Fixed-point slag grabbing system and method

Abstract

The present application relates to the technical field of kiln slag treatment, and provides a fixed-point slag grabbing system and method, the system comprising: a position detection device, a grab bucket weighing detection device and a control unit. The control unit is configured to perform the following operations: obtain the relative position parameters between the grab bucket center point and the fixed slag grabbing point; wait for the kiln slag accumulation time T 1 Then, according to the relative position parameters, the grab bucket is controlled to move to the fixed slag grabbing point, and a signal that the grab bucket contacts the fixed slag grabbing point is obtained; according to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the kiln slag at the fixed slag grabbing point; the kiln slag at the fixed slag grabbing point is grabbed from the water quenching pool to the intermediate slag yard. The fixed-point slag grabbing system provided by the present application can realize automated slag grabbing action and obtain a high grabbing rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources.

Description

Technical Field

[0001] The present application relates to the technical field of kiln slag treatment, and in particular to a fixed-point slag grabbing system and method. Background Art

[0002] In order to recycle iron dust during steel production, a disposal production line will be built in the steel plant. In the process of returning the iron-containing dust to production and utilization, the iron element will form solid iron-containing slag, which will be discharged from the kiln head and enter the slag treatment system. After treatment, it will be used as sintering raw material and sent to sintering for batching.

[0003] like Figure 1 As shown in FIG. 1 , it is a top view of the existing iron kiln slag treatment system, including a water quenching pool 01, a slag flushing channel 02, a bridge crane 03, a bridge crane operating room 04 and an intermediate slag yard 05; Figure 2 As shown, it also includes a rotary kiln 06 and a discharge port 061. The arrow in the figure indicates the direction of slag flushing. The slag treatment process is as follows: the slag is continuously discharged from the discharge port 061 of the rotary kiln 06, and after being granulated by water in the slag flushing chute, it enters the water quenching pool 01 for immersion and cooling. After cooling, the slag is grabbed by the grab bucket 031 controlled by the bridge crane 03 and transported to the intermediate slag yard 05 for natural drainage and drying. The slag discharged from the rotary kiln 06 is in a high-temperature molten state, and is discharged into the water quenching pool 01 for immersion, cooling and solidification into particles. The slag is mostly accumulated in the water quenching pool 01 near the slag flushing channel 02, so the operator needs to operate the bridge crane 03 to clean the slag.

[0004] During the slag treatment process, the high-temperature slag discharged from the kiln head of the rotary kiln 06 is discharged into the water quenching pool 01, causing water evaporation, thereby generating a large amount of water vapor; in addition, the slag is located at the bottom of the water quenching pool 01, and there will be impurities in the pool; these factors will interfere with the operator's vision; therefore, it is difficult for the operator to accurately select the appropriate grabbing position, resulting in a low grabbing rate for each operation, and thus low single grabbing efficiency, ultimately resulting in a waste of manpower and material resources. Summary of the invention

[0005] In order to obtain a high full grab rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources, the present application provides a fixed-point slag grabbing system and method.

[0006] In a first aspect of the present application, a fixed-point slag grabbing system is provided. The system is applied to a bridge crane. The bridge crane is located directly above a water quenching tank. The bridge crane includes a grab bucket for grabbing materials. The grab bucket can move horizontally or vertically above the water quenching tank to grab the kiln slag in the stockpiling area to the intermediate slag yard. The bottom of the water quenching tank near the slag flushing channel is the stockpiling area. The fixed-point slag grabbing system includes:

[0007] A position detection device is arranged on the surface of the bridge crane, and the position detection device is used to obtain the three-dimensional spatial position of the center point of the grab bucket and the position of the fixed slag grab point, and the fixed slag grab point is the highest point in the stockpile area.

[0008] A grab bucket weighing detection device is arranged above the grab bucket; the grab bucket weighing detection device is used to obtain the grab bucket weight parameters.

[0009] A control unit is arranged on the surface of the bridge crane, and the control unit is connected with the position detection device and the grab bucket weighing detection device to control the movement of the grab bucket so as to complete the fixed-point slag grabbing action.

[0010] The control unit is configured to perform the following operations:

[0011] According to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grab point are obtained.

