slag is fished out and stacked completely by means of the human experience of operators and personal preference, and the subjective activity is strong; in addition, the uniform stacking standard is not provided, so that the thickness of the stacked kiln slag in the intermediate slag yard is different, the volume difference is large, and the drying degree of the kiln slag is inconsistent; and the kiln slag is stacked disorderly in the intermediate slag yard, which brings great inconvenience to subsequent operation, consumes time resources and further seriously restricts the improvement of the working efficiency of the whole slag salvaging system.
Disclosure of Invention
In order to overcome the defects of the prior art, the application aims to provide an automatic slag fishing system, the whole intelligent operation of slag fishing and stacking processes is realized, and the problems of manpower, material resources and financial resources waste and low efficiency caused by the fact that the slag fishing process in the current steel plant is judged by manual experience are solved.
In order to achieve the purpose, the application provides an automatic slag salvaging system which specifically comprises a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected with the bridge crane and used for receiving the control instruction sent by the controller and completing the operation of the bridge crane according to the control instruction; the grab bucket weighing and detecting device is arranged on the bridge crane and used for measuring the weight of the kiln slag and sending the weight of the kiln slag to the controller; the grab bucket position detection device is arranged on the bridge crane and used for acquiring three-dimensional position information of the grab bucket in the water quenching tank and the middle slag field and sending the three-dimensional position information to the controller.
The controller is configured to perform the following analysis:
and partitioning the main accumulation area of the kiln slag according to the preset length, the preset width and the central line of the slag flushing channel to obtain M slag fishing areas.
And acquiring the slag output of the rotary kiln, the volume of the grab bucket, the full grabbing rate of the grab bucket for dragging slag and the weight of the kiln slag in each slag dragging area.
And obtaining the total times of slag salvaging according to the slag output of the rotary kiln, the capacity of the grab bucket and the full grab rate.
And obtaining the total weight of the slag in the M slag fishing areas according to the weight of the kiln slag in each slag fishing area.
And obtaining the weight of each slag salvaging area according to the weight of the kiln slag of each slag salvaging area and the total weight of the slag salvaging area.
And obtaining the slag salvaging times of each slag salvaging area according to the total slag salvaging times and the weight of each slag salvaging area.
And partitioning the intermediate slag field according to the preset length, the preset width and the central point of the intermediate slag field to obtain N slag heaping areas.
The controller is further configured to perform the steps of:
and waiting for a preset time to enable the kiln slag to be accumulated to a set height.
And determining the area to be fished from the M slag fishing areas according to the slag fishing times of each slag fishing area, and obtaining the three-dimensional position information of the area to be fished.
And sending a slag salvaging instruction to the crane motion control device, so that the bridge crane runs to the area to be salvaged for slag according to the three-dimensional position information, and obtaining the current salvaging kiln slag.
And determining a pseudo-slag-piling area according to the N slag-piling areas and a preset piling mode, and obtaining three-dimensional coordinate information of the pseudo-slag-piling area.
And sending a slag piling instruction to the crane motion control device, so that the bridge crane can stack the currently fished kiln slag to the slag piling area according to the three-dimensional coordinate information.
And re-determining the area to be fished for slag at the second preset time interval, and carrying out the next slag fishing operation until the slag fishing operation in the current round is finished.
And (5) waiting for the accumulation of the kiln slag to the set height again, and carrying out the next round of slag fishing operation until all the kiln slag accumulated in the water quenching tank on the same day is emptied.
Further, according to the preset length, the preset width and the central line of the slag flushing channel, the main accumulation area of the kiln slag is partitioned, and the specific method for obtaining M slag fishing areas comprises the following steps:
and taking the area, which is consistent with the center line of the slag flushing channel in position and is closest to the slag flushing channel, as an initial area, wherein the initial area is a rectangular area formed by a preset length and a preset width.
And dividing the water quenching tanks to the periphery according to the rectangular area by taking the initial area as a reference to obtain P water quenching tank divisions.
And removing the subareas which are not in the main accumulation area of the kiln slag from the P water quenching pool subareas to obtain P' subareas to be fished.
And discarding the subareas with the area smaller than the area of the 1/2 initial area from the P' subareas to be fished to obtain M slag areas.
Further, the specific method for determining the slag zone to be fished from the M slag zones comprises the following steps:
and when slag is fished for the first time, determining the slag zone with the most slag dragging times as the area to be fished for slag according to the slag dragging times of each slag zone.
Marking the slag salvaging times n 'of the slag zone to be salvaged after the slag salvaging operation is finished' xy 。
Obtaining the residual slag salvaging times n' of any slag salvaging area according to the slag salvaging times and the slag salvaging times of any slag salvaging area xy Specifically, it can be represented as: n ″) xy ＝n xy -n′ xy 。
Selecting the residual slag salvaging times n ″) xy The largest slag salvaging area is the area to be salvaged for the next slag salvaging.
Furthermore, the method for partitioning the intermediate slag field according to the preset length, the preset width and the central point of the intermediate slag field to obtain the N slag stacking areas comprises the following specific steps:
and taking the central point of the intermediate slag field as an original point, and taking a rectangular area constructed by a preset length and a preset width as an initial area.
And partitioning the middle slag field to the periphery according to the rectangular area by taking the initial area as a reference to obtain V initial partitions.
And removing the primary subareas with the length smaller than the preset length or the width smaller than the preset width from the V primary subareas to obtain N slag heaping areas.
Further, the specific method for determining the slag simulated region comprises the following steps:
and sequencing the N slag stacking areas from right to left and from top to bottom by taking the joint of the intermediate slag field and the water quenching pool as a reference, wherein the mark is B ji Where i represents a row and j represents a column.
When the slag is piled for the first time, the slag area B of the 1 st column and the 1 st row is formed 11 As a pseudo-slagging zone.
In the 2 nd slag piling process, the slag piling area B in the 1 st column and the 2 nd row 12 As a pseudo-slagging zone.
At the ith slag piling time, the 1 st column and the ith rowSlag piling zone B 1i As a pseudo-slagging zone.
When the slag is piled for the (i +1) th time, the slag piling area B of the 2 nd column and the 1 st row is formed 21 As a pseudo-slagging zone.
