Automatic slag removal system

Abstract

The present application relates to the technical field of steel smelting, and provides an automatic slag dredger system, including a controller, a crane motion control device, a grab weighing detection device, and a grab position detection device. The crane motion control device is used to receive control instructions issued by the controller, and complete the operation of the bridge crane according to the control instructions; the grab weighing detection device is used to measure the weight of the slag and send it to the controller; the grab position detection device is used to obtain the three-dimensional position information of the grab in the water quenching pool and the intermediate slag yard, and send it to the controller; the controller is used to partition the water quenching pool and the intermediate slag yard, and accurately locate the position of slag dredger and slag pile based on the weight and position information. The present application does not need to set up a bridge crane operating post, and realizes fully intelligent control of slag processing, thereby avoiding misjudgment and misoperation, thereby greatly improving work efficiency and greatly avoiding the waste of human, material, financial and time resources.

Description

Technical Field

[0001] The present application relates to the technical field of steel smelting, and in particular to an automatic slag removal system. Background Art

[0002] The steel industry is a basic industry of the national economy. In recent years, with the rapid development of the national economy, my country's steel industry has also shown a leapfrog development trend. At present, steel production includes sintering, pelletizing, ironmaking and other processes. Each production process is equipped with dust removal equipment to ensure that emissions meet the standards. Iron-containing dust is mainly dust collected by the dust removal system during steel smelting. Its main components are iron and carbon, and it contains some harmful impurities such as oxides of zinc, lead, potassium, sodium, etc. In order to recycle iron dust, the iron-containing dust is mainly returned to sintering or agglomerated to enter the blast furnace or converter for smelting again. However, the continuous enrichment of zinc elements in iron-containing dust in the blast furnace process, coupled with the increasing proportion of waste galvanized steel used in steelmaking, leads to an increase in the zinc content in iron-containing dust. After the iron-containing dust with high zinc content enters the blast furnace, due to the low boiling point of zinc, it will volatilize and enrich in the blast furnace, and gradually form nodules on the upper part of the blast furnace body, thereby affecting the furnace condition and shortening the life of the blast furnace.

[0003] At present, steel mills mainly adopt social utilization or landfill for iron-containing dust disposal, but the above methods have high logistics costs, many links and are prone to environmental pollution. Therefore, more and more steel mills are using the rotary kiln iron extraction and zinc reduction process to return iron-containing dust to production when building disposal production lines. In this process, the iron-containing dust is mixed with the ingredients and then enters the rotary kiln for preheating, drying, heating and high-temperature combustion (1100℃~1200℃) treatment. Among them, the carbon element of the iron-containing dust has a certain calorific value, which can replace part of the fuel combustion and heating in the rotary kiln combustion; zinc oxide is reduced to metallic zinc in the high-temperature reducing atmosphere in the rotary kiln, and volatilizes into zinc vapor and enters the rotary kiln flue gas, combining with excess oxygen to regenerate zinc oxide dust, and finally collected in the bag filter; the iron element forms solid iron-containing kiln slag, which is discharged from the kiln head and enters the kiln slag treatment system. After treatment, it is used as a sintering raw material and sent to sintering for batching.

[0004] refer to Figure 1, wherein (a) is a top view of the slag treatment system in the prior art, and (b) is a side view of the slag treatment system in the prior art. It can be seen from the figure that the slag treatment system in the prior art includes a rotary kiln 1, a slag flushing channel 2, a water quenching pool 3, a bridge crane 4, a crane operating room 5 and an intermediate slag yard 6, and the arrow in the figure indicates the slag flushing direction. The slag treatment process is generally as follows: the slag is continuously discharged from the discharge port 11 of the rotary kiln 1, and after being granulated by water in the slag flushing chute, it enters the water quenching pool 3 for immersion and cooling. The cooled slag is manually operated by the operator in the crane operating room 5 by the bridge crane 4, and the slag is fished out from the water quenching pool 3 based on personal experience, and then according to personal visual judgment and habitual preferences, the slag is transported and stacked to the intermediate slag yard 6 for natural drainage and drying. Among them, the specific structure of the bridge crane is as follows: Figure 2 As shown, the trolley 42 can move on the trolley track 43, and the trolley 41 can move on the trolley 42; a winch 46 is provided on the top of the trolley 41 to lift or lower the grab bucket 45 through the wire rope 44, and can control the opening or closing of the grab bucket 45.

[0005] In actual production, the high-temperature slag discharged from the rotary kiln 1 will instantly generate a large amount of water vapor after entering the water quenching pool 3, which seriously interferes with the operator's vision. In addition, the impurities floating in the water quenching pool 3 will also block the operator's vision, resulting in misjudgment of the slag scavenging position, resulting in low slag scavenging efficiency, and requiring more manpower, material resources and time. In addition, the slag scavenging and stacking are completely based on the operator's human experience and personal preferences, and the subjective initiative is strong; plus there is no unified stacking standard, the slag stacked in the intermediate slag yard is of different thickness and volume, resulting in inconsistent drying of the slag; and the disorderly stacking of slag in the intermediate slag yard will also bring great inconvenience to subsequent operations, waste time and resources, and thus seriously restrict the improvement of the working efficiency of the entire slag scavenging system. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present application aims to provide an automatic slag dredging system to realize the intelligent operation of the entire slag dredging and stacking process, so as to solve the problem that the slag dredging process in the current steel mills is entirely based on manual experience and judgment, resulting in waste of manpower, material and financial resources, as well as low efficiency.

[0007] In order to achieve the above-mentioned purpose, the present application provides an automatic slag dredging system, which specifically includes a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected to a bridge crane, and is used to receive control instructions issued by the controller, and complete the operation of the bridge crane according to the control instructions; the grab bucket weighing detection device is arranged on the bridge crane, and is used to measure the weight of the kiln slag, and send the kiln slag weight to the controller; the grab bucket position detection device is arranged on the bridge crane, and is used to obtain the three-dimensional position information of the grab bucket in the water quenching tank and the intermediate slag yard, and send the three-dimensional position information to the controller.

[0008] The controller is configured to perform the following analysis:

[0009] According to the preset length, preset width and the center line of the slag flushing channel, the main slag accumulation area is divided into zones to obtain M slag scooping areas.

[0010] Obtain the slag discharge of the rotary kiln, the volume of the grab bucket, the full grab rate of the grab bucket and the slag weight of each slag removal area.

[0011] The total number of slag scooping times is obtained according to the slag discharge amount of the rotary kiln, the grab bucket volume and the full grab rate.

[0012] According to the slag weight of each slag removal area, the total slag removal weight of the M slag removal areas is obtained.

