Feeding system and method for prebaked anode calcination production

Abstract

The invention relates to a feeding system and method for prebaked anode calcining production, and belongs to the technical field of carbon pot type calcining furnace feeding. Comprising an AGV trolley running track, a south charging AGV trolley and a north charging AGV trolley, the south charging AGV trolley and the north charging AGV trolley can walk along the AGV trolley running track, and the south charging AGV trolley and the north charging AGV trolley can reciprocate between a corresponding charging area and a discharging area in the length direction of the AGV trolley running track and supply materials to a south pot type calcining furnace hopper and a north pot type calcining furnace hopper respectively. And an incoming material conveying system for supplying materials to the south charging AGV and the north charging AGV is arranged at the middle section position of the AGV running track. The system has the following beneficial effects that a charging vehicle speed self-adaptive control algorithm and a charging segmented braking algorithm are designed, charging point accurate parking is achieved, machine vision recognition is used for achieving the functions of detecting a stock bin and overcoming the defect that the liquid level of the stock bin cannot be judged, and the purposes of safe obstacle avoidance and unattended operation are achieved through the functions of monitoring the material level of a calcining furnace and the like.

Description

Technical Field

[0001] The invention relates to a feeding system and method for prebaked anode calcination production, belonging to the technical field of feeding of carbon pot type calcining furnaces. Background Art

[0002] Traditional carbon pot calcining furnaces use manually controlled calcining charging carts to add petroleum coke. When workers find that the calcining furnace hopper is short of materials, they manually control the calcining charging cart to add materials to the designated hopper. When the charging is completed, the worker controls the charging cart to return to the discharge area, and needs to manually contact the petroleum coke bin to start the elevator and the charging belt to discharge the materials. The production process has a low degree of automation. Each process of the calcining charging system is operated separately, and continuous production cannot be formed. The backward production machine is difficult to leave manual participation and needs to be operated manually. At the same time, during the production process, the smoke, oil mist, and high temperature in the production process have serious harm to the health of workers.

[0003] In order to solve one of the above problems, a feeding system and method for prebaked anode calcination production is urgently needed. Summary of the invention

[0004] In view of the above deficiencies in the prior art, the technical problem to be solved by the present invention is: how to use AGV intelligent cart, machine vision recognition, speed adaptive control algorithm, feeding segmented braking algorithm and automatic control system to realize automatic feeding and discharging of carbon tank calcining furnace according to production process to solve the problem of manual feeding and discharging, and for this purpose, provide a feeding system and method for prebaked anode calcination production.

[0005] The feeding system for prebaked anode calcination production described in the present invention is characterized by: comprising an AGV trolley running track, a south feeding AGV trolley and a north feeding AGV trolley that can travel along the AGV trolley running track, the south feeding AGV trolley and the north feeding AGV trolley can both reciprocate between the corresponding feeding area and discharging area along the length direction of the AGV trolley running track, and respectively feed the south pot type calcining furnace hopper and the north pot type calcining furnace hopper, a second AI visual camera and a first AI visual camera are respectively installed at both ends of the AGV trolley running track, a petroleum coke discharging position, a south discharging waiting position, a south feeding start limit and a south feeding end limit are sequentially arranged on the driving track of the south feeding AGV trolley, a north discharging waiting position, a north feeding start limit and a north feeding stop limit are sequentially arranged on the driving track of the north feeding AGV trolley, and a material conveying system for feeding the south feeding AGV trolley and the north feeding AGV trolley is arranged in the middle section of the AGV trolley running track.

[0006] Preferably, the corresponding positions of the north feeding stop limit, north feeding start limit, north discharge waiting position, petroleum coke discharge position, south discharge waiting position, south feeding start limit and south feeding end limit are respectively provided with a proximity switch installed on the AGV trolley running track.

[0007] Preferably, the incoming material conveying system includes a belt conveyor, the loading end of the belt conveyor receives the feed from the petroleum coke elevator, the discharging end of the belt conveyor is provided with a hopper for receiving the feed from the belt conveyor, the hopper is provided with a weighing meter, the hopper is in the loading area, and the south loading AGV vehicle and the north loading AGV vehicle share the same unloading area.