When the slag is piled for the (i + 2) th time, the slag piling area B of the 2 nd column and the 2 nd row is formed 22 As a pseudo-slag region.
When the slag is piled for the jth multiplied by i times, the slag area B of the jth column and the ith row is formed ji As a pseudo-slagging zone.
When the slag is piled for the (j x i +1) th time, the slag area B of the 1 st column and the 1 st row is returned again 11 As a pseudo-slagging zone.
And repeating the steps until all the fished kiln slag are stacked.
Further, the controller is also configured to perform grab bucket slag contact judgment, and the specific judgment method is as follows:
when the grab bucket does not work, the no-load weight of the grab bucket is obtained by the grab bucket weighing detection device and marked as W 1 。
And in the process of lowering the grab bucket, acquiring the weight of the real-time grab bucket, and marking the weight as W.
If the real-time grab bucket weight is less than or equal to the preset multiple of the no-load weight of the grab bucket, namely W is less than or equal to kW 1 And if the k value is 0.8-0.98, judging that the grab bucket contacts the kiln slag.
Further, the total number of slag salvaging times per day is obtained according to the following calculation model:
in the formula, n 1 Q is the slag discharge quantity of the rotary kiln, rho is the density of the kiln slag, V is the volume of the grab bucket, and eta is the full grab rate.
Further, the full-grab rate of the grab bucket for dragging the slag refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket, and the specific method for acquiring the full-grab rate comprises the following steps:
obtaining the no-load weight W of the grab bucket 1 Kiln slag density rho and water density rho Water (W) And a grapple volume V.
Grab bucketFinishing the slag dragging action, keeping the slag below the water surface for a set time after the slag dragging action is lifted upwards to a first height, and acquiring the weight W of the load carried by the grab bucket n 。
According to the weight W of the grab bucket n The no-load weight W of the grab bucket 1 The density rho of the kiln slag and the density rho of the water Water (I) Obtaining the volume V of the kiln slag Slag 。
Calculating the volume V of the kiln slag Slag And the ratio of the volume V of the grab bucket, obtaining the grab fullness rate eta, which is specifically expressed as:
wherein eta is the full grip rate, V Slag Is the volume of the kiln slag, V is the volume of the grab bucket, W n For carrying weight, W, of the grab 1 The weight of the grab bucket in no load, rho is the density of the kiln slag, rho Water (W) The density of water.
Further, the waiting time of the kiln slag accumulation to the set height is calculated by adopting the following model:
in the formula, T 1 For latency, V 1 Is the initial bulk volume of the kiln slag, s is the rate of slag removal from the kiln slag of the rotary kiln expressed in volume, Q 1 The slag discharge rate of the kiln slag of the rotary kiln is expressed by mass, rho is the density of the kiln slag, and k 1 The calculation coefficient of the stacking volume of the kiln slag is shown, H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag.
Further, the calculation model of the kiln slag accumulation to the set height is as follows:
H＝H water (W) -H Bucket -H 1 -H 2
Wherein H is the initial stacking height of the kiln slag, H Water (W) Is the depth of water in the water quenching tank, H Bucket Is the height of the grab bucket H 1 The distance between the highest position of the grab bucket and the water surface, H 2 Is the most important of a grab bucketThe distance between the low position and the kiln slag.
Further, according to the following model, the interval time for the next round of slag salvaging operation is calculated, specifically:
in the formula, t n K' is the residual slag-off times of a cycle period, T is the total time of a cycle period, T 2 For the daily maintenance time of bridge cranes, S tn-1 The accumulated time interval for slag salvaging is calculated.
Further, the residual slag-dragging times k' of one cycle period are calculated according to the following calculation model:
in the formula, t k The kth time for completing slag salvaging, t' the idle time,
is the average slag discharge quantity of the rotary kiln S m Is the sum of the fished slag amount,
the average value of the amount of the slag fished by the grab bucket each time.
Further, the weight of each slag dragging area is obtained by adopting the following calculation model:
P xy ＝W xy /W z
P xy weight of any one zone, W xy Weight of kiln slag in any slag zone, W z Is the total weight of the slag in the M slag fishing areas.
Further, the grab bucket position detection device is a position encoder, a laser range finder or a position sensing belt.
The application provides an automatic drag for sediment system specifically includes controller, hoist motion control device, grab bucket detection device and grab bucket position detection device that weighs. The crane movement control device is connected with the bridge crane and is used for receiving the control instruction sent by the controller and completing the operation of the bridge crane according to the received control instruction; the grab bucket weighing detection device is arranged on the bridge crane and used for measuring the weight of the kiln slag and sending the measured weight of the kiln slag to the controller; the grab bucket position detection device is arranged on the bridge crane and used for acquiring three-dimensional position information of the grab bucket in the water quenching tank and the middle slag field and sending the acquired three-dimensional position information to the controller; the controller is used for partitioning a main accumulation area and a middle slag field of the kiln slag in the water quenching tank, combining received data information, accurately positioning a slag fishing position and a slag stacking position, and judging slag contact of the grab bucket. The application provides an automatic drag for sediment system need not to set up bridge crane operation post, adopts the controller to replace operating personnel to judge and operate, realizes that the full intellectuality of kiln sediment processing is controlled to avoid erroneous judgement and maloperation, and then increase substantially work efficiency, and can avoid the waste of manpower, material resources, financial resources and time resource to a very big degree.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a kiln slag treatment system in the prior art;
FIG. 2 is a schematic diagram of a bridge crane in the prior art;
FIG. 3 is a schematic diagram illustrating the accumulation of kiln slag in a water quenching tank according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an automatic slag salvaging system provided in the embodiment of the present application;
FIG. 5 is a sectional view of a main accumulation area of kiln slag provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of coordinates of a partition central point of a main accumulation area of kiln slag provided in an embodiment of the present application;
fig. 7 is a schematic view illustrating an analysis of underwater stress of the grab bucket provided in the embodiment of the present application;
fig. 8 is a schematic view of an intermediate slag yard partition provided in an embodiment of the present application;
fig. 9 is a schematic view of coordinates of a central point of an intermediate slag field partition provided in an embodiment of the present application;
fig. 10 is a schematic view of an operation flow of the automatic slag salvaging system provided in the embodiment of the present application;
fig. 11 is a schematic distribution diagram of kiln slag stacked at a certain height in a water quenching tank according to an embodiment of the present disclosure;
fig. 12 is a schematic operation timing diagram of the bridge crane according to the embodiment of the present application.