[0012] After the slag accumulation waiting time T1, the grab bucket is controlled to move to the fixed slag grabbing point according to the relative position parameters. The slag accumulation waiting time is the time from the start of the rotary kiln discharging to the initial accumulation height of the slag grabbing allowed.

[0013] According to the grab bucket weight parameter sent by the grab bucket weighing detection device, a signal that the grab bucket contacts the fixed slag grabbing point is obtained.

[0014] According to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the kiln slag at the fixed slag grabbing point.

[0015] The kiln slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard.

[0016] Optionally, the step of determining whether the grab bucket contacts the kiln slag is specifically as follows:

[0017] The grab bucket weighing detection device obtains the tension parameter W1 when the empty grab bucket does not contact the kiln slag.

[0018] The grab bucket weighing detection device obtains the real-time pulling force parameter W2 of the empty grab bucket.

[0019] If W2≤k1W1, it is determined that the grab has touched the kiln slag. k1 is the adjustment coefficient, which is 0.8-0.98.

[0020] Optionally, the step of obtaining a fixed slag grabbing point includes:

[0021] Confirm the initial slag grabbing point, which is located on the center line of the vertical slag flushing channel.

[0022] Obtain the distance between the preliminary slag grabbing point and the water quenching pool wall, and calculate the distance from the water quenching pool wall according to the following formula:

[0023]

[0024] D is the distance between the initial slag grabbing point and the wall of the water quenching pool, W is the width of the water quenching pool, H is the initial stacking height of the slag, and A is the repose angle of the slag pile.

[0025] The initial stacking height H of the slag is calculated according to the following model:

[0026] H=H1-H2-H3-H4

[0027] H1 is the distance between the grab bucket’s rotating axis and the water surface, H2 is the distance between the grab bucket’s lowest position and the fixed slag grab point, H3 is the water depth in the water quenching pool, and H4 is the height of the grab bucket itself.

[0028] Optionally, after the preliminary slag grabbing point is confirmed, an automatic correction process is also included, and the automatic correction process includes:

[0029] Six correction comparison points are selected on the center line of the vertical slag flushing channel at the initial slag grabbing point, and the distance between adjacent correction comparison points is 300 mm.

[0030] The bridge crane grabs the kiln slag once at each of the six correction comparison points and the initial slag grabbing point.

[0031] Calculate the full grab rate of the revised comparison point and the preliminary slag grab point.

[0032] According to the full grabbing rates of the revised comparison point and the preliminary slag grabbing point, the position with the highest full grabbing rate is selected as the fixed slag grabbing point.

[0033] Optionally, the catch rate is obtained as follows:

[0034] When the grab grabs the slag at the 6 modified comparison points and the initial slag grab point, and the grab is in the water of the water quenching pool, the grab stays in the water for 2 seconds to obtain the full grab rate.

[0035] Get the volume V of the grab bucket d , the density of water in the water quenching tank ρ1, the density of kiln slag ρ2, the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d .

[0036] According to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the pulling force value obtained by the grab bucket weighing detection device and the weight of the empty grab bucket, a grab rate calculation model is used to obtain the grab rate. The grab rate calculation model is as follows:

[0037]

[0038] η0 is the catch rate.

[0039] Optionally, when the actual full grab rate is lower than 80% of the full grab rate of the fixed slag grab point, automatic correction is performed again, and a new fixed slag grab point is selected to obtain the full grab rate closest to the fixed slag grab point.

[0040] Optionally, the slag accumulation waiting time T1 is calculated according to the following formula:

[0041]

[0042] V is the volume of the initial slag accumulation, s is the slag discharge rate of the rotary kiln slag expressed in volume, Q is the slag discharge rate of the rotary kiln slag expressed in mass, ρ2 is the density of the slag, k is the calculation coefficient taken to simplify the calculation of the slag accumulation volume, H is the initial accumulation height of the slag, and A is the repose angle of the slag.

[0043] Optionally, after grabbing the slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard, the grab bucket returns to its original position. After the grab bucket returns to its original position, the nth slag grabbing needs to be carried out within the slag grabbing interval time t. n After that, the next slag grabbing starts, and the slag grabbing interval time t n The calculation model is:

[0044]

[0045] m n-1 is the amount of slag grabbed in the previous slag grabbing of the nth time, n≥3, and Q is the slag discharge rate of the rotary kiln expressed in mass.

