Method for accurate alignment and safe lifting of coke drum and hoist hook in dry coke quenching system

Abstract

The invention discloses a method for accurately aligning a coke tank of a dry coke quenching system with a hoist hook and safely lifting the coke tank, comprising: establishing a detection system coordinate system; judging whether the coke tank ear shaft meets the position requirements, if it meets the requirements, reducing the running speed of the coke tank carrier to a first speed; comparing the coordinate value of the coke tank ear shaft on the coke tank with the coordinate value of the hoist hook in the X direction, if they match each other, stopping the coke tank carrier at the current position; sending a hook-closing instruction to the hoist hook, so that the hoist hook is buckled to the coke tank ear shaft on the coke tank; when the hoist hook is completely closed, detecting the position information of the hook head of the hoist hook; when it is detected that it meets the lifting requirements, the hoist hook lifts the coke tank, if it does not meet the requirements, sending an alarm signal through the main control. In this way, the coke tank and the hook can be quickly and accurately aligned without mechanical failure, ensuring that the hook can accurately hang on the coke tank ear shaft and safely lift the coke tank.

Description

Technical Field

[0001] The invention relates to the technical field of hoisting a coke drum of a dry coke quenching system, and in particular to a method for accurately aligning a coke drum of a dry coke quenching system with a hoist hook and for safely hoisting the drum. Background Art

[0002] The dry coke quenching is a fully automatic operation system. In this system, the coke canister that receives the red coke from the coke oven will be transported to the bottom of the dry coke quenching lifting tower by the coke canister carrier. The coke canister carrier will first be decelerated and stopped under the control of the electrical switch, and then the coke canister on the coke canister carrier and the hoist hook will be accurately aligned under the tightening action of the APS clamping device. When the alignment is completed, the hoist hook will be closed and the coke canister will be lifted from the coke canister carrier to the top of the lifting tower.

[0003] However, in order to ensure that the coke tank and the hoist hook can be accurately aligned, when the APS clamping device is used to clamp the coke tank carrier to position the carrier, it adopts an indirect positioning method with low positioning accuracy. In addition, the device is a set of mechanical hydraulic devices with a relatively complex structure. It takes too long to perform the clamping action, and it is easy to have failures such as failure to move or failure to open after tightening, which will seriously affect the automatic operation of the dry coke quenching system. In addition, the device is relatively expensive, which will increase the cost of the entire system.

[0004] Moreover, after the coke drum and the hoist hook are aligned, when the hook begins to close and lift the coke drum, it is impossible to confirm whether the hook has accurately hooked the coke drum ear shaft. For example, in some scenes, one of the two hooks did not hook the ear shaft but the hook continued to lift and caused the coke drum to tip over.

[0005] In the invention patent with the name of "A hanging in place reminder mechanism" and the application number of 201510245000.2, the induction switch or travel switch set at the ear axis of the coke tank is used to determine whether the hook is in place, and the alarm device connected to the switch is used to sound an alarm. However, the coke tank needs to move independently and continuously. In this method, it is impossible to use a fixed line to power the switch and the alarm device, and only batteries can be used. Since the temperature of the red coke in the coke tank is above 1000 degrees Celsius, the temperature at the ear axis of the coke tank is at least above 200 degrees Celsius, and the safety of the battery cannot be guaranteed in this high temperature environment. Therefore, in this method, the alarm signal cannot be transmitted back to the central control and only an alarm can be used. This is not suitable for unmanned and fully automatic dry quenching coke systems, and in this method, it is also impossible to ensure that the switch and alarm can operate stably in a high temperature environment. Summary of the invention

[0006] In order to solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a method for accurately aligning a coke drum of a dry coke quenching system with a hoist hook and for safely lifting the coke drum.

[0007] The technical solution of the present invention is as follows:

[0008] A method for accurately aligning a coke drum of a dry coke quenching system with a hoist hook and safely lifting the coke drum, wherein a support platform is arranged below a dry coke quenching hoisting tower, a hoist hook for lifting the coke drum is arranged on the support platform, a first laser radar and a second laser radar for detecting the position of the coke drum are arranged on the side of the support platform, the second laser radar is located ahead of the running direction of the coke drum compared to the first laser radar, and a third laser radar and a fourth laser radar for detecting the position of the hook are also arranged on the support platform near the hoist hook, the method comprising:

[0009] S1: With the running direction of the coke tank as the X-axis and the vertical height direction as the Y-axis, a detection system coordinate system for detecting the position of the coke tank and the position of the hoist hook is established, wherein the position information of the coke tank detected by the first laser radar and the second laser radar can be input into the detection system coordinate system, and the position information of the hook detected by the third laser radar and the fourth laser radar can also be input into the detection system coordinate system;