In the figure: 1-rotary kiln, 2-slag flushing channel, 3-water quenching tank, 4-bridge crane, 41-trolley, 42-cart, 43-cart track, 44-steel wire rope, 45-grab bucket, 46-winch, 5-crane operation chamber and 6-intermediate slag yard.
Detailed Description
The technical solutions in the embodiments of the present application will be fully and clearly described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to facilitate understanding of the technical solutions of the embodiments of the present application, some concepts related to the present application will be described below.
In actual production, the rotary kiln can discharge the kiln slag continuously, adopts current drag for sediment and the heap sediment mode, then needs to arrange operating personnel to operate bridge crane 24 hours all the day, causes the human cost great, and operating strength is big easily causes operating personnel work load overweight, influences whole kiln slag treatment efficiency. Fig. 3 shows three views of the accumulation of the kiln slag in the water quenching tank, wherein (a) in fig. 3 is a top view, (b) is a side view, and (c) is a front view. The kiln slag discharged by the rotary kiln 1 is in a high-temperature melting state, is soaked and cooled in the water quenching tank 3, is solidified into particles and is accumulated at the position, close to the slag flushing channel 2, of the water quenching tank 3; if the kiln slag particles are accumulated in water for a long time and are not fished out, the kiln slag particles can be formed into kiln slag blocks in the water quenching tank 3, and the increase of the kiln slag blocks can cause the effective capacity of the water quenching tank 3 to be reduced, so that the treatment capacity of a kiln slag treatment system is influenced; if not in time will dash near the kiln sediment of sediment chute and fish out, can lead to the kiln sediment to pile up in the shrend pond, when the height is piled up to kiln sediment and is greater than towards the sediment chute, the kiln sediment will plug up towards sediment chute and rotary kiln discharge gate, leads to the whole production line of handling to stop production, causes the loss for the enterprise.
In addition, the bridge crane needs to be maintained daily in use, for example, a winch mechanism is replenished with a lubricant, a steel wire rope is replaced, and the like, so as to ensure the normal and safe operation of equipment. If the equipment is not maintained for a long time, potential safety production hazards of the equipment can be brought, so that the equipment is excessively worn and should be shut down, production stoppage in the production process is caused, and loss is brought to enterprises. Therefore, in the embodiment of the application, the maintenance interval time period of the bridge crane is taken as the cycle period, and the kiln slag accumulated in the water quenching tank is cleaned according to the cycle period.
It is emphasized that in actual production, the kiln slag cannot be cleaned completely, i.e. the water quenching tank cannot be emptied absolutely, but some kiln slag still remains, which is an unavoidable error in production. Certainly, the water quenching tank can be cleaned regularly, and the cleaning period is determined according to actual conditions, such as half a year, one year or two years, so that the water quenching tank can be emptied in the true sense, and the problem that the effective volume is reduced is solved.
Referring to fig. 4, a schematic structural diagram of an automatic slag salvaging system provided in the embodiment of the present application is shown. The application provides an automatic slag salvaging system which specifically comprises a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected with a motor and a limiting protection device of the bridge crane, and is used for receiving a control instruction sent by the controller and completing the operation of the bridge crane according to the received control instruction, specifically, the crane motion control device can control the operation of the motor on the bridge crane, complete the moving operation of a cart or a trolley, the lifting or the putting down of a grab bucket and the opening or the closing of the grab bucket; the grab bucket weighing detection device is arranged on the bridge crane, can be arranged on a trolley, a cart and a winch and is used for measuring the weight of the kiln slag and sending the measured weight of the kiln slag to the controller; the grab bucket position detection device is arranged on the bridge crane, can be specifically arranged on a cart walking motor, a trolley walking motor and a hoisting motor of the bridge crane, and is used for acquiring three-dimensional position information of the grab bucket in a water quenching tank and a middle slag field and sending the acquired three-dimensional position information to the controller. In the embodiment of the application, the grab bucket position detection device preferably selects a position encoder, a laser range finder or a position sensing belt, but is not particularly limited, and the most suitable position detection device can be selected according to actual conditions.
More specifically, the controller can obtain the crane position of the bridge crane and the height of the central point of the grab bucket according to a grab bucket position detection device arranged on the bridge crane. The position of the central point of the grab bucket can be represented by three-dimensional coordinates (A, B and C), wherein A is the position of the cart on the cart track, B is the position of the trolley on the cart, and C is the height of the central point of the grab bucket.
In an embodiment of the application, the controller is configured to perform the following analysis:
step S11: and partitioning the main accumulation area of the kiln slag according to the preset length, the preset width and the central line of the slag flushing channel to obtain M slag fishing areas.
It should be noted that, because the discharge rate of the kiln slag from the kiln return furnace is relatively stable, the accumulation distribution and the shape of the kiln slag in the water quenching tank are basically consistent. Therefore, in order to reduce the calculation, in step S11, the partition operation may be performed once during the system test stage or when the system is operated for the first time, and the partition operation may not be repeated in the subsequent step, but some fragmentary kiln slag may not be cleaned completely in a long term. Certainly, if the effect of accurately emptying the water quenching tank is required to be achieved, the main accumulation area of the kiln slag can be partitioned again according to actual conditions and specific requirements every day, and the partition can be performed again when the automatic slag fishing system operates once, and no limitation is made here.
Referring to fig. 5, in the embodiment of the present application, step S11 includes the following contents:
step S111: and taking the area of which the vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel as an initial area, wherein the initial area is a rectangular area formed by a preset length a and a preset width b. In the embodiment of the application, the preset length a is the minimum value of the flushing slag channel length a1 and the opening length a2 of the grab bucket, and the preset width b is the opening width b2 of the grab bucket. The opening sizes a2 and b2 of the grab bucket can be obtained from the technical data or actual measurement of the grab bucket, and the length a1 of the slag flushing channel can be obtained from the design data or actual measurement of the slag flushing channel.