[0013] The weight of each slag dredging area is obtained according to the slag weight of each slag dredging area and the total slag dredging weight.

[0014] The number of slag scooping times in each slag scooping area is obtained according to the total number of slag scooping times and the weight of each slag scooping area.

[0015] The intermediate slag yard is divided into zones according to the preset length, the preset width and the center point of the intermediate slag yard to obtain N slag dumping zones.

[0016] The controller is also configured to perform the following steps:

[0017] Wait for the preset time to allow the slag to accumulate to the set height.

[0018] According to the number of slag scooping times of each slag scooping area, a slag scooping area to be scooped is determined from the M slag scooping areas, and three-dimensional position information of the slag scooping area to be scooped is obtained.

[0019] A slag scooping instruction is sent to the crane motion control device, so that the bridge crane moves to the slag scooping area according to the three-dimensional position information to scoop the slag, thereby obtaining the slag scooped at that time.

[0020] According to the N slag depositing areas, a proposed slag depositing area is determined according to a preset stacking method, and three-dimensional coordinate information of the proposed slag depositing area is obtained.

[0021] A slag stacking instruction is sent to the crane motion control device, so that the bridge crane stacks the kiln slag collected at that time into the proposed slag stacking area according to the three-dimensional coordinate information.

[0022] After a second preset time, the slag removal area is re-determined and the next slag removal operation is carried out until the current round of slag removal operation is completed.

[0023] Wait again for the kiln slag to accumulate to the set height and carry out the next round of slag removal operation until all the kiln slag accumulated in the water quenching pool that day is emptied.

[0024] Furthermore, according to the preset length, preset width and the center line of the slag flushing channel, the main slag accumulation area is divided into zones, and the specific method for obtaining M slag scooping zones is as follows:

[0025] The area where the vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting area, and the starting area is a rectangular area consisting of a preset length and a preset width.

[0026] Taking the starting area as a reference, the water quenching pool is partitioned in all directions according to the rectangular area to obtain P water quenching pool partitions.

[0027] From the P water quenching pool partitions, the partitions that are not in the main slag accumulation area are eliminated to obtain P′ partitions to be salvaged.

[0028] From the P′ subareas to be dredged, the subareas with an area smaller than 1 / 2 of the area of ​​the starting area are discarded to obtain M slag dredging areas.

[0029] Furthermore, the specific method for determining the area to be slag removed from the M slag removal areas is as follows:

[0030] When slag is removed for the first time, according to the number of slag removals in each slag removal area, the slag removal area with the largest number of slag removals is determined as the slag removal area to be removed.

[0031] After the slag removal operation is completed, mark the number of slag removal times n' in the slag removal area xy .

[0032] According to the number of slag removals and the number of slag removals completed in any slag removal area, the remaining number of slag removals n" in any slag removal area is obtained. xy , which can be specifically expressed as: n″ xy =n xy -n′ xy .

[0033] Select the remaining slag removal times n" xy The largest slag dredging area is the slag dredging waiting area for the next slag dredging.

[0034] Furthermore, according to the preset length, the preset width and the center point of the intermediate slag field, the intermediate slag field is divided into zones to obtain N slag dumping zones in the following specific method:

[0035] Taking the center point of the intermediate slag field as the origin, a rectangular area constructed by a preset length and a preset width is used as the initial area.

[0036] Based on the initial area, the intermediate slag field is divided into four zones in all directions according to the rectangular area to obtain V preliminary zones.

[0037] From the V preliminary partitions, preliminary partitions whose length is less than the preset length or whose width is less than the preset width are eliminated to obtain N slag dumping areas.

[0038] Furthermore, the specific method for determining the proposed slag dumping area is:

[0039] Taking the junction of the intermediate slag field and the water quenching pool as a reference, the N slag areas are sorted from right to left and from top to bottom, marked as B ji , where i represents the row and j represents the column.

[0040] When slag is first piled, the slag pile area B in the first row of the first column 11 As a proposed slag dump area.

[0041] When the slag is piled for the second time, the slag pile area B in the first column and second row 12 As a proposed slag dump area.

[0042] When the slag is piled for the i-th time, the slag pile area B in the i-th row of the first column is 1i As a proposed slag dump area.

[0043] When the slag is deposited for the i+1th time, the slag deposit area B in the second column and the first row is 21 As a proposed slag dump area.

[0044] When the slag is deposited for the i+2th time, the slag deposit area B in the second row of the second column 22 As a proposed slag dump area.

[0045] During the j×i slag stacking, the slag stacking area B in the jth column and the i-th row is ji As a proposed slag dump area.

[0046] When the slag is piled for the (j×i+1)th time, return to the slag pile area B in the first row of the first column. 11 As a proposed slag dump area.

[0047] Repeat the above steps until all the slag has been piled up.

[0048] Furthermore, the controller is also configured to judge whether the grab bucket touches the slag, and the specific judgment method is:

[0049] When the grab bucket is not working, the grab bucket weighing detection device is used to obtain the empty weight of the grab bucket, which is marked as W. 1 .

[0050] During the process of lowering the grab bucket, obtain the real-time grab bucket weight, marked as W.

[0051] If the real-time grab bucket weight is less than or equal to the preset multiple of the grab bucket unloaded weight, that is, W≤kW 1 , where k is between 0.8 and 0.98, it is determined that the grab has touched the slag.

[0052] Furthermore, the total number of slag removals per day is obtained according to the following calculation model:

[0053]

[0054] Where n 1 is the total number of slag scooping times, Q is the slag discharge of the rotary kiln, ρ is the density of the kiln slag, V is the volume of the grab bucket, and η is the full grab rate.

[0055] Furthermore, the full grab rate of the grab bucket refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket. The specific method for obtaining the full grab rate is:

[0056] Get the empty weight W of the grab bucket 1 , slag density ρ, water density ρ 水 and grab volume V.

[0057] After the grab bucket completes the slag removal action and rises to the first height, it stays below the water surface for a set time to obtain the grab bucket load weight W. n .

[0058] According to the grab bucket load weight W n , the grab bucket unloaded weight W 1 , the slag density ρ and the water density ρ 水 , and obtain the slag volume V 渣 .

[0059] Calculate the slag volume V 渣 The ratio of the grab volume V to the grab volume is used to obtain the grab rate η, which is specifically expressed as:

[0060]

[0061] Where η is the full catch rate, V 渣 is the volume of kiln slag, V is the volume of grab bucket, W is n is the grab bucket load weight, W 1 is the empty weight of the grab bucket, ρ is the density of the kiln slag, ρ 水 is the water density.