[0046] When n=2, the calculation model of the slag grabbing interval time is:

[0047]

[0048] t2 is the interval between the first and second slag grabbing, V d is the volume of the grab bucket, η0 is the grab rate, and ρ2 is the density of the slag.

[0049] In a second aspect of the present application, a fixed-point slag grabbing method is provided, the fixed-point slag grabbing method is applied to a bridge crane, the bridge crane is located directly above a water quenching tank, the bridge crane comprises a grab bucket for grabbing materials, the grab bucket can move horizontally or vertically above the water quenching tank, and is used to grab the kiln slag in the stockpiling area to the intermediate slag yard, the bottom of the water quenching tank near the slag flushing channel is the stockpiling area, the fixed-point slag grabbing method comprises:

[0050] According to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grab point are obtained.

[0051] After the slag accumulation waiting time T1, the grab bucket is controlled to move to the fixed slag grabbing point according to the relative position parameters. The slag accumulation waiting time is the time from the start of the rotary kiln discharging to the initial accumulation height of the slag grabbing allowed.

[0052] According to the grab bucket weight parameter sent by the grab bucket weighing detection device, a signal that the grab bucket contacts the fixed slag grabbing point is obtained.

[0053] According to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the kiln slag at the fixed slag grabbing point.

[0054] The kiln slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard.

[0055] It can be seen from the above technical solutions that the present application provides a fixed-point slag grabbing system and method, the system comprising: a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket, and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: according to the three-dimensional spatial position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grabbing point are obtained; after the slag accumulation waiting time T1, according to the relative position parameters, the grab bucket is controlled to move to the fixed slag grabbing point, the slag accumulation waiting time is the time taken from the rotary kiln starting to discharge to the initial accumulation height of the allowed slag grabbing; according to the grab bucket weight parameter sent by the grab bucket weighing detection device, the signal that the grab bucket contacts the fixed slag grabbing point is obtained; according to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the slag at the fixed slag grabbing point; the slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard. The fixed-point slag grabbing system provided in the present application can realize automated slag grabbing action and obtain a high grabbing rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] Figure 1 This is a top view of the existing iron kiln slag treatment system;

[0058] Figure 2 This is a front view of the existing iron kiln slag treatment system;

[0059] Figure 3 A flow chart of a fixed-point slag grabbing method provided in an embodiment of the present application;

[0060] Figure 4It is a schematic diagram of fixing the slag grabbing point;

[0061] Figure 5 It is a scene diagram of a fixed slag grabbing point in the slag grabbing system, a is a top view of the fixed slag grabbing point in the slag grabbing system, and b is a front view of the fixed slag grabbing point slag grabbing system;

[0062] Figure 6 This is a schematic diagram of the distribution of correction comparison points;

[0063] Figure 7 This is a top view of the intermediate slag yard and water quenching pool;

[0064] Figure 8 An architectural diagram of a fixed-point slag grabbing system provided in an embodiment of the present application;

[0065] Fig. 9 A flowchart of the control unit in the fixed-point slag grabbing system provided in an embodiment of the present application;

[0066] Fig.10 Schematic diagram of the position of the grab bucket's rotation axis and the grab bucket's lowest position.

[0067] in:

[0068] 01-water quenching tank, 02-slag flushing channel, 03-bridge crane, 031-grab bucket, 04-bridge crane operation room, 05-intermediate slag yard, 06-rotary kiln, 061-discharge port, 1-position detection device, 2-grab bucket weighing detection device, 3-control unit. DETAILED DESCRIPTION

[0069] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0070] In order to obtain a high full grab rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources, the embodiment of the present application provides a fixed-point slag grabbing system and method.

[0071] Figure 2 This is a front view of the existing iron kiln slag handling system. Figure 5 It is a scene diagram of the fixed slag grabbing point in the slag grabbing system. Figure 2 and Figure 5The system is applied to a bridge crane 03, which is located directly above a water quenching pool 01. The bridge crane 03 includes a grab bucket 031 for grabbing materials. The grab bucket 031 can move horizontally or vertically above the water quenching pool 01 to grab the kiln slag in the stockpiling area to the intermediate slag yard 05. The bottom of the water quenching pool 01 near the slag flushing channel 02 is the stockpiling area.