Step S112: and dividing the water quenching tanks in the periphery according to a rectangular area with the length of a and the width of b by taking the initial area as a reference to obtain P water quenching tank divisions.
Step S113: and removing the subareas which are not in the main accumulation area of the kiln slag from the P subareas of the water quenching tanks to obtain P' subareas to be fished.
Step S114: and (4) discarding the subarea with the area smaller than that of the 1/2 initial area from the P' subareas to be fished to obtain M slag-fishing areas.
And further, establishing a plane rectangular coordinate system according to the divided M slag salvaging areas. As shown in FIG. 6, the water intake quenching tank has a length direction of X abscissa and a positive direction to the right, and a width direction of Y ordinate and a positive direction to the down direction.
Setting the central point of the initial area as the origin of the coordinate system and marking the central point as A 00 (0,0) with A xy (x, y) represents the center position of each slag zone, x represents the x column, y represents the y row, then:
the abscissa values in column x are: x × a (x ═ 0, ± 1, ± 2 … ± n);
the ordinate values on the y-th row are: y × b (y is 0,1,2 … n);
slag dragging area A corresponding to the x column and the y row xy The coordinates of the center point of (a) are: a. the xy (xa,yb)。
Step S12: and acquiring the slag output of the rotary kiln, the volume of the grab bucket, the full grabbing rate of the grab bucket for dragging slag and the weight of the kiln slag in each slag dragging area.
Specifically, the daily slag output of the rotary kiln can be taken from engineering design data, and the volume of the grab bucket can be obtained from the design parameters of the grab bucket. The method for acquiring the weight of the kiln slag in each slag dragging area comprises the following steps: in the system testing stage, the bridge crane is operated to drag for slag in each slag dragging area, the weight of the slag dragging at each time is counted until the weight of the slag dragging is zero, which indicates that the kiln slag in the slag dragging area is completely dragged, the slag dragging operation of the slag dragging area is stopped, and at this time, the weight of the kiln slag in the slag dragging area can be obtained through calculation.
Step S13: according to the slag output of the rotary kiln, the capacity of a grab bucket and the full grab rate, the total slag dragging times per day are obtained by adopting the following calculation model:
in the formula, n 1 Q is the daily slag discharge amount (t) of the rotary kiln, and rho is the density (t/m) of the kiln slag 3 ) V is the volume (m) of the grab bucket 3 ) And eta is the full capture rate.
It should be noted that the grab bucket of the bridge crane is a mixture of water and kiln slag, and in actual production, the weight of the kiln slag cannot be measured after the grab bucket drains water. In order to solve the problem, the embodiment of the application provides a method for acquiring the weight and the full rate of kiln slag by the grab bucket below the water surface of the water quenching tank.
In the embodiment of the application, the full-grab rate of the grab bucket slag-fishing refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket, and the specific method for acquiring the full-grab rate is as follows:
step S131: obtaining the no-load weight W of the grab bucket 1 Kiln slag density rho and water density rho Water (W) And a grapple volume V.
Step S132: the grab bucket finishes the slag dragging action, and after the grab bucket is lifted upwards to a first height, the grab bucket stays below the water surface for a set time to obtainGrab bucket loading weight W n . In the embodiment of the application, the grab bucket is controlled to stay for about 2S at a fixed position below the water surface so as to ensure the accuracy of measurement.
Step S133: according to the weight W of the grab bucket n The no-load weight W of the grab bucket 1 The density rho of the kiln slag and the density rho of the water Water (I) To obtain the volume V of the kiln slag Slag 。
Step S134: calculating the volume V of the kiln slag Slag And the ratio of the volume V of the grab bucket, and acquiring the full grab rate eta, which is specifically expressed as:
wherein eta is the full grip rate, V Slag Is the volume of the kiln slag, V is the volume of the grab bucket, W n For carrying weight, W, of the grab 1 The weight of the grab bucket in no load, rho is the density of the kiln slag, rho Water (W) The density of water.
In the embodiment of the application, the derivation principle of the grabbing-fullness rate calculation model is as follows:
as shown in fig. 7, a schematic diagram of an analysis of a stress condition of the grab bucket provided in the embodiment of the present application under water is shown. F Pulling device Indicating the grab bucket wire rope tension, F Pulling device Mg, m is the weight value obtained by the load cell, i.e. W n G is the acceleration of gravity; f Floating body Showing the buoyancy of the kiln slag under water, F Floating body ＝ρ Water (I) gV Slag ，ρ Water (I) Is the density of water, V Slag Is the volume of the kiln slag; g Bucket Indicating gravity when the grab is empty, G Bucket ＝m Bucket g，m Bucket Indicating empty weight of the grab, i.e. W 1 Can be obtained from grab bucket parameters; g Slag Indicating the gravity of the captured kiln slag, G Slag ＝m Slag g＝ρgV Slag ，m Slag And expressing the mass of the kiln slag, and rho is the density of the kiln slag.
Referring to fig. 7, according to the stress condition of the grab bucket under water, the following conditions can be known: f Pulling device +F Floating body ＝G Bucket +G Slag It should be noted that, in the following description,the buoyancy to which the grab is subjected under water is ignored here. Namely: mg + rho Water (W) gV Slag ＝m Bucket g+m Slag g＝m Bucket g+ρgV Slag From this, the volume V of the kiln slag can be calculated Slag Specifically, it is represented as:
then, the specific calculation model of the fill-up rate is:
in the formula, V represents the grab volume and can be obtained from the grab parameters.
Step S14: and obtaining the total weight of the slag in the M slag fishing areas according to the weight of the kiln slag in each slag fishing area. Specifically, the total weight of the slag is obtained by adding the weight of the kiln slag in the M slag dragging areas.
Step S15: and obtaining the weight of each slag salvaging area according to the weight of the kiln slag in each slag salvaging area and the total weight of the slag salvaging area. The embodiment of the application adopts the following calculation model to obtain the weight of each slag dragging area:
P xy ＝W xy /W z
P xy weight of any one zone, W xy Weight of kiln slag in any slag zone, W z Is the total weight of the slag in the M slag fishing areas.