[0062] Furthermore, the following model is used to calculate the waiting time for the slag to accumulate to a set height:

[0063]

[0064] Where, T 1 is the waiting time, V 1 is the initial accumulation volume of kiln slag, s is the slag discharge rate of rotary kiln slag expressed in volume, Q 1 is the slag discharge rate of the rotary kiln expressed in mass, ρ is the density of the slag, k 1 is the calculation coefficient of the slag accumulation volume, H is the initial accumulation height of the slag, and A is the repose angle of the slag.

[0065] Furthermore, the calculation model for the slag accumulation to a set height is:

[0066] H=H 水 -H 斗 -H 1 -H 2

[0067] Where H is the initial accumulation height of the slag, H 水 is the depth of water in the quenching tank, H 斗 is the grab height, H 1 H is the distance between the highest position of the grab bucket and the water surface, 2 It is the distance between the lowest position of the grab and the kiln slag.

[0068] Furthermore, according to the following model, the interval time for the next round of slag removal operation is calculated, specifically:

[0069]

[0070] Where, t n is the interval time, k' is the remaining slag removal times in a cycle, T is the total time of a cycle, T 2 is the daily maintenance time of bridge crane, S tn-1 It is the accumulated slag removal interval time.

[0071] Furthermore, the remaining slag removal times k' in a cycle are calculated according to the following calculation model:

[0072]

[0073] Where, t k is the kth slag removal completion time, t' is the idle time, is the average slag discharge of the rotary kiln, S m is the total amount of slag removed, It is the average amount of slag picked up by the grab bucket each time.

[0074] Furthermore, the following calculation model is used to obtain the weight of each slag removal area:

[0075] P xy =W xy / W z

[0076] P xy is the weight of any slag removal area, W xy is the weight of slag in any slag removal area, W z is the total weight of slag removed from M slag removal areas.

[0077] Furthermore, the grab bucket position detection device is a position encoder, a laser rangefinder or a position sensing belt.

[0078] The present application provides an automatic slag dredging system, which specifically includes a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device. The crane motion control device is connected to the bridge crane, and is used to receive the control instructions issued by the controller, and complete the operation of the bridge crane according to the received control instructions; the grab bucket weighing detection device is arranged on the bridge crane, and is used to measure the weight of the kiln slag, and send the measured kiln slag weight to the controller; the grab bucket position detection device is arranged on the bridge crane, and is used to obtain the three-dimensional position information of the grab bucket in the water quenching pool and the intermediate slag field, and send the obtained three-dimensional position information to the controller; the controller is used to partition the main kiln slag accumulation area and the intermediate slag field in the water quenching pool, and combine the received data information to accurately locate the slag dredging position and the slag accumulation position, and make a grab bucket slag contact judgment. The automatic slag dredging system provided by the present application does not need to set up a bridge crane operation post, and uses a controller to replace the operator to make judgments and operations, so as to realize the full intelligent control of kiln slag processing, thereby avoiding misjudgment and misoperation, thereby greatly improving work efficiency, and can greatly avoid the waste of manpower, material resources, financial resources and time resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] 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.

[0080] Figure 1 It is a structural schematic diagram of a kiln slag treatment system in the prior art;

[0081] Figure 2 It is a schematic diagram of the structure of a bridge crane in the prior art;

[0082] Figure 3A schematic diagram of the accumulation of kiln slag in a water quenching tank provided in an embodiment of the present application;

[0083] Figure 4 A schematic diagram of the structure of an automatic slag removal system provided in an embodiment of the present application;

[0084] Figure 5 A schematic diagram of the main slag accumulation area provided in the embodiment of the present application;

[0085] Figure 6 A schematic diagram of the coordinates of the center points of the main slag accumulation areas provided in the embodiment of the present application;

[0086] Figure 7 A schematic diagram of the force analysis of the grab bucket under water provided in an embodiment of the present application;

[0087] Figure 8 A schematic diagram of the partitioning of the intermediate slag yard provided in an embodiment of the present application;

[0088] Fig. 9 A schematic diagram of the coordinates of the center points of the intermediate slag field partitions provided in an embodiment of the present application;

[0089] Fig.10 A schematic diagram of the operation flow of the automatic slag removal system provided in an embodiment of the present application;

[0090] Fig.11 A schematic diagram of the distribution of slag at a certain height accumulated in a water quenching tank provided in an embodiment of the present application;

[0091] Fig.12 A schematic diagram of the operation sequence of a bridge crane provided in an embodiment of the present application.

[0092] In the figure: 1-rotary kiln, 2-slag flushing channel, 3-water quenching tank, 4-bridge crane, 41-trolley, 42-cart, 43-cart track, 44-wire rope, 45-grab bucket, 46-winch, 5-crane operating room, 6-intermediate slag yard. DETAILED DESCRIPTION

[0093] The following will be combined with the drawings in the embodiments of the present application to fully and clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0094] To facilitate understanding of the technical solutions of the embodiments of the present application, some concepts involved in the present application are first explained below.

[0095] In actual production, the rotary kiln will continuously discharge slag. If the existing slag scooping and slag stacking methods are used, operators need to operate the bridge crane 24 hours a day, resulting in high labor costs. The high operation intensity can easily cause the operators to be overloaded, affecting the overall slag treatment efficiency. Figure 3 The following are three views of the slag accumulation in the water quenching tank. Figure 3 (a) is a top view, (b) is a side view, and (c) is a front view. Since the slag discharged from the rotary kiln 1 is in a high-temperature molten state, it solidifies into particles after being immersed and cooled in the water quenching pool 3, and accumulates in the water quenching pool 3 near the slag flushing channel 2; if the slag particles accumulate in the water for a long time without being removed, they will form slag blocks in the water quenching pool 3. The increase in slag blocks will cause the effective capacity of the water quenching pool 3 to decrease, affecting the processing capacity of the slag treatment system; if the slag near the slag flushing chute is not removed in time, it will cause the slag to accumulate in the water quenching pool. When the slag accumulation height is greater than the slag flushing chute, the slag will block the slag flushing chute and the rotary kiln discharge port, causing the entire disposal production line to stop production, causing losses to the company.

[0096] Furthermore, during the use of bridge cranes, daily maintenance is required, such as adding lubricants to the hoisting mechanism and replacing wire ropes, to ensure the normal and safe operation of the equipment. If the equipment is not maintained for a long time, it will bring hidden dangers to the equipment's production safety, causing excessive wear of the equipment and resulting in shutdown failures, leading to the suspension of the production process and causing losses to the company. Therefore, the embodiment of the present application uses the maintenance interval time period of the bridge crane as the cycle period, and cleans the kiln slag accumulated in the water quenching tank according to the cycle period.