[0072] Figure 8 This is an architectural diagram of the fixed-point slag grabbing system provided in an embodiment of the present application.

[0073] See also Figure 8 The fixed-point slag grabbing system provided in the embodiment of the present application includes: a position detection device 1 arranged on the surface of the bridge crane, the position detection device 1 is used to obtain the three-dimensional spatial position of the center point of the grab bucket and the position of the fixed slag grabbing point, and the fixed slag grabbing point is the highest point of the stockpiling area; a grab bucket weighing detection device 2 arranged above the grab bucket; the grab bucket weighing detection device 2 is used to obtain the grab bucket weight parameters; a control unit 3 arranged on the surface of the bridge crane 03, the control unit 3 is connected to the position detection device 1 and the grab bucket weighing detection device 2, and controls the movement of the grab bucket 031 to complete the fixed-point slag grabbing action.

[0074] The position detection device 1 can obtain the three-dimensional spatial position of the center point of the grab bucket 031 and the position of the fixed slag grab point through a position encoder, laser ranging, position sensing belt, etc.

[0075] The grab bucket weighing detection device 2 can set weighing sensors at appropriate positions such as the winch, trolley, and small car of the bridge crane 03. The accuracy of the sensor only needs to meet the requirements. The weighing sensor can detect the total weight of the slag automatically picked up by the equipment and the grab bucket, and transmit the weight data to the weighing detection device 2 for analysis and judgment.

[0076] The control unit 3 is connected to various motors, limit protection devices, etc. on the bridge crane 03. There are mature solutions and products on the market, such as complete sets of electric control cabinets provided by bridge crane manufacturers. It can receive control instructions, control the operation of the motors on the bridge crane, and complete the movement of the crane trolley, the movement of the trolley, the lifting or lowering of the grab 031, and the opening or closing of the grab 031.

[0077] Fig. 9 This is a flowchart of the control unit in the fixed-point slag grabbing system provided in an embodiment of the present application.

[0078] See also Fig. 9 In an embodiment of the present application, the control unit is configured to perform the following steps:

[0079] Step 101, obtaining relative position parameters of the grab bucket center point and the fixed slag grab point according to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device.

[0080] Among them, see Figure 2 The three-dimensional spatial position of the grab center point is represented by three-dimensional coordinates (A, B, C), where A is the horizontal coordinate of the grab center point, B is the vertical coordinate of the grab center point, and C is the vertical coordinate of the grab center point.

[0081] By setting position encoders on the trolley travel motor, trolley travel motor and winch motor of the bridge crane 03, the trolley position and grab center point height of the bridge crane 03 can be obtained; the trolley is fixed on the trolley, and the trolley can move on the trolley track.

[0082] Figure 4 This is a schematic diagram of fixing the slag grabbing point. Figure 5 To fix the scene graph of the slag grabbing point in the slag grabbing system, Figure 7 This is a top view of the intermediate slag yard and water quenching pool. Figure 4 , Figure 5 and Figure 7 The slag pile is approximated into a cone, and the highest point of the slag accumulation is selected as the fixed slag grabbing point by combining theoretical calculation with automatic correction.

[0083] The grab 031 is opened when grabbing slag, and is closed when the grab 031 contacts the slag. The grab point refers to the three-dimensional space coordinate corresponding to the highest point of the slag pile; it is a certain point on the two-dimensional plane projection, and its height direction is a value that changes within a certain area related to the opening and closing state of the grab.

[0084] The step of obtaining a fixed slag grabbing point comprises:

[0085] Confirm the initial slag grabbing point, which is located on the center line of the vertical slag flushing channel.

[0086] Obtain the distance between the initial slag grabbing point and the water quenching tank wall, and calculate the distance from the water quenching tank 01 wall according to the following formula:

[0087]

[0088] D is the distance between the initial slag grabbing point and the wall of the water quenching pool 01, W is the width of the water quenching pool 01, H is the initial stacking height of the slag, and A is the repose angle of the slag pile.