Step S16: according to the total times of slag salvaging and the weight of each slag salvaging area, the following calculation model is adopted to obtain the slag salvaging times of each slag salvaging area:
n xy ＝P xy n 1
in the formula, n xy The slag salvaging times of any slag salvaging area.
In the embodiment of the application, the information database of each slag salvaging area for salvaging slag each time can be established, the slag salvaging area for salvaging slag each time and the weight of the salvaging kiln slag are recorded in the database, and the period of the day or the day is usedThe maintenance time interval of the bridge crane is a period, and the weight P distributed to each slag salvaging area is recalculated according to the average value of the weight of the slag salvaging kiln in each slag salvaging area xy So that the weight of each slag dragging area is automatically corrected.
Step S17: and partitioning the middle slag field according to the preset length a, the preset width b and the central point of the middle slag field to obtain N slag heaping areas.
Referring to fig. 8, in the embodiment of the present application, step S17 includes the following contents:
step S171: taking the central point of the middle slag field as an original point, and taking a rectangular area constructed by a preset length a and a preset width b as an initial area. It should be noted that the preset length a and the preset width b are the same as the meanings represented in the water quenching tank subarea, and the values are also the same.
Step S172: and partitioning the middle slag field to the periphery by taking the initial area as a reference and also according to a rectangular area with the length of a and the width of b to obtain V initial partitions.
Step S173: and removing the primary subareas with the length smaller than the preset length or the width smaller than the preset width from the V primary subareas to obtain N slag heaping areas. As shown in FIG. 8, since a s3 <a，b s3 <b, then will contain a s3 Or b s3 The area mark of (2) is a periphery abandoning area which does not need to stack the kiln slag taken out.
Furthermore, the positions of the N slag heaping areas are expressed along a plane rectangular coordinate system established by the M slag dragging areas. As can be seen from fig. 1 and 9, in the embodiment of the present application, the middle slag field is rectangular with a length of L2 and a width of R. As shown in FIG. 9, the coordinate of the center point of each slag stacking area is marked as B ji (j, i), where j denotes a column and i denotes a row, in conjunction with the label of (a) in FIG. 1, then:
the abscissa value in column j is: j-L5 + a s3 + a/2+ j × a; wherein, L5 is L1-a1/2-L3, a s3 ＝(L2-j×a)/2。
The vertical scale values of the ith row are: i ═ b s3 -b/2+b/2+i×b＝b s3 +i×b，b s3 ＝(R-i×a)/2。
Wherein, L1 and L3 can be obtained from engineering design data of the water quenching tank or by actual measurement, and L2 and R can be obtained from design data of the intermediate slag yard or by actual measurement.
It should be noted that, since the shape and size of the intermediate slag field are fixed, the step S17 may be performed by partitioning once in the system test stage or when the system is operated for the first time, and then partitioning may not be performed repeatedly. Of course, the adjustment may also be performed along with the step S11, which is determined according to the actual situation and the specific requirement, and is not limited herein.
Two points need to be emphasized: firstly, in the embodiment of the application, the water quenching tank and the intermediate slag field are partitioned into regions which are not limited to be rectangular, and can be divided into other sizes and shapes according to actual conditions; secondly, the embodiment of the application only exemplifies a method for establishing a coordinate system to determine the slag dragging position and the slag piling position, but the application is not limited to this, as long as more accurate position information can be obtained.
Referring to fig. 10, a schematic view of an operation flow of the automatic slag salvaging system provided in the embodiment of the present application is shown. In an embodiment of the present application, the controller is further configured to perform the following steps:
step S21: and waiting for a preset time to enable the kiln slag to be accumulated to a set height.
Referring to fig. 11, a schematic diagram of distribution of the kiln slag stacked at a certain height in the water quenching tank is shown. In the embodiment of the application, the following model is adopted to calculate the waiting time of the kiln slag accumulation to the set height:
in the formula, T 1 For latency, V 1 Is the initial bulk volume of the kiln slag, s is the rate of slag removal from the kiln slag of the rotary kiln expressed in volume, Q 1 Is the slag discharge rate of the kiln slag of the rotary kiln expressed by mass, rho is the density of the kiln slag, k 1 Is a calculation coefficient of the stacking volume of the kiln slag, H is the initial stacking height of the kiln slag, A is the initial stacking height of the kiln slagAngle of repose.
In the embodiment of the application, the kiln slag is stacked to a set height, namely, the calculation model of the initial stacking height H of the kiln slag is as follows:
H＝H water (W) -H Bucket -H 1 -H 2
In the formula, H is the initial stacking height of the kiln slag; h Water (W) Obtaining the depth of water in the water quenching tank from engineering design data; h Bucket Obtaining the height of the grab bucket from the parameters of the grab bucket equipment; h 1 、H 2 To indicate the position of the grab when full rate is achieved, H 1 The distance between the highest position of the grab bucket and the water surface is 0.5m and H in the embodiment of the application 2 The distance between the lowest position of the grab bucket and the kiln slag is 1 m.
Step S22: and determining the area to be fished from the M slag fishing areas according to the slag fishing times of each slag fishing area, and obtaining the three-dimensional position information of the area to be fished.
In the embodiment of the application, the specific method for determining the to-be-fished slag zone from the M slag-fishing zones further comprises the following steps:
step S221: when the slag is fished for the first time, the slag-fishing times n of each slag-fishing area are determined xy And determining the slag salvaging area with the most slag salvaging times as the area to be subjected to slag salvaging.
Step S222: after the slag dragging operation is finished, marking the slag dragging times n 'of the to-be-dragged slag zone determined in the step S221' xy 。
Step S223: according to the slag salvaging times n of any slag salvaging area xy And the number of slag fished n' xy Obtaining the residual slag salvaging times n' of any slag salvaging area xy Specifically, it can be expressed as: n ″) xy ＝n xy -n′ xy 。
Step S224: selecting the residual slag salvaging times n ″) xy The largest slag salvaging area is the area to be salvaged for the next slag salvaging.
Specifically, if there are a plurality of equal maximum remaining slag dragging times n ″, the number of the slag scoops is not equal to the maximum remaining slag scoops xy Determining the area to be fished according to the principle of priority on the row position and priority on the right side of the column position, and sending the central point coordinate of the area to be fished to the bridge craneAnd the heavy crane movement control device enables the bridge crane to accurately travel to the coordinate position of the central point. After the slag dragging is finished, the slag dragging times n 'of the slag to be dragged area' xy Add 1 time.