[0097] It should be emphasized that in actual production, kiln slag cannot be completely cleaned, that is, the water quenching pool cannot be emptied in an absolute sense, but some kiln slag will still remain, which is an inevitable error in production. Of course, the water quenching pool can also be cleaned regularly, and the cleaning cycle can be determined according to the actual situation, such as half a year, one year or two years, to achieve the real sense of the water quenching pool emptying, so as to solve the problem of reduced effective volume.

[0098] refer to Figure 4, a schematic diagram of the structure of an automatic slag scooping system provided by an embodiment of the present application. The present application provides an automatic slag scooping system, which specifically includes a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected to the motor and the limit protection device of the bridge crane, and is used to receive the control instructions issued by the controller, and complete the operation of the bridge crane according to the received control instructions, which is specifically manifested in that the operation of the motor on the bridge crane can be controlled to complete the movement operation of the trolley or the car, the lifting or lowering of the grab bucket, and the opening or closing of the grab bucket; the grab bucket weighing detection device is arranged on the bridge crane, and can be specifically arranged on the trolley, the trolley and the winch, and is used to measure the weight of the kiln slag, and send the measured kiln slag weight to the controller; the grab bucket position detection device is arranged on the bridge crane, and can be specifically arranged on the trolley travel motor, the trolley travel motor and the winch motor of the bridge crane, and is used to obtain the three-dimensional position information of the grab bucket in the water quenching tank and the intermediate slag field, and send the obtained three-dimensional position information to the controller. In the embodiment of the present application, the grab bucket position detection device is preferably a position encoder, a laser rangefinder or a position sensing belt, but is not specifically limited thereto, and the most suitable position detection device can be selected according to actual conditions.

[0099] More specifically, the controller can obtain the trolley position and the center point height of the grab bucket according to the grab bucket position detection device installed on the bridge crane. The center point position of the grab bucket can be represented by three-dimensional coordinates (A, B, C), where A is the position of the trolley on the trolley track, B is the position of the trolley on the trolley, and C is the height of the center point of the grab bucket.

[0100] In the embodiment of the present application, the controller is configured to perform the following analysis:

[0101] Step S11: partition the main slag accumulation area according to the preset length, preset width and the center line of the slag flushing channel to obtain M slag scooping areas.

[0102] It should be noted that, since the rate at which the slag is discharged from the return kiln furnace is relatively stable, the accumulation distribution and morphology of the slag in the water quenching pool are basically the same. Therefore, in order to reduce calculations, this step S11 can be partitioned once during the system testing phase or the first operation of the system, and there is no need to repeat the partitioning operation later. However, in the long run, it is easy to cause some fragmented slag to not be completely cleaned up. Of course, if it is necessary to achieve the effect of accurately emptying the water quenching pool, the main accumulation area of ​​the slag can be re-partitioned every day according to the actual situation and specific needs, and the partition can be re-performed when the automatic slag removal system is run once. There is no limitation here.

[0103] refer to Figure 5 In the embodiment of the present application, step S11 specifically includes the following contents:

[0104] Step S111: The area where the vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting area, and the starting area is a rectangular area consisting of a preset length a and a preset width b. In the embodiment of the present application, the value of the preset length a is the minimum value between the length a1 of the slag flushing channel and the opening length a2 of the grab bucket, and the value of the preset width b is the opening width b2 of the grab bucket. Among them, the opening dimensions a2 and b2 of the grab bucket can be obtained from the technical data of the grab bucket or actual measurement, and the length a1 of the slag flushing channel can be obtained from the design data of the slag flushing channel or actual measurement.

[0105] Step S112: Taking the starting area as a reference, the water quenching pool is partitioned in all directions according to rectangular areas with a length of a and a width of b to obtain P water quenching pool partitions.

[0106] Step S113: From the P water quenching pool partitions, the partitions that are not in the main slag accumulation area are eliminated to obtain P′ partitions to be salvaged.

[0107] Step S114: From the P′ subareas to be scavenged, discard the subareas whose areas are smaller than 1 / 2 of the area of ​​the starting area to obtain M slag scavenging areas.

[0108] Furthermore, a plane rectangular coordinate system is established based on the M slag removal areas that are divided. Figure 6 As shown, the length direction of the water quenching tank is taken as the horizontal coordinate X, and the rightward direction is the positive direction, and the width direction of the water quenching tank is taken as the vertical coordinate Y, and the downward direction is the positive direction.

[0109] Set the center point of the starting area as the origin of the coordinate system, marked as A 00 (0,0), use A xy (x, y) represents the center point of each slag removal area, x represents the xth column, and y represents the yth row, then:

[0110] The horizontal coordinate value of the xth column is: x=x×a(x=0,±1,±2…±n);

[0111] The ordinate value of the yth row is: y=y×b(y=0,1,2…n);

[0112] The slag removal area A corresponding to the xth column and the yth row xy The center point coordinates are: A xy (xa,yb).

[0113] Step S12: Obtain the slag discharge of the rotary kiln, the volume of the grab bucket, the full grab rate of the grab bucket for slag catching, and the weight of the kiln slag in each slag catching area.

[0114] Specifically, the daily slag discharge of the rotary kiln can be obtained from the engineering design data, and the volume of the grab can be obtained from the design parameters of the grab. The method for obtaining the slag weight of each slag removal area is as follows: During the system testing phase, the slag is removed from each slag removal area by operating a bridge crane, and the weight of each slag removal is counted until the slag removal weight is zero, which means that the slag in the slag removal area has been removed cleanly, and the slag removal operation of the slag removal area is stopped. At this time, the slag weight of the slag removal area can be obtained by calculation.

[0115] Step S13: According to the rotary kiln slag discharge, grab bucket volume and full grab rate, the following calculation model is used to obtain the total number of slag removals per day:

[0116]

[0117] Where n 1 is the total number of slag removal, Q is the daily slag discharge of the rotary kiln (t), and ρ is the density of the kiln slag (t / m 3 ), V is the volume of the grab bucket (m 3 ), η is the full catch rate.

[0118] It should be noted that the grab bucket of the bridge crane scoops out a mixture of water and slag from the water quenching tank. In actual production, it is impossible to drain the water from the grab bucket before measuring the weight of the slag. To solve this problem, the embodiment of the present application proposes a method for the grab bucket to obtain the weight of the slag and the grabbing rate below the water surface of the water quenching tank.