[0008] Preferably, the AGV trolley running track includes a first hanging rail traveling mechanism hanging rail and a second hanging rail traveling mechanism hanging rail which are parallel to each other.

[0009] Preferably, the south-loading AGV vehicle includes a silo hanger, on which two groups of transfer silos are symmetrically arranged, and are connected to a first hanging rail traveling mechanism that moves in coordination with the first hanging rail traveling mechanism hanging rail and a second hanging rail traveling mechanism that moves in coordination with the second hanging rail traveling mechanism hanging rail.

[0010] Preferably, a wireless communication control box, an audible and visual alarm device and a radar level meter are installed on the top of the transfer silo, a laser anti-collision radar A and a laser anti-collision radar B are installed on the middle outer wall of the transfer silo, a feeding door is installed on the bottom outlet of the transfer silo, and a switch door push rod for controlling the opening and closing of the feeding door is installed on the outer wall of the transfer silo.

[0011] Preferably, the first hanging rail walking mechanism includes two groups of self-propelled mechanisms, which are installed at both ends of a horizontal beam, and the horizontal beam is connected to the silo hanger. The self-propelled mechanism has a feeding trolley roller that travels along the first traveling hanging rail and a feeding trolley incremental encoder, and the feeding trolley roller is driven by a feeding trolley reduction motor.

[0012] Preferably, the north feeding AGV vehicle and the south feeding AGV vehicle have the same structure.

[0013] The present invention also discloses a feeding method for prebaked anode calcination production, characterized in that the feeding system for prebaked anode calcination production is applied, the feeding system adopts a double feeding mode of south and north feeding vehicles, the north feeding AGV vehicle has priority, when switched to the automatic state, the south feeding AGV vehicle and the north feeding AGV vehicle move to the north discharge waiting position and the south discharge waiting position respectively, when the material level of the north feeding AGV vehicle is lower than the set value, the north feeding AGV vehicle starts first and moves along the track to the petroleum coke discharge position, the petroleum coke discharge position and the weight signal of the weighing instrument are uploaded to the system, the belt conveyor, the petroleum coke hoist, the lower belt conveyor, and the batching spiral are operated in sequence, and the feeding starts, and when the feeding reaches the set value, the feeding equipment is stopped in reverse order;

[0014] After the feeding is completed, the first AI visual camera is used for recognition. Through machine vision recognition, the image is compared with the minimum database image of the hopper material to determine whether the hopper needs to be fed. The northern feeding AGV car accurately locates the hopper position through the incremental encoder, and uses the feeding segmented braking algorithm and the feeding trolley speed control algorithm. The feeding trolley speed control algorithm compares the actual distance with the ideal distance to adjust the frequency conversion speed to achieve the purpose of controlling uniform speed operation. The segmented braking algorithm is used to set the deceleration position and the segmented frequency conversion speed is set to make the trolley reach the northern calcining furnace feeding position at a uniform speed and accurately. The feeding valve is opened to start feeding, until the northern feeding stop limit starts to return, and returns to the northern discharge waiting position. During the feeding process, if the feeding trolley does not reach the feeding end point and the material level is lower than the minimum material level setting value, the trolley executes the return program, returns to the petroleum coke discharge position to continue feeding, and then circulates the feeding program until the trolley reaches the feeding stop position and automatically returns. When the feeding trolley returns to the feeding position and the trolley does not reach the feeding low level, it starts waiting to execute the next feeding cycle program.