Step S23: and sending a slag salvaging command to the crane motion control device, so that the bridge crane runs to the slag zone to be salvaged determined in the step S22 according to the three-dimensional position information obtained in the step S22 to carry out slag salvaging, and the next time of salvaging the kiln slag is obtained.
In the embodiment of the present application, step S23 further includes the following specific contents:
step S231: and operating the bridge crane to the central point position of the slag zone to be fished, and lowering the grab bucket.
Step S232: judging whether the grab bucket touches the kiln slag or not; if the kiln slag has been touched, step S233 is executed, and if the kiln slag has not been touched, the process returns to step S231.
Specifically, whether the grab bucket touches the kiln slag or not is judged according to the following method:
step S2321: when the grab bucket does not work, the no-load weight of the grab bucket is obtained through the grab bucket weighing detection device and marked as W 1 。
Step S2322: and in the process of lowering the grab bucket, acquiring the weight of the real-time grab bucket, and marking the weight as W.
Step S2323: if the real-time grab bucket weight is less than or equal to the preset multiple of the no-load weight of the grab bucket, namely W is less than or equal to kW 1 And if the k value is 0.8-0.98, judging that the grab bucket contacts the kiln slag.
Concretely, can receive the holding power of kiln sediment when the grab bucket is worked and is touch the kiln sediment, make the grab bucket weighing detection device detect total weight W and reduce, consequently when real-time grab bucket weight is less than the unloaded weight of the grab bucket of corresponding proportion, automatic drag for sediment control system just thinks the grab bucket has touched the kiln sediment to send out to bridge crane motion control unit and stop transferring the grab bucket and operate the grab bucket and drag for the instruction of sediment.
Step S233: and operating the bridge crane to carry out slag salvaging operation, obtaining the currently fished kiln slag, and lifting the grab bucket.
Step S24: and determining a pseudo-slag-piling area according to the N slag-piling areas obtained in the step S17 and a preset piling mode, and obtaining three-dimensional coordinate information of the pseudo-slag-piling area.
In the embodiment of the application, the specific method for determining the slag-piling area further comprises the following steps:
step S241: and sequencing the N slag stacking areas from right to left and from top to bottom by taking the joint of the intermediate slag field and the water quenching pool as a reference, wherein the mark is B ji Where i represents a row and j represents a column.
Step S242: when the slag is piled for the first time, the slag area B of the 1 st column and the 1 st row is formed 11 As a pseudo-slagging zone.
Step S243: in the 2 nd slag piling process, the slag piling area B in the 1 st column and the 2 nd row 12 As a pseudo-slagging zone.
Step S244: when the slag is piled for the ith time, the slag area B of the 1 st column and the ith row is formed 1i As a pseudo-slagging zone.
Step S245: when the slag is piled for the (i +1) th time, the slag piling area B of the 2 nd column and the 1 st row is formed 21 As a pseudo-slag region.
Step S246: when the slag is piled for the (i + 2) th time, the slag piling area B of the 2 nd column and the 2 nd row is formed 22 As a pseudo-slagging zone.
Step S247: when the slag is piled for the jth multiplied by i times, the slag area B of the jth column and the ith row is formed ji As a pseudo-slag region.
Step S248: when the slag is piled for the (j x i +1) th time, the slag area B of the 1 st column and the 1 st row is returned again 11 As a pseudo-slagging zone.
Step S249: and repeating the steps from S241 to S248 until all the fished kiln slag are stacked.
Step S25: and sending a slag piling command to the crane motion control device, so that the bridge crane piles the currently fished kiln slag to the slag-to-be-piled area determined in the step S24 according to the three-dimensional coordinate information obtained in the step S24.
Step S26: and re-determining the area to be fished, and performing the next slag fishing operation, namely repeatedly executing the steps S22 to S25 until the slag fishing operation of the round is finished.
It should be noted that, in the embodiment of the present application, the daily maintenance time of the bridge crane is set, and during the daily maintenance, the rotary kiln is still discharging slag uninterruptedly, so that, in order to make the slag scooping amount and the slag discharging amount in the whole cycle period substantially balanced, in the embodiment of the present application, slag scooping is started after the kiln slag is stacked to a certain height, the slag scooping amount needs to be slightly higher than the slag discharging amount of the rotary kiln, for example, when the water quenching tank has a rich slag capacity of 1.5h, the slag scooping amount and the slag discharging amount in one cycle period can be substantially balanced, and then the 1.5h is used to perform daily maintenance on the bridge crane; meanwhile, the water quenching tank is partitioned, slag is fished from different positions, and accidents such as tipping of the grab bucket and the like are avoided.
Referring to fig. 12, a schematic operation timing diagram of the bridge crane according to the embodiment of the present disclosure is shown. As can be seen from the figure, the total time T of one cycle period can be expressed as:
T＝T 2 +t 1 +t 2 +…+t k +t＇
in the formula, t 1 The 1 st completion time of slag salvaging, t k The time for completing the slag salvaging for the kth time, and t' is the idle time.
It should be noted that, in order to keep the amount of the kiln slag in the water quenching tank constant in each cycle period, t is 1 +t 2 +…+t k The amount of the kiln slag fished in is equal to the slag discharge amount of the rotary kiln in the total cycle time. The method is the foundation and the premise for establishing a slag dragging operation model of the bridge crane.
Wherein, the total time T of one cycle period is determined by the daily maintenance period of the bridge crane. For example, the bridge crane needs to be maintained daily for 1 time every day, and the value of T is 1 day; every three days, the bridge crane needs to be maintained for 1 time, and the value of T is 3 days.
Time T required by daily maintenance of bridge crane 2 The time is a fixed value, is determined according to actual needs and is generally 1.5-2 h.
Due to t 1 、t 2 …t k The method is not fixed, so that the time for completing the last slag salvaging cannot be ensured, and is just at the end time of a cycle period, and an idle time t' is set to ensure the smoothness of the slag salvaging process.