[0119] In the embodiment of the present application, the full grab rate of the grab bucket refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket. The specific method for obtaining the full grab rate is:

[0120] Step S131: Obtaining the empty weight W of the grab bucket 1 , slag density ρ, water density ρ 水 and grab volume V.

[0121] Step S132: After the grab bucket completes the slag removal action and rises to a first height, it stays below the water surface for a set time to obtain the grab bucket load weight W n In the embodiment of the present application, the grab bucket is controlled to stay at a fixed position below the water surface for about 2 seconds to ensure the accuracy of the measurement.

[0122] Step S133: According to the grab bucket load weight W n , the grab bucket unloaded weight W 1 , the slag density ρ and the water density ρ 水 , and obtain the slag volume V 渣 .

[0123] Step S134: Calculate the slag volume V 渣The ratio of the grab volume V to the grab volume is used to obtain the grab rate η, which is specifically expressed as:

[0124]

[0125] Where η is the full catch rate, V 渣 is the volume of kiln slag, V is the volume of grab bucket, W is n is the grab bucket load weight, W 1 is the empty weight of the grab bucket, ρ is the density of the kiln slag, ρ 水 is the water density.

[0126] In the embodiment of the present application, the derivation principle of the above catch rate calculation model is as follows:

[0127] like Figure 7 FIG. 2 is a schematic diagram showing the force analysis of the grab bucket provided in the embodiment of the present application under water. 拉 Indicates the grab wire rope tension, F 拉 = mg, m is the weight value obtained by the weighing sensor, that is, W n , g is the acceleration due to gravity; F 浮 Indicates the buoyancy of the slag under water, F 浮 =ρ 水 V 渣 , ρ 水 is the density of water, V 渣 is the volume of kiln slag; G 斗 Indicates the gravity of the grab bucket when it is empty, G 斗 =m 斗 g,m 斗 Indicates the empty weight of the grab bucket, i.e. W 1 , which can be obtained from the grab parameters; G 渣 Indicates the gravity of the slag, G 渣 =m 渣 g=ρgV 渣 , m 渣 represents the mass of slag, and ρ is the density of slag.

[0128] refer to Figure 7 According to the force of the grab bucket under water, we know that: F 拉 +F 浮 =G 斗 +G 渣 It should be noted that the buoyancy of the grab bucket under water is ignored here. That is: mg+ρ 水 V 渣 =m 斗 g+m 渣 g=m 斗 g+ρgV 渣 , from which the volume V of the slag can be calculated 渣 , specifically expressed as:

[0129]

[0130] Then, the specific calculation model of the catch rate is:

[0131]

[0132] Where V represents the grab volume, which can be obtained from the grab parameters.

[0133] Step S14: According to the weight of the kiln slag in each slag removal area, the total weight of the slag removal in the M slag removal areas is obtained. Specifically, the weight of the kiln slag in the M slag removal areas is added together to obtain the total weight of the slag removal.

[0134] Step S15: Obtain the weight of each slag removal area according to the slag weight of each slag removal area and the total slag removal weight. The embodiment of the present application adopts the following calculation model to obtain the weight of each slag removal area:

[0135] P xy =W xy / W z

[0136] P xy is the weight of any slag removal area, W xy is the weight of slag in any slag removal area, W z is the total weight of slag removed from M slag removal areas.

[0137] Step S16: According to the total number of slag removal and the weight of each slag removal area, the following calculation model is used to obtain the number of slag removal in each slag removal area:

[0138] n xy =P xy n 1

[0139] Where n xy The number of slag removal in any slag removal area.

[0140] In the embodiment of the present application, a database of information about slag removal at each slag removal area can be established, in which the slag removal area and the weight of the slag removed at each slag removal are recorded. The weight P allocated to each slag removal area can be recalculated based on the average weight of the slag removed by each slag removal area, with a period of one day or a maintenance time interval of a bridge crane. xy , so that the weight of each slag removal area is automatically corrected.

[0141] Step S17: partitioning the intermediate slag yard according to the preset length a, the preset width b and the center point of the intermediate slag yard to obtain N slag dumping areas.

[0142] refer to Figure 8 In the embodiment of the present application, step S17 specifically includes the following contents:

[0143] Step S171: Take the center point of the intermediate slag yard as the origin, and use the rectangular area constructed by the preset length a and the preset width b as the initial area. It should be noted that the preset length a and the preset width b here have the same meaning as those represented in the above-mentioned water quenching pond zoning, and the values are also the same.

[0144] Step S172: Based on this initial area, use the rectangular area with length a and width b to zone the intermediate slag yard in all directions to obtain V preliminary zones.

[0145] Step S173: From the V preliminary zones, eliminate the preliminary zones with a length less than the preset length or a width less than the preset width to obtain N slag stacking areas. Specifically, as Figure 8 shown, since a s3 < a, b s3 < b, then the area containing a s3 or b s3 is marked as the surrounding discarded area, and the surrounding discarded area is not used for stacking the fished-out kiln slag.

[0146] Furthermore, use the plane rectangular coordinate system established by the M slag fishing areas to represent the positions of the N slag stacking areas. Combining Figure 1 and Fig. 9 it can be known that in the embodiment of the present application, the intermediate slag yard is rectangular with a length of L2 and a width of R. As Fig. 9 shown, the central point position coordinates of each slag stacking area are marked as B ji (j, i), where j represents the column and i represents the row. Combining Figure 1 the identification in (a) in

[0147] The abscissa value of the j-th column is: j = L5 + a s3 + a / 2 + j×a; where L5 = L1 - a1 / 2 - L3, a s3 = (L2 - j×a) / 2.

[0148] The ordinate value of the i-th row is: i = b s3 - b / 2 + b / 2 + i×b = b s3 + i×b, b s3 = (R - i×a) / 2.

[0149] Among them, L1 and L3 can be obtained from the engineering design data of the water quenching pond or through actual measurement, and L2 and R can be obtained from the design materials of the intermediate slag yard or through actual measurement.

[0150] It should be noted that, since the shape and size of the intermediate slag field are fixed, this step S17 can be partitioned once during the system testing phase or the first operation of the system, and there is no need to repeat the partitioning in the future. Of course, corresponding adjustments can also be made with step S11, depending on the actual situation and specific needs, and no specific limitation is made here.

[0151] Two points need to be emphasized: First, in the embodiment of the present application, the partitioning of the water quenching pool and the intermediate slag yard is not limited to rectangles, but can be divided into other sizes and shapes according to actual conditions; second, the embodiment of the present application only lists a method for establishing a coordinate system to determine the slag scooping position and the slag stacking position, but the present application does not make such restrictions, as long as relatively accurate location information can be obtained.