[0015] Preferably, the automatic feeding method of the south-feeding AGV is the same as that of the north-feeding AGV, but the north-feeding AGV has priority feeding rights. Only when the south-feeding AGV finishes feeding and leaves the petroleum coke discharge position, can the south-feeding AGV enter the petroleum coke discharge position to feed. When the north-feeding AGV and the south-feeding AGV are waiting for the feeding positions at the same time, the north-feeding AGV has priority feeding rights.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The feeding system and method for the calcination production of prebaked anodes described in the present invention utilize AGV intelligent vehicles, wireless control technology, encoders, frequency converters, visual recognition, radar obstacle avoidance, radar level gauges, weighing and metering, programming controllers, configuration software, monitoring systems, digital large screens and other modern control technologies as one intelligent feeding control system. The system method realizes automatic navigation of the feeding vehicle, uses an incremental encoder for precise positioning, automatic feeding and discharging during calcination, designs a feeding vehicle speed adaptive control algorithm and a feeding segmented braking algorithm for precise parking at the feeding point, realizes silo detection by machine visual recognition to overcome the inability to judge the silo's liquid level, and calcination furnace level monitoring and other functions to achieve the purpose of safe obstacle avoidance and unattended operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0019] Figure 1 Mechanism for feeding system used in prebaked anode calcination production Figure 1 ;

[0020] Figure 2 Mechanism for feeding system used in prebaked anode calcination production Figure 2 ;

[0021] Figure 3 This is the AGV system diagram;

[0022] Figure 4 This is the diagram of the feeding control system for prebaked anode calcination;

[0023] In the figure: 1. Petroleum coke elevator 2. Belt conveyor 3. Hopper 4. North feeding stop limit 5. North feeding start limit 6. North discharge waiting position 7. Weighing instrument 8. Petroleum coke discharge position 9. South discharge waiting position 10. South feeding start limit 11. South feeding end limit 12. First AI visual camera 13. South tank calciner hopper 14. South feeding AGV 14.1. Feeding trolley roller 14.2. Feeding trolley reduction motor 14.3. Feeding trolley incremental encoder 14 .4. Wireless communication control box 14.5. Laser anti-collision radar A 14.6. Feeding door 14.7. Open / close door push rod 14.8. Laser anti-collision radar B 14.9. Sound and light alarm device 14.10. Radar level meter 15. North feeding AGV vehicle 16. North tank calcining furnace hopper 17. Second AI visual camera 18. First hanging rail walking mechanism 19. First walking hanging rail 20. Silo hanger 21. Second hanging rail walking mechanism 22. Second walking hanging rail 23. Transfer silo. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] The present invention is further described below by means of specific embodiments, but the present invention is not limited thereto. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0026] Embodiment 1, as Figure 1-2 As shown, the feeding system for the production of prebaked anode calcination comprises an AGV trolley running track, a south feeding AGV trolley 14 and a north feeding AGV trolley 15 which can travel along the AGV trolley running track. The south feeding AGV trolley 14 and the north feeding AGV trolley 15 can reciprocate between the corresponding feeding area and the discharge area along the length direction of the AGV trolley running track, and respectively feed the south pot type calcining furnace hopper 13 and the north pot type calcining furnace hopper 16. The two ends of the AGV trolley running track are respectively equipped with a second AI The visual camera 17 and the first AI visual camera 12 are provided with a petroleum coke discharge position 8, a south discharge waiting position 9, a south feeding start limit 10 and a south feeding end limit 11 in sequence on the driving track of the south feeding AGV vehicle 14; the north discharge waiting position 6, the north feeding start limit 5 and the north feeding stop limit 4 are provided in sequence on the driving track of the north feeding AGV vehicle 15; and a material conveying system for feeding materials by the south feeding AGV vehicle 14 and the north feeding AGV vehicle 15 is provided in the middle section of the AGV vehicle running track.

[0027] Embodiment 2, as Figure 1-4As shown, the feeding system for the production of prebaked anode calcination comprises an AGV trolley running track, a south feeding AGV trolley 14 and a north feeding AGV trolley 15 which can travel along the AGV trolley running track. The south feeding AGV trolley 14 and the north feeding AGV trolley 15 can reciprocate between the corresponding feeding area and the discharge area along the length direction of the AGV trolley running track, and respectively feed the south pot type calcining furnace hopper 13 and the north pot type calcining furnace hopper 16. The two ends of the AGV trolley running track are respectively equipped with a second AI The visual camera 17 and the first AI visual camera 12 are provided with a petroleum coke discharge position 8, a south discharge waiting position 9, a south feeding start limit 10 and a south feeding end limit 11 in sequence on the driving track of the south feeding AGV vehicle 14; the north discharge waiting position 6, the north feeding start limit 5 and the north feeding stop limit 4 are provided in sequence on the driving track of the north feeding AGV vehicle 15; and a material conveying system for feeding materials by the south feeding AGV vehicle 14 and the north feeding AGV vehicle 15 is provided in the middle section of the AGV vehicle running track.

