Automatic covering and uncovering device and method of coke quenching car based on double-car displacement detection system

Abstract

The application discloses a coke quenching vehicle automatic cover adding and uncovering device and method based on a double-vehicle displacement detection system, which comprises a coke quenching vehicle running on a first track, a cover grabbing machine running on a second track, a coke quenching vehicle displacement detection system and a cover grabbing machine displacement detection system. The cover grabbing machine comprises a travelling crane, a third track parallel to the second track and installed on the travelling crane and a lifting tool mechanism running on the third track. The coke quenching vehicle displacement detection system comprises a first electromagnetic induction ruler arranged along the first track and a first electric control device installed on the coke quenching vehicle. The cover grabbing machine displacement detection system comprises a second electromagnetic induction ruler arranged along the second track and a second electric control device installed on the cover grabbing machine. The application can realize automatic control of the coke quenching vehicle uncovering and cover adding under the condition of no stopping, ensure normal operation of the production rhythm, reduce environmental pollution caused by the coke quenching vehicle discharging harmful smoke in disorder and increase waste heat recovery heat.

Description

Technical Field

[0001] This invention relates to the field of coking plant production equipment technology, and in particular to an automatic capping device and method for a coke quenching car based on a dual-car displacement detection system. Background Technology

[0002] On the coking plant production line, quenching cars travel between the quenching car and the quenching tower. Currently, the quenching canisters on these cars operate with their openings open, exposing the red-hot coke inside to the air and causing uncontrolled emissions, resulting in severe environmental pollution. Therefore, it is necessary to cover the coke canisters on the quenching cars between the quenching car and the quenching tower to effectively and significantly reduce the environmental pollution caused by these emissions. Furthermore, coking plants typically have power plants that recover waste heat from the dry quenching process for electricity generation. Covering the quenching cars will also reduce heat loss from the uncovered coke during transport, increase waste heat recovery, and boost power generation.

[0003] Because the transportation process from the coke oven to the quenching tower via the quenching car after the coke is red-hot is designed with a very tight schedule, and the quenching car is very heavy, its start-up and braking times are very slow. If the car is stopped and covered, it will not be able to keep up with the coke oven's production rhythm. Therefore, the cover must be opened and closed quickly without stopping the machine in order to ensure the normal operation of the production rhythm.

[0004] Currently, the application of coded cable technology for the interlocking operation of four vehicles (coal loading locomotive, coke pushing car, coke quenching car, and coke quenching car) has been included in the safety production standards for coking plants. The application of electromagnetic induction rulers in detecting the position of fixed targets from moving single or multiple moving machines is already quite mature. For example, Chinese Utility Model Patent Application No. 201921786696.X discloses an automated management and control system for a four-vehicle interlocking coking process, including a central control room, locomotives, and coded cables. The coke pushing car, coke quenching car, coke quenching car, and coal loading car are all connected to the central control room and coded cables, realizing the automated management and control of the four vehicles. However, how to accurately position two locomotives traveling in the same direction using electromagnetic induction rulers to achieve automatic cover opening and closing without stopping is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an automatic capping and uncapping device and method for coke quenching cars based on a dual-car displacement detection system. This method enables automated control of capping and uncapping of coke quenching cars without stopping, ensuring normal operation of the production cycle and reducing environmental pollution caused by the disorderly emission of harmful flue gas from coke quenching cars.

[0006] The technical solution adopted by this invention to solve its technical problem is: an automatic capping and uncapping device for a coke quenching car based on a dual-car displacement detection system, comprising:

[0007] The coke quenching car travels on the first track and is used to transport coke quenching pots;

[0008] A lid grabber travels on a second track arranged parallel to the first track; the lid grabber includes a trolley, a third track mounted on the trolley and parallel to the second track, and a lifting mechanism traveling on the third track, the lifting mechanism being used to grab can lids and perform lid-opening operations;

[0009] The coke quenching car displacement detection system includes a first electromagnetic induction ruler arranged in parallel along the first track and a first electrical control device installed on the coke quenching car. The first electrical control device is used to acquire the position and running speed of the coke quenching car in real time.

[0010] The cap grabber displacement detection system includes a second electromagnetic induction ruler arranged in parallel along the second track and a second electrical control device installed on the cap grabber; the second electrical control device is used to acquire the position and running speed of the cap grabber in real time, and to interact with the first electrical control device to control the cap grabber and the coke quenching car to remain relatively stationary in the direction of travel, and then control the lifting mechanism to move until its centerline coincides with the centerline of the coke quenching tank.

[0011] As a further improvement of the present invention, the lifting mechanism includes a lifting device, a positioning vehicle, a lifting mechanism, and a driving device for driving the positioning vehicle to travel on the third track. The lifting mechanism is mounted on the positioning vehicle, and the lifting device is connected to the lifting mechanism and driven by the lifting mechanism to perform lifting movements.