[0089] The initial stacking height H of the slag is calculated according to the following model:

[0090] H=H1-H2-H3-H4

[0091] H1 is the distance between the grab bucket’s rotating axis and the water surface, H2 is the distance between the grab bucket’s lowest position and the fixed slag grab point, H3 is the water depth in the water quenching pool, and H4 is the height of the grab bucket itself.

[0092] See also Fig.10 , is a schematic diagram of the grab bucket rotation axis position and the grab bucket's lowest position. It should be noted that H1, H2, H3, H4. H1 is 0.5 meters in the embodiment of the present application, and H2 is 1 meter in the embodiment of the present application. Since the grab bucket is opened and closed in a process of rotating along the axis, the grab bucket's lowest position in H2 is calculated as the lowest position when the grab bucket is closed.

[0093] The angle of repose of A kiln slag is the minimum angle between the free surface and the horizontal plane when the free surface of the powder accumulation body is in the limit state of equilibrium (that is, as the inclination angle increases, the object on the inclined plane will slide down more easily; when the object reaches the state of starting to slide down, the angle of this critical state is called the angle of repose). It is obtained through actual sampling and measurement on site.

[0094] After confirming the preliminary slag grabbing point, an automatic correction process is also included, and the automatic correction process includes:

[0095] Figure 6 This is a schematic diagram of the distribution of correction comparison points. Figure 6 , select 6 correction comparison points on the center line of the vertical slag flushing channel at the initial slag grabbing point, and the distance between adjacent correction comparison points is 300mm.

[0096] The bridge crane grabs the kiln slag once at each of the six correction comparison points and the initial slag grabbing point.

[0097] Step 102, after the slag accumulation waiting time T1, control the grab bucket to move to the fixed slag grab point according to the relative position parameter, and the slag accumulation waiting time is the time taken from the start of the rotary kiln discharging to the initial accumulation height of the slag grab.

[0098] After the slag is accumulated to the initial accumulation height H of the slag, the slag is grabbed. The slag accumulation waiting time T1 is calculated according to the following formula:

[0099]

[0100] V is the initial accumulation volume of slag, s is the slag discharge rate of rotary kiln slag expressed in volume, Q is the slag discharge rate of rotary kiln 06 slag expressed in mass, ρ2 is the density of slag, k is the calculation coefficient taken to simplify the calculation of slag accumulation volume, H is the initial accumulation height of slag, and A is the repose angle of slag.

[0101] Step 103, obtaining a signal indicating that the grab 031 contacts the fixed slag grab point according to the grab weight parameter sent by the grab weighing detection device 2.

[0102] The step of judging whether the grab bucket contacts the kiln slag is specifically as follows:

[0103] The grab bucket weighing detection device obtains the tension parameter W1 when the empty grab bucket does not contact the kiln slag.

[0104] The grab bucket weighing detection device obtains the real-time pulling force parameter W2 of the empty grab bucket.

[0105] If W2≤k1W1, it is determined that the grab has touched the kiln slag. k1 is the adjustment coefficient, which is 0.8-0.98.

[0106] Step 104, according to the signal that the grab bucket 031 contacts the fixed slag grabbing point, control the grab bucket 031 to grab the kiln slag at the fixed slag grabbing point.

[0107] The method of obtaining the full catch rate is as follows:

[0108] When the grab grabs the slag at the 6 modified comparison points and the initial slag grab point, and the grab is in the water of the water quenching pool, the grab stays in the water for 2 seconds to obtain the full grab rate.

[0109] Get the volume V of the grab bucket d , the density of water in the water quenching tank ρ1, the density of kiln slag ρ2, the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d .

[0110] According to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the pulling force value obtained by the grab bucket weighing detection device and the weight of the empty grab bucket, a grab rate calculation model is used to obtain the grab rate. The grab rate calculation model is as follows:

[0111]

[0112] η0 is the catch rate.

[0113] The specific model acquisition principle is as follows:

[0114] F1 represents the tension of the grab bucket wire rope, F1=mg, m is the weight value obtained by the grab bucket weighing detection device, and g is the gravity acceleration. F2 represents the buoyancy of the grabbed kiln slag under water, F2=ρ1gV z , ρ1 is the density of water, V z G is the volume of the slag grabbed. d Represents the gravity of the empty grab, G d =m d g,m d Indicates the weight of the empty grab bucket, which can be obtained from the grab bucket parameters. z Indicates the gravity of the captured slag, G z =m z g=ρ2Vz， m z It represents the mass of slag, and ρ2 is the density of slag.