[0010] S2: After the first laser radar detects that the coke tank has reached the first predetermined range, it is determined whether the shape of the coke tank trunnion on the coke tank and the coordinate value of the X direction in the detection system coordinate system meet the position requirements. If both meet the requirements, a deceleration command is issued to the coke tank carrier through the main control, so that the running speed of the coke tank carrier is reduced to the first speed;

[0011] S3: When the second laser radar detects that the coke tank has reached the second predetermined range, the first laser radar and the second laser radar input the detected position information of the coke tank ear axis on the coke tank into the detection system coordinate system, and compare the coordinate value of the coke tank ear axis on the coke tank with the coordinate value of the hoist hook in the X direction in the detection system coordinate system. When the coordinate values ​​of the two coincide with each other, a stop command is issued to the coke tank carrier through the main control, so that the coke tank carrier stops at the current position;

[0012] S4: sending a hook-closing command to the hoist hook through the main control, so that the hoist hook is buckled onto the coke tank trunnion on the coke tank;

[0013] S5: When the hoist hook is completely closed, the first laser radar and the second laser radar detect the position information of the hook head of the hoist hook from the side of the hoist hook, and compare the Y-direction coordinate value of the hook head of the hoist hook with the Y-direction coordinate value of the coke tank ear axis in the detection system coordinate system. At the same time, the third laser radar and the fourth laser radar detect the position state of the hoist hook from the front of the hoist hook.

[0014] S6: When it is detected that the hoist hook meets the lifting requirements, a lifting command is sent to the hoist hook through the main control, so that the hoist hook lifts the coke tank. When it is detected that the hoist hook does not meet the lifting requirements, an alarm signal is sent through the main control and the lifting of the coke tank is stopped.

[0015] Optionally, before the coke drum reaches a predetermined lifting position, the hoist hook is in a fully opened state.

[0016] Optionally, the first laser radar and the second laser radar can respectively detect the position information of the coke tank ear axes on both sides of the coke tank on the side of the coke tank.

[0017] Optionally, the third laser radar and the fourth laser radar can be extended from the inside of the supporting platform through a telescopic or rotating mechanism, and can respectively detect the position information of the coke drum ear shafts on both sides of the coke drum and the hook head of the hoist hook.

[0018] The main advantages of the technical solution of the present invention are as follows:

[0019] The present invention adopts a three-dimensional laser radar device to automatically identify and detect the focus tank and the hook, so that the coke tank and the hook can be quickly and accurately aligned without mechanical failure. It can not only completely replace the APS clamping device, but also detect the geometric position relationship between the hook and the coke tank ear axis, ensuring that the hook can accurately hang on the coke tank ear axis and safely lift the coke tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a structural schematic diagram of the positional relationship between the hoist hook and the third laser radar according to one embodiment of the present invention, wherein the hoist hook is in a state of being fully opened and waiting to lift the coke tank;

[0022] Figure 2 It is a structural schematic diagram of the positional relationship between the coke tank carrier and the first laser radar after the coke tank carrier moves to the first predetermined range according to one embodiment of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the positional relationship between the coke tank carrier and the first laser radar and the second laser radar after the coke tank carrier moves to the second predetermined range according to one embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the positional relationship between the coke drum trunnion and the hoist hook after the trunnion reaches the lifting position according to one embodiment of the present invention, wherein the hoist hook is not buckled to the coke drum trunnion;

[0025] Figure 5 It is a structural schematic diagram of the positional relationship between the coke drum trunnion and the hoist hook after the trunnion reaches the lifting position according to one embodiment of the present invention, wherein the hoist hook has been buckled onto the coke drum trunnion.

[0026] Description of reference numerals:

[0027] 10: Support platform 11: Hoist hook 20: Coke tank

[0028] 21: coke tank trunnion 31: first laser radar 32: second laser radar

[0029] 33: The third laser radar 34: The fourth laser radar DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0032] As attached Figures 1 to 5 As shown, in one embodiment of the present invention, a method for accurately aligning the coke drum of a dry coke quenching system with a hoist hook and safely lifting the drum is provided. In the method, a three-dimensional scanning technology based on a laser radar is used, and in combination with an automatic control technology, the coke drum can be automatically identified, and the coke drum carrier can be controlled to decelerate and accurately align. Moreover, the maximum positioning accuracy of the laser radar can reach ±1mm, which can not only achieve accurate alignment of the coke drum with the hook of the dry coke quenching hoist, but also ensure that the hook can accurately hang on the ear axis of the coke drum when lifting the coke drum.