[0028] Furthermore, the corresponding positions of the north feeding stop limit 4, the north feeding start limit 5, the north discharge waiting position 6, the petroleum coke discharge position 8, the south discharge waiting position 9, the south feeding start limit 10, and the south feeding end limit 11 are respectively provided with a proximity switch installed on the AGV trolley running track.

[0029] Furthermore, the incoming material conveying system includes a belt conveyor 2, the feeding end of the belt conveyor 2 receives the material from the petroleum coke elevator 1, and the discharging end of the belt conveyor 2 is provided with a hopper 3 for receiving the material from the belt conveyor 2, and the hopper 3 has a weighing meter 7, and the hopper 3 is in the loading area, and the south feeding AGV vehicle 14 and the north feeding AGV vehicle 15 share the same discharge area.

[0030] Furthermore, the AGV trolley running track includes a first hanging rail traveling mechanism hanging rail 19 and a second hanging rail traveling mechanism hanging rail 22 which are parallel to each other.

[0031] Furthermore, the south loading AGV vehicle 14 includes a silo hanger 20, on which two groups of transfer silos 23 are symmetrically arranged, and are connected to a first hanging rail walking mechanism 18 that moves in coordination with the first hanging rail walking mechanism hanging rail 19 and a second hanging rail walking mechanism 21 that moves in coordination with the second hanging rail walking mechanism hanging rail 22.

[0032] Furthermore, a wireless communication control box 14.4, an audible and visual alarm device 14.9 and a radar level meter 14.10 are installed on the top of the transfer silo 23, a laser anti-collision radar A 14.5 and a laser anti-collision radar B 14.8 are installed on the middle outer wall of the transfer silo 23, a feeding door 14.6 is installed on the bottom outlet of the transfer silo 23, and a switch door push rod 14.7 for controlling the opening and closing of the feeding door 14.6 is installed on the outer wall of the transfer silo 23.

[0033] Furthermore, the first hanging rail walking mechanism 18 includes two sets of self-propelled mechanisms, which are installed at both ends of a horizontal beam, and the horizontal beam is connected to a silo hanger 20. The self-propelled mechanism has a feeding trolley roller 14.1 and a feeding trolley incremental encoder 14.3 that travels along the first traveling hanging rail 19. The feeding trolley roller 14.1 is driven by a feeding trolley reduction motor 14.2.

[0034] Furthermore, the north feeding AGV 15 has the same structure as the south feeding AGV 14 .

[0035] Embodiment 3, a feeding method for prebaked anode calcination production, using the above-mentioned feeding system for prebaked anode calcination production, the feeding system adopts a double feeding mode of south and north feeding vehicles, the north feeding AGV vehicle 15 has priority, when switched to automatic state, the south feeding AGV vehicle 14 and the north feeding AGV vehicle 15 move to the north discharge waiting position 6 and the south discharge waiting position 9 respectively, when the material level of the north feeding AGV vehicle 15 is lower than the set value, the north feeding AGV vehicle 15 first starts to move along the track to the petroleum coke discharge position 8, the weight signal of the petroleum coke discharge position 8 and the weighing instrument 7 are uploaded to the system, the belt conveyor 2, the petroleum coke elevator 1, the lower belt conveyor, and the batching spiral are operated in sequence, and the feeding starts. When the feeding reaches the set value, the feeding equipment is stopped in reverse order;