[0115] The force is as follows: F1+F2=G d +G z (Ignore the buoyancy of the grab bucket underwater), that is: mg+ρ1gV z =m d g+m z g=m d g+ρ2gV z , we can get:

[0116]

[0117]

[0118] When the actual grab rate is lower than 80% of the fixed grab point, it will be automatically corrected again and a new fixed grab point will be selected to obtain the grab rate closest to the fixed grab point. The fixed grab point may change over time due to long-term operation of the grab, so when the actual grab rate is lower than 80% of the fixed grab rate, it needs to be corrected again.

[0119] Step 105, grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard.

[0120] Figure 7 This is a top view of the intermediate slag yard and water quenching pool. Figure 7 After the slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard, the grab bucket returns to its original position. After the grab bucket returns to its original position, the nth slag grabbing needs to be carried out within the slag grabbing interval time t n After that, the next slag grabbing starts, and the slag grabbing interval time t n The calculation model is:

[0121]

[0122] m n-1 The slag grab amount of the previous slag grab before the nth slag grab, n≥3;

[0123] When n=2, the calculation model of the slag grabbing interval time is:

[0124]

[0125] t2 is the interval time between the first slag grabbing and the second slag grabbing.

[0126] After the slag accumulates to a certain height in the water quenching tank 01, an efficient and energy-saving automatic slag grabbing operation is performed. In the embodiment of the present application, the slag accumulation waiting time is T1, and the amount of slag grabbed during the slag grabbing interval is equal to the slag discharge amount of the rotary kiln, so that the shape of the slag pile and the position of the slag grabbing point with the highest grabbing rate remain unchanged.

[0127] It can be seen from the above technical solutions that the embodiment of the present application provides a fixed-point slag grabbing system, the system comprising: a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket, and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: according to the three-dimensional spatial position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grabbing point are obtained; after the slag accumulation waiting time T1, according to the relative position parameters, the grab bucket is controlled to move to the fixed slag grabbing point, the slag accumulation waiting time is the time taken from the rotary kiln starting to discharge to the initial accumulation height of the allowed slag grabbing; according to the grab bucket weight parameter sent by the grab bucket weighing detection device, the signal that the grab bucket contacts the fixed slag grabbing point is obtained; according to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the slag at the fixed slag grabbing point; the slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard. The fixed-point slag grabbing system provided in the embodiment of the present application can realize automated slag grabbing action and obtain a high grabbing rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources.

[0128] Figure 3 Flow chart of a fixed-point slag grabbing method provided in an embodiment of the present application. The embodiment of the present application provides a fixed-point slag grabbing method, which is applied to a bridge crane, the bridge crane is located directly above a water quenching tank, the bridge crane includes a grab bucket for grabbing materials, the grab bucket can move horizontally or vertically above the water quenching tank, and is used to grab the kiln slag in the stockpiling area to the intermediate slag yard, the bottom of the water quenching tank near the slag flushing channel is the stockpiling area, and the fixed-point slag grabbing method includes:

[0129] Step 201, obtaining relative position parameters of the grab bucket center point and the fixed slag grab point according to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device.

[0130] Step 202, after the slag accumulation waiting time T1, control the grab bucket to move to the fixed slag grab point according to the relative position parameter, and the slag accumulation waiting time is the time taken from the start of the rotary kiln discharging to the initial accumulation height of the slag grab.

[0131] Step 203: acquiring a signal indicating that the grab bucket contacts the fixed slag grab point according to the grab bucket weight parameter sent by the grab bucket weighing detection device.

[0132] Step 204, according to the signal that the grab bucket contacts the fixed slag grabbing point, control the grab bucket to grab the kiln slag at the fixed slag grabbing point.

[0133] Step 205, grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard.