[0152] refer to Fig.10 , is a schematic diagram of the operation flow of the automatic slag removal system provided in the embodiment of the present application. In the embodiment of the present application, the controller is also configured to perform the following steps:

[0153] Step S21: Wait for a preset time so that the slag accumulates to a set height.

[0154] refer to Fig.11 , is a schematic diagram of the distribution of slag piled to a certain height in the water quenching tank. In the embodiment of the present application, the following model is used to calculate the waiting time for the slag to pile up to a set height:

[0155]

[0156] Where, T 1 is the waiting time, V 1 is the initial accumulation volume of kiln slag, s is the slag discharge rate of rotary kiln slag expressed in volume, Q 1 is the slag discharge rate of the rotary kiln expressed in mass, ρ is the density of the slag, k 1 is the calculation coefficient of the slag accumulation volume, H is the initial accumulation height of the slag, and A is the repose angle of the slag.

[0157] In the embodiment of the present application, the calculation model of the slag accumulation to a set height, that is, the initial accumulation height H of the slag is:

[0158] H=H 水 -H 斗 -H 1 -H 2

[0159] Where, H is the initial accumulation height of the slag; H 水 is the depth of water in the water quenching tank, obtained from the engineering design data; H 斗 is the grab height, obtained from the parameters of the grab equipment; H 1 , H2 It is used to indicate the position of the grab bucket when obtaining the full grab rate, H 1 H is the distance between the highest position of the grab bucket and the water surface, which is 0.5 m in the embodiment of the present application. 2 It is the distance between the lowest position of the grab bucket and the kiln slag, and is taken as 1m in the embodiment of the present application.

[0160] Step S22: according to the number of slag dredging operations in each slag dredging area, determine the area to be slag dredging from the M slag dredging areas, and obtain the three-dimensional position information of the area to be slag dredging.

[0161] In the embodiment of the present application, the specific method for determining the area to be slag removed from the M slag removal areas further includes the following contents:

[0162] Step S221: When slag is removed for the first time, the number of slag removals n in each slag removal area is calculated. xy , determine the slag catching area with the most slag catching times as the slag catching area to be scooped.

[0163] Step S222: After the slag removal operation is completed, mark the number of slag removal times n' of the slag removal area to be removed determined in step S221 xy .

[0164] Step S223: According to the number of slag removal times n of any slag removal area xy and the number of times the slag has been removed n′ xy , get the remaining slag removal times n" of any slag removal area xy , which can be specifically expressed as: n″ xy =n xy -n′ xy .

[0165] Step S224: Select the remaining number of slag removal times n″ xy The largest slag dredging area is the slag dredging waiting area for the next slag dredging.

[0166] Specifically, if there are multiple equal maximum remaining slag removal times n″ xy , the slag area to be scavenged is determined according to the principle of top priority in row position and right priority in column position, and the center point coordinates of the slag area to be scavenged are sent to the motion control device of the bridge crane, so that the bridge crane can accurately move to the center point coordinate position. After the slag is scavenged, the number of slag scavenged times n′ in the slag area to be scavenged is xy Add 1 time.

[0167] Step S23: Sending a slag scooping instruction to the crane motion control device so that the bridge crane moves to the slag scooping area determined in step S22 according to the three-dimensional position information obtained in step S22 to scoop the slag and obtain the slag scooped this time.

[0168] In the embodiment of the present application, step S23 further includes the following specific contents:

[0169] Step S231: operate the bridge crane to move to the center of the slag removal area and lower the grab bucket.

[0170] Step S232: Determine whether the grab bucket touches the kiln slag; if it has touched the kiln slag, execute step S233; if it has not touched the kiln slag, continue to return to execute step S231.

[0171] Specifically, the following method is used to determine whether the grab has touched the kiln slag:

[0172] Step S2321: When the grab bucket is not working, the grab bucket weighing detection device is used to obtain the empty weight of the grab bucket, which is marked as W. 1 .

[0173] Step S2322: During the process of lowering the grab bucket, obtain the real-time grab bucket weight, marked as W.

[0174] Step S2323: If the real-time grab bucket weight is less than or equal to the preset multiple of the grab bucket unloaded weight, that is, W ≤ kW 1 , where k is between 0.8 and 0.98, it is determined that the grab has touched the slag.

[0175] Specifically, when the grab bucket hits the kiln slag, it will be supported by the kiln slag, causing the grab bucket weighing detection device to detect a decrease in the total weight W. Therefore, when the real-time grab bucket weight is less than the corresponding proportion of the grab bucket's empty weight, the automatic slag scooping control system will consider that the grab bucket has touched the kiln slag, and send an instruction to the bridge crane motion control device to stop lowering the grab bucket and operate the grab bucket to scoop slag.

[0176] Step S233: operate the bridge crane to carry out slag scooping operation, obtain the kiln slag that is scooped, and lift the grab bucket.

[0177] Step S24: According to the N slag depositing areas obtained in step S17, a proposed slag depositing area is determined according to a preset depositing method, and the three-dimensional coordinate information of the proposed slag depositing area is obtained.

[0178] In the embodiment of the present application, the specific method for determining the proposed slag dumping area further includes the following contents:

[0179] Step S241: With reference to the junction of the intermediate slag field and the water quenching pool, the N slag areas are sorted from right to left and from top to bottom, marked as B ji , where i represents the row and j represents the column.

[0180] Step S242: When the slag is first piled, the slag pile area B of the first row of the first column is 11 As a proposed slag dump area.

[0181] Step S243: During the second slag stacking, the slag stacking area B in the first column and second row is 12As a proposed slag dump area.

[0182] Step S244: When the slag is deposited for the i-th time, the slag depositing area B of the i-th row of the first column is 1i As a proposed slag dump area.

[0183] Step S245: During the i+1th slag stacking, the slag stacking area B in the second column and the first row is 21 As a proposed slag dump area.

[0184] Step S246: When stacking slag for the i+2th time, stack the slag area B in the second row of the second column 22 As a proposed slag dump area.

[0185] Step S247: During the j×i slag stacking, the slag stacking area B of the jth column and the i-th row ji As a proposed slag dump area.

[0186] Step S248: When the slag is deposited for the (j×i+1)th time, return to the slag depositing area B of the first row and the first column. 11 As a proposed slag dump area.

[0187] Step S249: Repeat steps S241 to S248 until all the slag collected is piled up.

[0188] Step S25: Sending a slag stacking instruction to the crane motion control device so that the bridge crane stacks the kiln slag collected this time to the proposed slag stacking area determined in step S24 according to the three-dimensional coordinate information obtained in step S24.