[0036] After the feeding is completed, it is recognized by the first AI visual camera 12, and the image is compared with the minimum database image of the hopper material through machine vision recognition to determine that the hopper needs to be fed. The north feeding AGV car 15 accurately locates the hopper position through the incremental encoder, and uses the feeding segmented braking algorithm and the feeding trolley speed control algorithm. The feeding trolley speed control algorithm compares the actual distance with the ideal distance to adjust the frequency conversion speed to achieve the purpose of controlling uniform speed operation. The segmented braking algorithm is used to set the deceleration position and the segmented frequency conversion speed is set to make the trolley reach the north calcining furnace feeding position at a uniform speed and accurately. The feeding valve is opened to start feeding, until the north feeding stop limit 4 starts to return, and returns to the north discharge waiting position 6. During the feeding process, if the feeding trolley has not reached the feeding end point and the material level is lower than the minimum material level setting value, the trolley executes the return program and returns to the petroleum coke discharge position 8 to continue feeding, and then circulates the feeding program until the trolley reaches the feeding stop position and automatically returns. When the feeding trolley returns to the feeding position and the trolley has not reached the feeding low level, it starts waiting to execute the next feeding cycle program.

[0037] Furthermore, the automatic feeding method of the south-feeding AGV vehicle 14 is the same as that of the north-feeding AGV vehicle 15, but the north-feeding AGV vehicle 15 has priority feeding rights. Only when the south-feeding AGV vehicle 14 finishes feeding and leaves the petroleum coke discharge position 8, the south-feeding AGV vehicle 14 can enter the petroleum coke discharge position 8 to feed. When the north-feeding AGV vehicle 15 and the south-feeding AGV vehicle 14 are waiting for the feeding positions at the same time, the north-feeding AGV vehicle 15 has priority feeding rights.

[0038] Set speed V and actual speed V1, set the wheel speed n, and detect the actual speed n through the incremental encoder S , the number of pulses of the incremental encoder is P, the radius of the feeding wheel is R, the encoder detects the pulse frequency f, and the resolution of the encoder is R.

[0039] Feeding trolley speed control algorithm:

[0040] Set speed: V1 = n / 60*2πR; actual speed: V1 = (f / R)*2πR

[0041] E K =VV k ; Set speed V and current speed V k difference.

[0042] E K Reflects the current value V of the feeding cart k The degree of deviation from the set value V can be determined according to E K The output signal OUT is adjusted according to the size of the

[0043] POUT=(Kp*Ek)+Out0; Kp: proportional coefficient.

[0044] IOUT=kp*(1 / T i ∫E x d t )+Out0;T i :Integral constant ∫E x d t is the accumulated speed error.

[0045] DOUT=K p *(T d (d e / d t ));T d : differential constant d e / d t : Speed ​​error trend.

[0046] After arranging the above formulas, the following is the PID control algorithm formula for the uniform motion of the car. The inverter is controlled by the PLC analog output to reach the set speed V1.

[0047] OUT=K P (E K +((1 / T i )E X d t ))+(T d (d e / d t ))+out0

[0048] Feeding segment braking algorithm:

[0049] The feeding segmented braking is based on the uniform motion control of the feeding trolley above, and the braking distance S0 and the parking distance S are calculated by the incremental encoder. t The gap between d In order to ensure safety and enable the charging vehicle to stop accurately, the braking process of the charging vehicle can be divided into three stages. d When the speed is reduced to the creeping speed V min When the distance to the target parking position is greater than S min , the loading vehicle enters the uniform sliding stage, which is to eliminate the margin caused by early braking deceleration; when the distance to the target parking position is equal to S min When V mins , until it reaches the target parking position accurately.

[0050] S d =S t -S0;S d Braking deceleration distance.

[0051] S=(P / R)*2πR; S is the distance traveled by the feeding trolley.

[0052] When the driving distance S≧S0, the feeding trolley decelerates to V min When the distance to the target parking position is greater than S min , the charging vehicle enters the uniform gliding stage.

[0053] Driving distance S≧S min When the feeding trolley decelerates to V mins Stop at the parking spot.

[0054] Manual feeding: Manual feeding can control each process individually. The forward and reverse movement of the feeding vehicle can be controlled by a handheld remote control, and the feeding vehicle can also stop at any position during the process. The petroleum coke feeding system can be started and stopped by buttons on the touch screen.