[0134] It can be seen from the above technical solutions that the embodiment of the present application provides a fixed-point slag grabbing system and method, the system comprising: a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket, and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: according to the three-dimensional spatial position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grabbing point are obtained; after the slag accumulation waiting time T1, according to the relative position parameters, the grab bucket is controlled to move to the fixed slag grabbing point, the slag accumulation waiting time is the time taken from the rotary kiln starting to discharge to the initial accumulation height of the allowed slag grabbing; according to the grab bucket weight parameter sent by the grab bucket weighing detection device, the signal that the grab bucket contacts the fixed slag grabbing point is obtained; according to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the slag at the fixed slag grabbing point; the slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag yard. The fixed-point slag grabbing system provided in the embodiment of the present application can realize automated slag grabbing action and obtain a high grabbing rate, thereby reducing the number of operations of the bridge crane and saving manpower and material resources.

[0135] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. A fixed-point slag grabbing system, the system is applied to a bridge crane, the bridge crane is located directly above a water quenching tank, the bridge crane comprises a grab bucket for grabbing materials, the grab bucket can move horizontally or vertically above the water quenching tank, and is used to grab the kiln slag in the stockpiling area to the intermediate slag yard, the bottom of the water quenching tank near the slag flushing channel is the stockpiling area, characterized in that: The fixed-point slag grabbing system comprises: A position detection device is arranged on the surface of the bridge crane, and the position detection device is used to obtain the three-dimensional spatial position of the center point of the grab bucket and the position of the fixed slag grab point, and the fixed slag grab point is the highest point of the stockpile area; A grab bucket weighing detection device is arranged above the grab bucket; the grab bucket weighing detection device is used to obtain the grab bucket weight parameters; A control unit is arranged on the surface of the bridge crane, the control unit is connected with the position detection device and the grab bucket weighing detection device, and controls the movement of the grab bucket so as to complete the fixed-point slag grabbing action; The control unit is configured to perform the following operations: According to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grab point are obtained; After the slag accumulation waiting time T1, the grab bucket is controlled to move to the fixed slag grabbing point according to the relative position parameter. The slag accumulation waiting time is the time from the start of the rotary kiln discharging to the initial accumulation height of the slag grabbing allowed; According to the grab bucket weight parameter sent by the grab bucket weighing detection device, a signal indicating that the grab bucket contacts the fixed slag grabbing point is obtained; According to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the kiln slag at the fixed slag grabbing point; Grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard; The steps of obtaining a fixed slag grab point include: Confirming the initial slag grabbing point, which is located on the center line of the vertical slag flushing channel; Obtain the distance between the preliminary slag grabbing point and the water quenching pool wall, and calculate the distance from the water quenching pool wall according to the following formula: D is the distance between the initial slag grabbing point and the water quenching tank wall, W is the width of the water quenching tank, H is the initial stacking height of the slag, and A is the repose angle of the slag pile; The initial stacking height H of the slag is calculated according to the following model: H=H1-H2-H3-H4 H1 is the distance between the grab bucket’s rotating axis and the water surface, H2 is the distance between the grab bucket’s lowest position and the fixed slag grab point, H3 is the water depth in the water quenching pool, and H4 is the height of the grab bucket itself.

2. The fixed-point slag grabbing system according to claim 1, characterized in that: The steps to determine whether the grab bucket contacts the kiln slag are as follows: The grab bucket weighing detection device obtains the tension parameter W1 when the empty grab bucket does not touch the kiln slag; The grab bucket weighing detection device obtains the real-time tension parameter W2 of the empty grab bucket; If W2≤k1W1, it is determined that the grab has touched the kiln slag. k1 is the adjustment coefficient, which is 0.8-0.

98.

3. The fixed-point slag grabbing system according to claim 1, characterized in that: After confirming the preliminary slag grabbing point, an automatic correction process is also included, and the automatic correction process includes: Select 6 correction comparison points on the center line of the vertical slag flushing channel at the initial slag grabbing point, and the distance between adjacent correction comparison points is 300mm; The bridge crane grabs the kiln slag once at each of the six correction comparison points and the initial slag grabbing point; Calculate the full grab rate of the revised comparison point and the initial slag grab point; According to the full grabbing rates of the revised comparison point and the preliminary slag grabbing point, the position with the highest full grabbing rate is selected as the fixed slag grabbing point.