[0189] Step S26: re-determine the area to be slag dredged and perform the next slag dredged operation, that is, repeat steps S22 to S25 until the current round of slag dredged operation is completed.

[0190] It should be noted that the embodiment of the present application sets a daily maintenance time for the bridge crane. During the daily maintenance period, the rotary kiln is still discharging slag uninterruptedly. Therefore, in order to basically balance the slag removal amount and the slag discharge amount in the entire cycle, the embodiment of the present application starts slag removal after the kiln slag is accumulated to a certain height, and the slag removal amount needs to be slightly higher than the slag discharge amount of the rotary kiln. For example, when there is 1.5 hours of surplus slag stacking capacity in the water quenching tank, the slag removal amount and the slag discharge amount in one cycle can reach a basic balance, and then use this 1.5 hours to perform daily maintenance on the bridge crane; at the same time, the water quenching tank is divided into zones, and slag is removed from different positions to avoid accidents such as grab bucket tipping.

[0191] refer to Fig.12 , is a schematic diagram of the operation sequence of the bridge crane provided in the embodiment of the present application. As can be seen from the figure, the total time T of a cycle can be expressed as:

[0192] T=T 2 +t1 +t 2 +…+t k +t'

[0193] Where, t 1 is the first slag removal completion time, t k is the completion time of the kth slag removal, and t' is the idle time.

[0194] It should be noted that in order to keep the amount of slag in the water quenching pool unchanged during each cycle, 1 +t 2 +…+t k The amount of kiln slag picked up is equal to the amount of slag discharged by the rotary kiln during the total cycle time. This is the basis and premise for establishing the bridge crane slag removal operation model.

[0195] The total time T of a cycle is determined by the daily maintenance cycle of the bridge crane. For example, if the bridge crane needs to be maintained once a day, then the value of T is 1 day; if the bridge crane needs to be maintained once every three days, then the value of T is 3 days.

[0196] Time required for daily maintenance of bridge cranes T 2 It is a fixed value, determined according to actual needs, generally 1.5-2h.

[0197] Due to t 1 ,t 2 …t k It is not fixed, so it cannot be guaranteed that the last slag removal is completed at the end of a cycle. Therefore, an idle time t' is set to ensure the smoothness of the slag removal process.

[0198] In some embodiments of the present application, the interval time for the next round of slag removal operation can be calculated according to the following model, specifically:

[0199]

[0200] Where, t n is the interval time, k' is the remaining slag removal times in a cycle, T is the total time of a cycle, T 2 is the daily maintenance time of bridge crane, S tn-1 It is the accumulated slag removal interval time.

[0201] Among them, the remaining slag removal times k' in one cycle are calculated according to the following calculation model:

[0202]

[0203] Where, t kis the kth slag removal completion time, t' is the idle time, is the average slag discharge of the rotary kiln, which is taken from the engineering design value during the first operation and then obtained from the historical production data of the rotary kiln; S m is the total amount of slag removed, m is the average amount of slag removed by the grab bucket each time, S m and During the first run, the value is taken as 80% of the weight of the slag scooped up in a full bucket, and then obtained from the historical data of the weighing sensor.

[0204] After entering the idle time t', the judgment condition for waiting for the next cycle to start is: in, is the average slag removal interval time.

[0205] It can be seen from the above technical solutions that the present application provides an automatic slag dredging system, including a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device. The crane motion control device is connected to the bridge crane, and is used to receive the control instructions issued by the controller, and complete the operation of the bridge crane according to the received control instructions; the grab bucket weighing detection device is arranged on the bridge crane, and is used to measure the weight of the kiln slag, and send the measured kiln slag weight to the controller; the grab bucket position detection device is arranged on the bridge crane, and is used to obtain the three-dimensional position information of the grab bucket in the water quenching pool and the intermediate slag field, and send the obtained three-dimensional position information to the controller; the controller is used to partition the main kiln slag accumulation area and the intermediate slag field in the water quenching pool, and combine the received data information to accurately locate the slag dredging position and the slag stacking position, and make a grab bucket slag contact judgment. The automatic slag dredging system provided by the present application does not need to set up a bridge crane operation post, and uses a controller to replace the operator to make judgments and operations, so as to realize the full intelligent control of kiln slag processing, thereby avoiding misjudgment and misoperation, thereby greatly improving work efficiency, and can greatly avoid the waste of manpower, material resources, financial resources and time resources.

[0206] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. An automatic slag removal system, characterized in that: It includes a controller, a crane motion control device, a grab bucket weighing detection device and a grab bucket position detection device; the crane motion control device is connected to the bridge crane, and is used to receive the control instructions issued by the controller, and complete the operation of the bridge crane according to the control instructions; the grab bucket weighing detection device is arranged on the bridge crane, and is used to measure the weight of the kiln slag, and send the kiln slag weight to the controller; the grab bucket position detection device is arranged on the bridge crane, and is used to obtain the three-dimensional position information of the grab bucket in the water quenching tank and the intermediate slag yard, and send the three-dimensional position information to the controller; The controller is configured to perform the following analysis: According to the preset length, preset width and the center line of the slag flushing channel, the main slag accumulation area in the water quenching pool is divided into two zones to obtain M slag scooping areas; Obtain the slag discharge of the rotary kiln, the volume of the grab bucket, the full grab rate of the grab bucket and the slag weight of each slag removal area; According to the slag discharge amount of the rotary kiln, the grab bucket volume and the full grab rate, the total number of slag scooping times is obtained; According to the kiln slag weight of each slag removal area, the total slag removal weight of the M slag removal areas is obtained; Obtaining the weight of each slag dredging area according to the slag weight of each slag dredging area and the total slag dredging weight; According to the total number of slag removals and the weight of each slag removal area, the number of slag removals in each slag removal area is obtained; According to the preset length, the preset width and the center point of the intermediate slag yard, the intermediate slag yard is divided into zones to obtain N slag dumping zones; The controller is also configured to perform the following steps: Wait for the preset time to allow the slag to accumulate to the set height; According to the number of slag removals in each slag removal area, determine the area to be removed from the M slag removal areas, and obtain the three-dimensional position information of the area to be removed; Sending a slag scooping instruction to the crane motion control device, so that the bridge crane moves to the slag scooping area according to the three-dimensional position information to scoop the slag, and obtains the slag scooped at that time; According to the N slag depositing areas, a proposed slag depositing area is determined according to a preset depositing method, and three-dimensional coordinate information of the proposed slag depositing area is obtained; Sending a slag stacking instruction to the crane motion control device so that the bridge crane stacks the kiln slag collected at the time to the proposed slag stacking area according to the three-dimensional coordinate information; Re-determine the slag removal area and carry out the next slag removal operation until the current round of slag removal operation is completed.