[0033] It can be understood that LiDAR is an active detection method that uses light waves for measurement. In this method, point cloud position information of the surface of the object being measured can be obtained by emitting and receiving laser beams, and then three-dimensional modeling can be performed based on the acquired position information. Since LiDAR obtains feedback information mainly by actively emitting and receiving laser beams during operation, it has no requirements for ambient light, and since the wavelength of light waves used by LiDAR is longer than that of visible light, it can penetrate dust more effectively, so it is very suitable for dry coke quenching elevators, which are located outdoors and have large changes in light environment due to factors such as day and night and weather, and are dusty.

[0034] Therefore, in this embodiment, the laser radar can be used to scan and quickly build models of the focus tank and the hoist hook, compare the external dimensions and relative position coordinates of the two, provide information to the dry coke quenching main control system, and instruct the coke tank carrier to slow down first, and stop after ensuring that the coke tank and the hoist hook are accurately aligned. It can also be identified that the hook can accurately hang on the coke tank ear shaft when the hook is closed, thereby guiding the dry coke quenching hoist to perform subsequent normal work.

[0035] In order to effectively implement the technical solution of the present invention, in this embodiment, as Figure 1 As shown, a support platform 10 is arranged below the dry coke quenching lifting tower, and a hoist hook 11 for lifting the coke tank 20 is arranged on the support platform 10. A first laser radar 31 and a second laser radar 32 for detecting the position of the coke tank are arranged on the side of the support platform 10. Compared with the first laser radar 31, the second laser radar 32 is located in front of the running direction of the coke tank. A third laser radar 33 and a fourth laser radar 34 for detecting the hook position are also arranged on the support platform 10 near the hoist hook.

[0036] That is, the first laser radar 31 and the second laser radar 32 can detect the running position of the coke tank 20. When the coke tank 20 reaches the predetermined position, the position of the coke tank trunnion 21 on the coke tank 20 can also be detected. The third laser radar 33 and the fourth laser radar 34 are arranged on the supporting platform 10, and can detect the position state of the hoist hook 11.

[0037] Furthermore, if Figures 2 to 5 As shown, the method in this embodiment includes:

[0038] S1: With the running direction of the coke tank as the X-axis and the vertical height direction as the Y-axis, a detection system coordinate system for detecting the position of the coke tank and the position of the hoist hook is established, wherein the position information of the coke tank detected by the first laser radar and the second laser radar can be input into the detection system coordinate system, and the position information of the hook detected by the third laser radar and the fourth laser radar can also be input into the detection system coordinate system;

[0039] S2: After the first laser radar detects that the coke tank has reached the first predetermined range, it is determined whether the shape of the coke tank trunnion on the coke tank and the coordinate value of the X direction in the detection system coordinate system meet the position requirements. If both meet the requirements, a deceleration command is issued to the coke tank carrier through the main control, so that the running speed of the coke tank carrier is reduced to the first speed;

[0040] S3: When the second laser radar detects that the coke tank has reached the second predetermined range, the first laser radar and the second laser radar input the detected position information of the coke tank ear axis on the coke tank into the detection system coordinate system, and compare the coordinate value of the coke tank ear axis on the coke tank with the coordinate value of the hoist hook in the X direction in the detection system coordinate system. When the coordinate values ​​of the two coincide with each other, a stop command is issued to the coke tank carrier through the main control, so that the coke tank carrier stops at the current position;

[0041] S4: sending a hook-closing command to the hoist hook through the main control, so that the hoist hook is buckled onto the coke tank trunnion on the coke tank;

[0042] S5: When the hoist hook is completely closed, the first laser radar and the second laser radar detect the position information of the hook head of the hoist hook from the side of the hoist hook, and compare the Y-direction coordinate value of the hook head of the hoist hook with the Y-direction coordinate value of the coke tank ear axis in the detection system coordinate system. At the same time, the third laser radar and the fourth laser radar detect the position state of the hoist hook from the front of the hoist hook.

[0043] S6: When it is detected that the hoist hook meets the lifting requirements, a lifting command is sent to the hoist hook through the main control, so that the hoist hook lifts the coke tank. When it is detected that the hoist hook does not meet the lifting requirements, an alarm signal is sent through the main control and the lifting of the coke tank is stopped.

[0044] Preferably, if Figure 1 As shown, before the coke drum 20 reaches the predetermined lifting position, the hoist hook 11 is in a fully open state. For example, the hook head of the hoist hook 11 is in a state of waiting to be engaged with the coke drum trunnion. In addition, when the hoist hook receives the lifting instruction, the hook head of the hoist hook 11 can rotate and be engaged with the coke drum trunnion 21.