[0012] As a further improvement of the present invention, the lifting device includes a magnetic lifting device, which is used to attract the can lid when energized.

[0013] As a further improvement of the present invention, the lifting device also includes multiple hooks and multiple hydraulic cylinders. The multiple hooks are rotatably mounted on the outer periphery of the magnetic lifting device, and the multiple hydraulic cylinders are all disposed on the magnetic lifting device and connected to the multiple hooks one by one, so as to drive the multiple hooks to rotate and lock the can lid.

[0014] As a further improvement of the present invention, the lifting mechanism includes an electric hoist and a lifting column, a guide sleeve is fixed on the alignment vehicle, the lifting column is slidably fitted in the guide sleeve, the electric hoist is connected to the upper end of the lifting column, and the lifting device is fixed to the lower end of the lifting column.

[0015] As a further improvement of the present invention, the driving device includes a servo motor and a lead screw module, wherein the servo motor is controlled by the second electronic control device to drive the lead screw module to move the alignment car.

[0016] As a further improvement of the present invention, the first electrical control device includes a first PLC, a first electromagnetic matching device, a first data interpreter, a first switch, and a first frequency converter. The first electromagnetic matching device is electrically connected to the first PLC through the first data interpreter. The first electromagnetic matching device is used in conjunction with the first electromagnetic induction ruler to detect the position of the coke quenching car and transmit the data to the first PLC. The first frequency converter is electrically connected to the first PLC through the first switch. The first PLC can control the speed of the first motor on the coke quenching car through the first frequency converter. The first switch is equipped with a first wireless bridge.

[0017] The second electrical control device includes a second PLC, a second electromagnetic matching device, a second data interpreter, a second switch, and a second frequency converter. The second electromagnetic matching device is electrically connected to the second PLC through the second data interpreter. The second electromagnetic matching device works in conjunction with the second electromagnetic induction ruler to detect the position of the cap grabber and transmit the data to the second PLC. The second frequency converter is electrically connected to the second PLC through the second switch. The second PLC can control the speed of the second motor on the cap grabber through the second frequency converter. The second switch is equipped with a second wireless bridge, which is used to establish wireless communication with the first wireless bridge for data interaction.

[0018] This invention also provides an automatic capping and uncapping method for a coke quenching car based on a dual-car displacement detection system, which is implemented using the aforementioned automatic capping and uncapping device for a coke quenching car based on a dual-car displacement detection system, and includes the following steps:

[0019] S1, obtain the position and running speed of the coke quenching car on the first track;

[0020] S2, when the coke quenching car reaches the target position, the cap grabber is controlled to start running, and the running speed of the cap grabber is adjusted according to the running speed of the coke quenching car to keep it running synchronously with the coke quenching car to achieve preliminary positioning;

[0021] S3, obtain the position of the cap grabber on the second track, and control the lifting mechanism on the cap grabber to move according to the position difference between the cap grabber and the coke quenching car, so that the center line of the lifting mechanism coincides with the center line of the coke quenching can carried on the coke quenching car, thereby achieving precise positioning;

[0022] S4, the lifting mechanism operates to open or close the cover.

[0023] As a further improvement of the present invention, the coke quenching car is equipped with a first electronic control device, which detects the position of the coke quenching car by a first electromagnetic induction ruler arranged in parallel along the first track.

[0024] The cap grabber is equipped with a second electronic control device, which detects the position of the cap grabber by a second electromagnetic induction ruler arranged in parallel along the second track.

[0025] The first electronic control device and the second electronic control device can establish wireless communication for data interaction;

[0026] The lifting mechanism includes a lifting device, an alignment vehicle, and a servo motor; in step S3, the second electrical control device controls the servo motor to drive the alignment vehicle to move the position difference so that the lifting device is aligned with the coke quenching tank.

[0027] As a further improvement of the present invention, the rotational speed of the first motor on the coke quenching car is controlled by a first frequency converter. The running speed of the coke quenching car is calculated by reading the output frequency of the first frequency converter and using the transmission ratio and the wheel diameter of the coke quenching car. The rotational speed of the second motor on the cap grabber is controlled by a second frequency converter. The output frequency of the second frequency converter is adjusted according to the output frequency of the first frequency converter, so that the cap grabber and the coke quenching car travel at the same speed.

[0028] The beneficial effects of this invention are:

[0029] 1. This invention provides an automatic capping and uncapping device and method for a coke quenching car based on a dual-car displacement detection system. It includes a cap-grabbing machine that travels in the same direction as the coke quenching car. Electromagnetic guide rulers are arranged on the tracks of both the coke quenching car and the cap-grabbing machine. The invention employs a technical solution combining electromagnetic guide ruler movement position detection technology with PLC control technology. During operation, the cap-grabbing machine and the coke quenching car are controlled to run synchronously. Initial positioning is achieved, and wireless communication technology allows data exchange between the two machines to obtain their positional differences. Under synchronous operation, a servo motor on the cap-grabbing machine drives a positioning car to move, aligning the centerline of the lifting device with the centerline of the coke quenching tank. This precise positioning enables automatic capping and uncapping operations, achieving automated control of capping and uncapping of the coke quenching car without stopping, ensuring normal production cycle operation, reducing environmental pollution caused by the disorderly emission of harmful fumes from the coke quenching car, and simultaneously reducing heat loss from the coke in the coke quenching tank and increasing waste heat recovery.