[0055] Feeding safety process design: The feeding system is equipped with anti-collision radar. When encountering an obstacle, the trolley stops running, the alarm system alarms, the obstacle is removed, and the trolley continues to run. If the trolley does not return within 2 seconds after reaching the calcination feeding stop position, the trolley stops and the system alarms. The AGV intelligent trolley system includes: the feeding trolley roller 14.1, the feeding trolley reduction motor 14.2, the feeding trolley incremental encoder 14.3 and the wireless communication control box 14.4, the laser anti-collision radar A14.5, the feeding door 14.6, the switch door push rod 14.7, the laser anti-collision radar B14.8, the sound and light alarm device 14.9 and the radar level meter 14.10. The crane wireless communication control box includes profinet remote I / O.

[0056] According to the production plan, the AGV intelligent trolley automatically feeds materials according to the feeding route. The feeding trolley reduction motor 14.2 with frequency conversion control makes the movement smooth. The AGV trolley is equipped with a radar level gauge 14.10, which can automatically detect the material level. According to the set minimum material level, it returns to the petroleum coke feeding area. The opening and closing of the feeding door 14.6 is controlled by the switch door push rod 14.7 to feed materials. It is equipped with laser anti-collision radar A14.5 and laser anti-collision radar B14.8, which can cover a range of 270° and realize detection within 5 meters. It is equipped with a wireless communication control box 14.4, which can be integrated with the ground automatic control system. The wireless communication device can collect digital and analog quantities and communicate stably and quickly with the ground control system through Profinet wireless communication.

[0057] Problems such as high temperature, dust, and spilled materials will cause inaccurate speed measurement of the feeding cart. By adding an incremental encoder and forming a closed-loop speed control system with a frequency converter, incremental encoder, PLC controller, and AGV feeding cart, the feeding cart speed PID precise control algorithm and the cart parking precise positioning algorithm can be implemented.

[0058] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

[0059] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A feeding system for prebaked anode calcination production, characterized by: The AGV comprises an AGV running track, a south feeding AGV (14) and a north feeding AGV (15) that can move along the AGV running track. The south feeding AGV (14) and the north feeding AGV (15) can both move back and forth between the corresponding feeding area and the discharge area along the length direction of the AGV running track, and respectively feed the south pot type calcining furnace hopper (13) and the north pot type calcining furnace hopper (16). The two ends of the AGV running track are respectively equipped with a second AI visual camera (17) and a first AI visual camera. The head (12) is provided with a petroleum coke discharge position (8), a south discharge waiting position (9), a south feed start limit position (10), and a south feed end limit position (11) on the driving track of the south feed AGV vehicle (14); the north discharge waiting position (6), a north feed start limit position (5), and a north feed stop limit position (4) are provided on the driving track of the north feed AGV vehicle (15); and a material conveying system for feeding materials from the south feed AGV vehicle (14) and the north feed AGV vehicle (15) is provided in the middle section of the AGV vehicle running track.

2. The feeding system for prebaked anode calcination production according to claim 1, characterized in that: The corresponding positions of the north feeding stop limit (4), the north feeding start limit (5), the north discharge waiting position (6), the petroleum coke discharge position (8), the south discharge waiting position (9), the south feeding start limit (10), and the south feeding end limit (11) are respectively provided with a proximity switch installed on the AGV trolley running track.

3. The feeding system for prebaked anode calcination production according to claim 2, characterized in that: The incoming material conveying system includes a belt conveyor (2), the feeding end of the belt conveyor (2) receives the material from the petroleum coke elevator (1), and the discharging end of the belt conveyor (2) is provided with a hopper (3) for receiving the material from the belt conveyor (2), the hopper (3) is provided with a weighing instrument (7), the hopper (3) is located in a loading area, and the south feeding AGV vehicle (14) and the north feeding AGV vehicle (15) share the same discharge area.

4. The feeding system for prebaked anode calcination production according to claim 3, characterized in that: The AGV trolley running track comprises a first hanging rail traveling mechanism hanging rail (19) and a second hanging rail traveling mechanism hanging rail (22) that are parallel to each other.