In some embodiments of the present application, the interval time for the next round of slag salvaging operation may be calculated according to the following model, specifically:
in the formula, t n K' is the residual slag-off times of a cycle period, T is the total time of a cycle period, T 2 For the daily maintenance time of bridge cranes, S tn-1 The accumulated time interval for slag salvaging is calculated.
Wherein, the residual slag-dragging times k' of one cycle period are calculated according to the following calculation model:
in the formula, t k The kth time for completing slag salvaging, t' the idle time,
taking an engineering design value for the average slag discharge of the rotary kiln during the first operation, and then obtaining the engineering design value from the historical production data of the rotary kiln; s. the m Is the sum of the fished slag quantity, m is the average value of the slag quantity of the kiln fished by the grab bucket each time, S m And
the value of the first running is 80% of the weight of the full bucket fished kiln slag, and then the value is obtained from the historical data of the weighing sensor.
After entering the idle time t', the judgment condition for waiting the start of the next cycle is as follows:
wherein the content of the first and second substances,
is the average slag salvaging interval time.
According to the technical scheme, the application provides an automatic slag dragging system, which comprises a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device. The crane movement control device is connected with the bridge crane and is used for receiving the control instruction sent by the controller and completing the operation of the bridge crane according to the received control instruction; the grab bucket weighing detection device is arranged on the bridge crane and used for measuring the weight of the kiln slag and sending the measured weight of the kiln slag to the controller; the grab bucket position detection device is arranged on the bridge crane and used for acquiring three-dimensional position information of the grab bucket in the water quenching tank and the middle slag field and sending the acquired three-dimensional position information to the controller; the controller is used for partitioning the main accumulation area and the middle slag field of the kiln slag in the water quenching tank, and accurately positioning the slag dragging position and the slag stacking position by combining the received data information, and performing grab bucket slag contact judgment. The application provides an automatic drag for sediment system need not to set up bridge crane operation post, adopts the controller to replace operating personnel to judge and operate, realizes that the full intellectuality of kiln sediment processing is controlled to avoid erroneous judgement and maloperation, and then increase substantially work efficiency, and can avoid the waste of manpower, material resources, financial resources and time resource to a very big degree.
The present application has been described in detail with reference to particular embodiments and illustrative examples, but the description is not intended to be construed as limiting the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (12)
1. An automatic slag salvaging system is characterized by comprising a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected with the bridge crane and used for receiving the control instruction sent by the controller and completing the operation of the bridge crane according to the control instruction; the grab bucket weighing detection device is arranged on the bridge crane and used for measuring the weight of the kiln slag and sending the weight of the kiln slag to the controller; the grab bucket position detection device is arranged on the bridge crane and used for acquiring three-dimensional position information of the grab bucket in the water quenching tank and the middle slag field and sending the three-dimensional position information to the controller;
the controller is configured to perform the following analysis:
dividing the main accumulation area of the kiln slag in the water quenching tank into M slag fishing areas according to the preset length, the preset width and the central line of the slag flushing channel;
obtaining the slag output of the rotary kiln, the volume of a grab bucket, the full grabbing rate of the grab bucket for dragging slag and the weight of the kiln slag in each slag dragging area;
obtaining the total times of slag salvaging according to the slag output of the rotary kiln, the capacity of the grab bucket and the full grab rate;
obtaining the total weight of the slag in the M slag fishing areas according to the weight of the kiln slag in each slag fishing area;
obtaining the weight of each slag fishing area according to the weight of the kiln slag of each slag fishing area and the total weight of the slag fishing area;
obtaining the slag salvaging times of each slag salvaging area according to the total slag salvaging times and the weight of each slag salvaging area;
partitioning the intermediate slag field according to the preset length, the preset width and the central point of the intermediate slag field to obtain N slag heaping areas;
the controller is further configured to perform the steps of:
waiting for a preset time to enable the kiln slag to be accumulated to a set height;
determining a to-be-fished slag zone from M slag-fishing zones according to the slag-fishing times of each slag-fishing zone, and obtaining three-dimensional position information of the to-be-fished slag zone;
sending a slag salvaging instruction to the crane motion control device, so that the bridge crane runs to the to-be-salvaged slag area according to the three-dimensional position information to carry out slag salvaging, and obtaining the current salvaging kiln slag;
determining a pseudo-slag-piling area according to the N slag-piling areas and a preset piling mode, and obtaining three-dimensional coordinate information of the pseudo-slag-piling area;
sending a slag piling instruction to the crane motion control device, so that the bridge crane can stack the currently fished kiln slag to the slag piling area according to the three-dimensional coordinate information;
and re-determining the area to be fished for slag, and carrying out the next slag-fishing operation until the slag-fishing operation of the round is finished.
2. The automatic slag salvaging system of claim 1, wherein the main accumulation area of the kiln slag is partitioned according to the preset length, the preset width and the central line of the slag flushing channel, and the specific method for obtaining M slag salvaging areas comprises the following steps:
taking an area, which is consistent with the center line of the slag flushing channel in position and is closest to the slag flushing channel, as an initial area, wherein the initial area is a rectangular area formed by a preset length and a preset width;
dividing the water quenching tanks to the periphery according to the rectangular area by taking the initial area as a reference to obtain P water quenching tank divisions;
removing partitions which are not in the main accumulation area of the kiln slag from the P water quenching pool partitions to obtain P' partitions to be fished;
and (3) discarding the subarea with the area smaller than that of the 1/2 initial area from the P' subareas to be fished to obtain M slag fishing areas.
3. The automatic slag salvaging system as claimed in claim 2, wherein the specific method for determining the slag zone to be salvaged from the M slag zones is as follows:
when slag is fished for the first time, determining the slag zone with the most slag fishing times as a slag zone to be fished according to the slag fishing times of each slag zone;
marking the slag salvaging times n 'of the slag zone to be salvaged after the slag salvaging operation is finished' xy ；
Obtaining the residual slag salvaging times n' of any slag salvaging area according to the slag salvaging times and the slag salvaging times of any slag salvaging area xy Specifically, it can be expressed as: n ″) xy ＝n xy -n′ xy ；
Selecting the residual slag salvaging times n ″) xy The largest slag salvaging area is the area to be salvaged for the next slag salvaging.