4. The fixed-point slag grabbing system according to claim 3 is characterized in that: The method to obtain the full catch rate is as follows: When the grab grabs the slag at the six corrected comparison points and the preliminary slag grab point, and the grab is in the water of the water quenching pool, the grab stays in the water for 2 seconds to obtain the full grab rate; Get the volume V of the grab bucket d , the density of water in the water quenching tank ρ1, the density of kiln slag ρ2, the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d ; According to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the pulling force value obtained by the grab bucket weighing detection device and the weight of the empty grab bucket, a grab rate calculation model is used to obtain the grab rate. The grab rate calculation model is as follows: η0 is the catch rate.

5. The fixed-point slag grabbing system according to claim 3, characterized in that: When the actual full grab rate is lower than 80% of the full grab rate of the fixed slag grab point, automatic correction is performed again and a new fixed slag grab point is selected to obtain the full grab rate closest to the fixed slag grab point.

6. The fixed-point slag grabbing system according to claim 1, characterized in that: The slag accumulation waiting time T1 is calculated according to the following formula: V is the volume of the initial slag accumulation, s is the slag discharge rate of the rotary kiln slag expressed in volume, Q is the slag discharge rate of the rotary kiln slag expressed in mass, ρ2 is the density of the slag, k is the calculation coefficient taken to simplify the calculation of the slag accumulation volume, H is the initial accumulation height of the slag, and A is the repose angle of the slag.

7. The fixed-point slag grabbing system according to claim 1, characterized in that: After grabbing the slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard, the grab bucket returns to its original position. After the grab bucket returns to its original position, the nth slag grabbing needs to be carried out within the slag grabbing interval time t. n After that, the next slag grabbing starts, and the slag grabbing interval time t n The calculation model is: m n-1 is the amount of slag removed in the previous slag removal of the nth slag removal, n≥3, Q is the rate of slag removal of the rotary kiln expressed in mass; When n=2, the calculation model of the slag grabbing interval time is: t2 is the interval between the first and second slag grabbing, V d is the volume of the grab bucket, η0 is the grab rate, and ρ2 is the density of the slag.

8. A fixed-point slag grabbing method, the fixed-point slag grabbing method is applied to a bridge crane, the bridge crane is located directly above a water quenching tank, the bridge crane comprises a grab bucket for grabbing materials, the grab bucket can move horizontally or vertically above the water quenching tank, and is used to grab the kiln slag in the stockpiling area to the intermediate slag yard, the bottom of the water quenching tank near the slag flushing channel is the stockpiling area, characterized in that: The fixed-point slag grabbing method comprises: According to the three-dimensional spatial position parameters of the grab bucket center point and the position parameters of the fixed slag grab point sent by the position detection device, the relative position parameters of the grab bucket center point and the fixed slag grab point are obtained; After the slag accumulation waiting time T1, the grab bucket is controlled to move to the fixed slag grabbing point according to the relative position parameter. The slag accumulation waiting time is the time from the start of the rotary kiln discharging to the initial accumulation height of the slag grabbing allowed; According to the grab bucket weight parameter sent by the grab bucket weighing detection device, a signal indicating that the grab bucket contacts the fixed slag grabbing point is obtained; According to the signal that the grab bucket contacts the fixed slag grabbing point, the grab bucket is controlled to grab the kiln slag at the fixed slag grabbing point; Grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to the intermediate slag yard; The steps of obtaining a fixed slag grab point include: Confirming the initial slag grabbing point, which is located on the center line of the vertical slag flushing channel; Obtain the distance between the preliminary slag grabbing point and the water quenching pool wall, and calculate the distance from the water quenching pool wall according to the following formula: D is the distance between the initial slag grabbing point and the water quenching tank wall, W is the width of the water quenching tank, H is the initial stacking height of the slag, and A is the repose angle of the slag pile; The initial stacking height H of the slag is calculated according to the following model: H=H1-H2-H3-H4 H1 is the distance between the grab bucket’s rotating axis and the water surface, H2 is the distance between the grab bucket’s lowest position and the fixed slag grab point, H3 is the water depth in the water quenching pool, and H4 is the height of the grab bucket itself.

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