5. According to the feeding system for prebaked anode calcination production as described in claim 4, the south feeding AGV vehicle (14) includes a silo hanger (20), two groups of transfer silos (23) are symmetrically arranged on the silo hanger (20), and are connected to a first hanging rail walking mechanism (18) that moves in coordination with the first hanging rail walking mechanism hanging rail (19) and a second hanging rail walking mechanism (21) that moves in coordination with the second hanging rail walking mechanism hanging rail (22).

6. According to the feeding system for the production of prebaked anode calcination according to claim 5, a wireless communication control box (14.4), an audible and visual alarm device (14.9) and a radar level gauge (14.10) are installed on the top of the transfer silo (23), a laser anti-collision radar A (14.5) and a laser anti-collision radar B (14.8) are installed on the middle outer wall of the transfer silo (23), a feeding door (14.6) is installed on the bottom outlet of the transfer silo (23), and a switch door push rod (14.7) for controlling the opening and closing of the feeding door (14.6) is installed on the outer wall of the transfer silo (23).

7. According to the feeding system for prebaked anode calcination production according to claim 6, the first hanging rail walking mechanism (18) includes two sets of self-propelled mechanisms, the two sets of self-propelled mechanisms are installed at both ends of the horizontal beam, the horizontal beam is connected to the silo hanger (20), the self-propelled mechanism has a feeding trolley roller (14.1) that travels along the first traveling hanging rail (19) and a feeding trolley incremental encoder (14.3), and the feeding trolley roller (14.1) is driven by the feeding trolley reduction motor (14.2).

8. The feeding system for prebaked anode calcination production according to claim 7, characterized in that: The north feeding AGV (15) and the south feeding AGV (14) have the same structure.

9. A method for feeding prebaked anodes during calcination, characterized in that: The feeding system for prebaked anode calcination production as described in claim 8 is applied, wherein the feeding system adopts a dual feeding mode of south and north feeding vehicles, and the north feeding AGV vehicle (15) has priority. When switched to the automatic state, the south feeding AGV vehicle (14) and the north feeding AGV vehicle (15) respectively move to the north discharge waiting position (6) and the south discharge waiting position (9). When the material level of the north feeding AGV vehicle (15) is lower than the set value, the north feeding AGV vehicle (15) first starts to move along the track to the petroleum coke discharge position (8), and the weight signals of the petroleum coke discharge position (8) and the weighing instrument (7) are uploaded to the system. The belt conveyor (2), the petroleum coke elevator (1), the lower belt conveyor, and the material spiral run in sequence to start feeding. When the feeding reaches the set value, the feeding equipment is stopped in reverse order. After the feeding is completed, it is recognized by the first AI visual camera (12), and the image is compared with the minimum database image of the hopper material through machine vision recognition to determine whether the hopper needs to be fed. The northern feeding AGV car (15) accurately locates the hopper position through the incremental encoder, and uses the feeding segmented braking algorithm and the feeding trolley speed control algorithm. The feeding trolley speed control algorithm adjusts the frequency conversion speed by comparing the actual distance with the ideal distance to achieve the purpose of controlling uniform speed operation. The segmented braking algorithm is used to set the deceleration position and the segmented frequency conversion speed is set to make the trolley uniform. The feeding valve opens and the feeding process begins. The feeding process continues until the feeding stop limit (4) is reached and the feeding trolley returns to the north discharge waiting position (6). During the feeding process, if the feeding trolley does not reach the feeding end point and the material level is lower than the minimum material level setting value, the trolley executes the return procedure and returns to the petroleum coke discharge position (8) to continue feeding. The feeding process then cycles until the trolley reaches the feeding stop position and automatically returns. When the feeding trolley returns to the feeding position and the trolley does not reach the feeding low level, the trolley begins to wait for the next feeding cycle.

10. The method for feeding prebaked anodes according to claim 9, characterized in that: The automatic feeding method of the south feeding AGV (14) is the same as that of the north feeding AGV (15), but the north feeding AGV has priority in feeding. Only when the south feeding AGV (14) finishes feeding and leaves the petroleum coke discharge position (8), the south feeding AGV (14) can enter the petroleum coke discharge position (8) to feed. When the north feeding AGV (15) and the south feeding AGV (14) are waiting at the feeding position at the same time, the north feeding AGV (15) has priority in feeding.

Images