4. The automatic slag salvaging system of claim 1, wherein the intermediate slag field is partitioned according to the preset length, the preset width and the intermediate slag field central point, and the specific method for obtaining the N slag stacking areas comprises the following steps:
taking the central point of the intermediate slag field as an original point, and taking a rectangular area constructed by a preset length and a preset width as an initial area;
partitioning the middle slag field to the periphery according to the rectangular area by taking the initial area as a reference to obtain V initial partitions;
and removing the primary subareas with the length smaller than the preset length or the width smaller than the preset width from the V primary subareas to obtain N slag heaping areas.
5. The automatic slag dragging system of claim 4, wherein the specific method for determining the slag to be piled area is as follows:
and sequencing the N slag stacking areas from right to left and from top to bottom by taking the joint of the intermediate slag field and the water quenching pool as a reference, wherein the mark is B ji Wherein i represents a row and j represents a column;
when the slag is firstly piled, the 1 st column and the 1 st row slag piling area B 11 As a pseudo-slag accretion zone;
in the 2 nd slag piling process, the slag piling area B in the 1 st column and the 2 nd row 12 As a pseudo-slag accretion zone;
when the slag is piled for the ith time, the slag area B of the 1 st column and the ith row is formed 1i As a pseudo-slag accretion zone;
when the slag is piled for the (i +1) th time, the slag piling area B of the 2 nd column and the 1 st row is formed 21 As a pseudo-slag accretion zone;
when the slag is piled for the (i + 2) th time, the slag piling area B of the 2 nd column and the 2 nd row is formed 22 As a pseudo-slag accretion zone;
when the slag is piled for the jth multiplied by i times, the slag area B of the jth column and the ith row is formed ji As a pseudo-slag-piling zone;
when the slag is piled for the (j x i +1) th time, the slag area B of the 1 st column and the 1 st row is returned again 11 As a pseudo-slag accretion zone;
and repeating the steps until all the fished kiln slag are stacked.
6. The automatic slag salvaging system of claim 1, wherein the controller is further configured to perform a grab bucket slag contact judgment, and the specific judgment method is as follows:
when the grab bucket does not work, the no-load weight of the grab bucket is obtained by the grab bucket weighing detection device and marked as W 1 ；
In the process of lowering the grab bucket, acquiring the weight of the real-time grab bucket, and marking the weight as W;
if the real-time grab bucket weight is less than or equal to the preset multiple of the no-load weight of the grab bucket, namely W is less than or equal to kW 1 And if the k value is 0.8-0.98, judging that the grab bucket contacts the kiln slag.
7. The automatic slag salvaging system of claim 1, wherein the total number of slag salvaging per day is obtained according to the following calculation model:
in the formula, n 1 Q is the slag discharge quantity of the rotary kiln, rho is the density of the kiln slag, V is the volume of the grab bucket, and eta is the full grab rate.
8. The automatic slag salvaging system as claimed in claim 6 or 7, wherein the full-grab rate of the grab slag salvaging refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket, and the specific method for obtaining the full-grab rate comprises the following steps:
obtaining the no-load weight W of the grab bucket 1 Kiln slag density rho and water density rho Water (W) And a grab volume V;
the grab bucket finishes the slag dragging action, and keeps staying below the water surface after lifting upwards to a first heightSetting time and obtaining the weight W of the grab bucket n ；
According to the weight W of the grab bucket n The no-load weight W of the grab bucket 1 The density rho of the kiln slag and the density rho of the water Water (I) Obtaining the volume V of the kiln slag Slag ；
Calculating the volume V of the kiln slag Slag And the ratio of the volume V of the grab bucket, and acquiring the full grab rate eta, which is specifically expressed as:
wherein eta is the full grip rate, V Slag Is the volume of the kiln slag, V is the volume of the grab bucket, W n For carrying weight, W, of the grab 1 The weight of the grab bucket in no load, rho is the density of the kiln slag, rho Water (W) The density of water.
9. The automatic slag salvaging system of claim 1, wherein the following model is adopted to calculate the waiting time of the kiln slag accumulation to the set height:
in the formula, T 1 For latency, V 1 Is the initial bulk volume of the kiln slag, s is the rate of slag removal from the kiln slag of the rotary kiln expressed in volume, Q 1 The slag discharge rate of the kiln slag of the rotary kiln is expressed by mass, rho is the density of the kiln slag, and k 1 The calculation coefficient of the stacking volume of the kiln slag is shown, H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag.
10. An automatic slag salvaging system as claimed in claim 1 or 9, wherein the calculation model of the accumulation of the kiln slag to the set height is:
H＝H water (W) -H Bucket -H 1 -H 2
Wherein H is the initial stacking height of the kiln slag，H Water (W) Is the depth of water in the water quenching tank, H Bucket Is the height of the grab bucket H 1 The distance between the highest position of the grab bucket and the water surface, H 2 The distance between the lowest position of the grab bucket and the kiln slag is shown.
11. The automatic slag salvaging system of claim 1, wherein the time interval for the next slag salvaging is calculated according to the following model:
in the formula, t n K' is the residual slag-off times of a cycle period, T is the total time of a cycle period, T 2 For the daily maintenance time of bridge cranes, S tn-1 The accumulated time interval for slag salvaging is calculated.
12. An automatic slag dragging system according to claim 11, characterized in that the number of remaining slag dragging times k' of a cycle period is calculated according to the following calculation model:
in the formula, t k The kth time for completing slag salvaging, t' is idle time,
average amount of slag discharged from the rotary kiln S m Is the sum of the fished slag amount,
the average value of the amount of the slag fished by the grab bucket each time.
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| CN116766210A (en) * | 2023-08-12 | 2023-09-19 | 中天智能装备(天津)有限公司 | Double-robot collaborative slag-fishing track planning method for large-scale anode smelting pool |
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| CN116766210A (en) * | 2023-08-12 | 2023-09-19 | 中天智能装备(天津)有限公司 | Double-robot collaborative slag-fishing track planning method for large-scale anode smelting pool |
| CN116766210B (en) * | 2023-08-12 | 2023-12-01 | 中天智能装备(天津)有限公司 | Double-robot collaborative slag-fishing track planning method for large-scale anode smelting pool |
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