2. The automatic slag removal system according to claim 1, characterized in that: According to the preset length, preset width and the center line of the slag flushing channel, the main slag accumulation area is divided into zones, and the specific method for obtaining M slag scooping areas is as follows: The area where the vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting area, and the starting area is a rectangular area consisting of a preset length and a preset width; Taking the starting area as a reference, partitioning the water quenching pool in four directions according to the rectangular area to obtain P water quenching pool partitions; From the P water quenching pool partitions, the partitions that are not in the main slag accumulation area are eliminated to obtain P′ partitions to be salvaged; From the P′ subareas to be dredged, the subareas with an area smaller than 1 / 2 of the area of ​​the starting area are discarded to obtain M slag dredging areas.

3. The automatic slag removal system according to claim 2, characterized in that: The specific method for determining the area to be slag removed from M slag removal areas is: When slag is removed for the first time, according to the number of slag removals in each slag removal area, the slag removal area with the largest number of slag removals is determined as the slag removal area to be removed; After the slag removal operation is completed, mark the number of slag removal times n' in the slag removal area xy ; According to the number of slag removals and the number of slag removals completed in any slag removal area, the remaining number of slag removals n" in any slag removal area is obtained. xy , which can be specifically expressed as: n″ xy =n xy -n′ xy ; Select the remaining slag removal times n" xy The largest slag dredging area is the slag dredging waiting area for the next slag dredging.

4. The automatic slag removal system according to claim 1, characterized in that: According to the preset length, the preset width and the center point of the intermediate slag field, the specific method of partitioning the intermediate slag field to obtain N slag dumping areas is: Taking the center point of the middle slag field as the origin, a rectangular area constructed by a preset length and a preset width is used as the initial area; Taking the initial area as a reference, the intermediate slag field is divided into four zones in all directions according to the rectangular area to obtain V preliminary zones; From the V preliminary partitions, preliminary partitions whose length is less than the preset length or whose width is less than the preset width are eliminated to obtain N slag dumping areas.

5. The automatic slag removal system according to claim 4, characterized in that: The specific method for determining the proposed slag dumping area is: Taking the junction of the intermediate slag field and the water quenching pool as a reference, the N slag areas are sorted from right to left and from top to bottom, marked as B ji , where i represents the row and j represents the column; When slag is first piled, the slag pile area B in the first row of the first column 11 As a proposed slag dump area; When the slag is deposited for the second time, the slag deposit area B in the first column and second row 12 As a proposed slag dump area; When the slag is piled for the i-th time, the slag pile area B in the i-th row of the first column is 1i As a proposed slag dump area; When the slag is deposited for the i+1th time, the slag deposit area B in the second column and the first row is 21 As a proposed slag dump area; When the slag is deposited for the i+2th time, the slag deposit area B in the second row of the second column 22 As a proposed slag dump area; During the j×i slag stacking, the slag stacking area B in the jth column and the i-th row is ji As a proposed slag dump area; When the slag is piled for the (j×i+1)th time, return to the slag pile area B in the first row of the first column. 11 As a proposed slag dump area; Repeat the above steps until all the slag has been piled up.

6. The automatic slag removal system according to claim 1, characterized in that: The controller is also configured to judge whether the grab bucket has touched the slag. The specific judgment method is as follows: When the grab bucket is not working, the grab bucket weighing detection device is used to obtain the empty weight of the grab bucket, which is marked as W1; During the process of lowering the grab bucket, obtain the real-time grab bucket weight, marked as W; If the real-time grab bucket weight is less than or equal to a preset multiple of the grab bucket's empty weight, that is, W≤kW1, where k is 0.8-0.98, it is determined that the grab bucket has touched the kiln slag.

7. The automatic slag removal system according to claim 1, characterized in that: According to the following calculation model, the total number of slag removal per day is obtained: Where n1 is the total number of slag removal, Q is the slag discharge from the rotary kiln, ρ is the slag density, V is the grab volume, and η is the full grab rate.

8. An automatic slag removal system according to claim 6 or 7, characterized in that: The full grab rate of the grab bucket refers to the ratio of the volume of the kiln slag grabbed by the grab bucket to the volume of the grab bucket. The specific method for obtaining the full grab rate is: Obtain the grab bucket empty weight W1, slag density ρ, water density ρ 水 and grab volume V; After the grab bucket completes the slag removal action and rises to the first height, it stays below the water surface for a set time to obtain the grab bucket load weight W. n ; According to the grab bucket load weight W n , the grab bucket empty weight W1, the slag density ρ and the water density ρ 水 , and obtain the slag volume V 渣 ; Calculate the slag volume V 渣 The ratio of the grab volume V to the grab volume is used to obtain the grab rate η, which is specifically expressed as: Where η is the full catch rate, V 渣 is the volume of kiln slag, V is the volume of grab bucket, W is n is the weight of the grab bucket, W1 is the empty weight of the grab bucket, ρ is the density of the kiln slag, ρ 水 is the water density.

9. The automatic slag removal system according to claim 1, characterized in that: The following model is used to calculate the waiting time for the slag to accumulate to a set height: Wherein, T1 is the waiting time, V1 is the initial accumulation volume of slag, s is the slag discharge rate of rotary kiln slag expressed in volume, Q1 is the slag discharge rate of rotary kiln slag expressed in mass, ρ is the density of slag, k1 is the calculation coefficient of slag accumulation volume, H is the initial accumulation height of slag, and A is the repose angle of slag.

10. An automatic slag removal system according to claim 1 or 9, characterized in that: The calculation model for slag accumulation to a set height is: H=H 水 -H 斗 -H1-H2 Where H is the initial accumulation height of the slag, H 水 is the depth of water in the quenching tank, H 斗 is the height of the grab, H1 is the distance between the highest position of the grab and the water surface, and H2 is the distance between the lowest position of the grab and the slag.

11. The automatic slag removal system according to claim 1, characterized in that: According to the following model, the interval time for the next round of slag removal operation is calculated as follows: Where, t n is the interval time, k' is the remaining slag removal times in a cycle, T is the total time of a cycle, T2 is the daily maintenance time of the bridge crane, S tn-1 It is the accumulated slag removal interval time.

12. The automatic slag removal system according to claim 11, characterized in that: According to the following calculation model, the remaining slag removal times k' in a cycle are calculated: Where, t k is the kth slag removal completion time, t' is the idle time, is the average slag discharge of the rotary kiln, S m is the total amount of slag removed, It is the average amount of kiln slag picked up by the grab bucket each time.

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