[0045] Furthermore, the first laser radar 31 and the second laser radar 32 can respectively detect the position information of the coke tank ear axes 21 on both sides of the coke tank 20 on the sides of the coke tank 20 .

[0046] In addition, the third laser radar 33 and the fourth laser radar 34 can be extended from the inside of the supporting platform 10 through a telescopic or rotating mechanism, and can respectively detect the position information of the coke tank ear axis 21 on both sides of the coke tank 20.

[0047] Therefore, the method for accurately aligning the coke drum of the dry coke quenching system with the hoist hook and safely lifting the coke drum in this embodiment has the following advantages:

[0048] In this embodiment, a three-dimensional laser radar device is used to automatically identify and detect the focus tank and the hook, so that the coke tank and the hook can be quickly and accurately aligned without mechanical failure. It can not only completely replace the APS clamping device, but also detect the geometric position relationship between the hook and the coke tank ear axis, ensuring that the hook can accurately hang on the coke tank ear axis and safely lift the coke tank.

[0049] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for accurately aligning a coke drum of a dry coke quenching system with a hoist hook and safely lifting the coke drum, characterized in that: A support platform is provided below the dry coke quenching lifting tower, a hoist hook for lifting a coke tank is provided on the support platform, a first laser radar and a second laser radar for detecting the position of the coke tank are provided on the side of the support platform, the second laser radar is located ahead of the running direction of the coke tank compared to the first laser radar, and a third laser radar and a fourth laser radar for detecting the position of the hook are also provided on the support platform near the hoist hook, and the method comprises: S1: With the running direction of the coke tank as the X-axis and the vertical height direction as the Y-axis, a detection system coordinate system for detecting the position of the coke tank and the position of the hoist hook is established, wherein the position information of the coke tank detected by the first laser radar and the second laser radar is input into the detection system coordinate system, and the position information of the hook detected by the third laser radar and the fourth laser radar is also input into the detection system coordinate system; S2: After the first laser radar detects that the coke tank has reached the first predetermined range, it is determined whether the shape of the coke tank trunnion on the coke tank and the coordinate value of the X direction in the detection system coordinate system meet the position requirements. If both meet the requirements, a deceleration command is issued to the coke tank carrier through the main control, so that the running speed of the coke tank carrier is reduced to the first speed; S3: When the second laser radar detects that the coke tank has reached the second predetermined range, the first laser radar and the second laser radar input the detected position information of the coke tank ear axis on the coke tank into the detection system coordinate system, and compare the coordinate value of the coke tank ear axis on the coke tank with the coordinate value of the hoist hook in the X direction in the detection system coordinate system. When the coordinate values ​​of the two coincide with each other, a stop command is issued to the coke tank carrier through the main control, so that the coke tank carrier stops at the current position; S4: sending a hook-closing command to the hoist hook through the main control, so that the hoist hook is buckled onto the coke tank trunnion on the coke tank; S5: When the hoist hook is completely closed, the first laser radar and the second laser radar detect the position information of the hook head of the hoist hook from the side of the hoist hook, and compare the Y-direction coordinate value of the hook head of the hoist hook with the Y-direction coordinate value of the coke tank ear axis in the detection system coordinate system. At the same time, the third laser radar and the fourth laser radar detect the position state of the hoist hook from the front of the hoist hook. S6: When it is detected that the hoist hook meets the lifting requirements, a lifting command is sent to the hoist hook through the main control, so that the hoist hook lifts the coke tank. When it is detected that the hoist hook does not meet the lifting requirements, an alarm signal is sent through the main control and the lifting of the coke tank is stopped.

2. The method for accurately aligning the coke drum of a dry coke quenching system with a hoist hook and safely lifting the coke drum according to claim 1 is characterized in that: Before the coke drum reaches the predetermined lifting position, the hoist hook is in a fully open state.

3. The method for accurately aligning the coke drum of a dry coke quenching system with a hoist hook and safely lifting the coke drum according to claim 1 is characterized in that: The first laser radar and the second laser radar can respectively detect the position information of the coke tank ear axes on both sides of the coke tank on the side of the coke tank.

4. The method for accurately aligning the coke drum of a dry coke quenching system with a hoist hook and safely lifting the coke drum according to claim 1 is characterized in that: The third laser radar and the fourth laser radar can be extended from the inside of the supporting platform through a telescopic or rotating mechanism, and can respectively detect the position information of the coke drum ear shafts on both sides of the coke drum and the hook head of the hoist hook.

Images