[0030] 2. This application uses an electric hoist to drive a magnetic lifting device to automatically grab the can lid. The electric hoist and the magnetic lifting device are connected by a lifting column to prevent swaying. Furthermore, the magnetic lifting device is equipped with a grab hook driven by a hydraulic cylinder, which clamps the can lid. This can prevent the risk of the can lid falling off due to the failure of the magnetic retention function of the magnetic lifting device caused by an accidental power outage, thus greatly improving the safety performance. Attached Figure Description

[0031] Figure 1 This is a front view of the automatic capping and uncapping device for the coke quenching car based on a dual-car displacement detection system according to the present invention.

[0032] Figure 2 This is a top view of the automatic capping device for the coke quenching car based on the dual-car displacement detection system of the present invention;

[0033] Figure 3 This is a side view of the automatic capping device for the coke quenching car based on the dual-car displacement detection system of the present invention;

[0034] Figure 4 This is a schematic diagram of the automatic capping and uncapping device for the coke quenching car based on the dual-car displacement detection system of the present invention in the capping state;

[0035] Figure 5 This is a front view of the lifting device in the automatic capping and uncapping device for coke quenching cars based on a dual-vehicle displacement detection system of the present invention;

[0036] Figure 6 This is a top view of the lifting device in the automatic capping and uncapping device for the coke quenching car based on the dual-vehicle displacement detection system of the present invention;

[0037] Figure 7 This is a schematic block diagram of the coke quenching car displacement detection system in the automatic coke quenching car cover-adding device based on the dual-car displacement detection system of the present invention;

[0038] Figure 8 This is a schematic block diagram of the cap-grabbing machine displacement detection system in the automatic cap-adding and lifting device for the coke quenching car based on the dual-car displacement detection system of the present invention;

[0039] Figure 9 This is a flowchart illustrating the steps of the automatic capping and uncapping method for a coke quenching car based on a dual-car displacement detection system according to the present invention.

[0040] Referring to the accompanying drawings, the following explanations are provided:

[0041] 1. Quenching car; 2. First track; 3. Quenching jar; 4. Cap grabber; 41. Overhead crane; 42. Third track; 43. Lifting device; 431. Magnetic lifting device; 432. Grab hook; 433. Hydraulic cylinder; 44. Alignment car; 45. Electric hoist; 46. Lifting column; 47. Guide sleeve; 48. Servo motor; 49. Screw module; 5. Second track; 6. Quenching car displacement detection system; 61. First electromagnetic guide ruler; 62. First PLC; 63. First electromagnetic matching device; 64. First data reader; 65. First switch; 66. First frequency converter; 67. First wireless bridge; 7. Cap grabber displacement detection system; 71. Second electromagnetic guide ruler; 72. Second PLC; 73. Second electromagnetic matching device; 74. Second data reader; 75. Second switch; 76. Second frequency converter; 77. Second wireless bridge. Detailed Implementation

[0042] The preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0043] Example 1

[0044] See Figures 1 to 8 The present invention provides an automatic capping device for a coke quenching car based on a dual-car displacement detection system, comprising: a coke quenching car 1, a first track 2, a capping machine 4, a second track 5, a coke quenching car displacement detection system 6, and a capping machine displacement detection system 7.

[0045] See Figures 1 to 3 The quenching car 1 travels on the first track 2 and is used to transport the quenching cans 3. The second track 5 is arranged parallel to the first track 2 and is located on both sides of the first track 2. The cap grabber 4 is a double-beam gantry crane structure and is equipped with anti-collision sensors; the cap grabber 4 travels on the second track 5, and the quenching car 1 can pass underneath it when traveling along the first track 2. The cap grabber 4 includes a traveling car 41, a third track 42, and a lifting mechanism. The third track 42 is installed on the traveling car 41 and is parallel to the second track 5; the lifting mechanism travels on the third track 42 and is used to grab the can lids and perform the capping and uncapping operations.

[0046] Specifically, the lifting mechanism includes a lifting device 43, a positioning carriage 44, a lifting mechanism, and a drive unit for driving the positioning carriage 44 on the third track 42. The lifting mechanism is mounted on the positioning carriage 44, and the lifting device 43 is connected to the lifting mechanism and driven by the lifting mechanism to perform lifting movements. The drive unit includes a servo motor 48 and a lead screw module 49. Both the servo motor 48 and the lead screw module 49 are mounted on the top of the traveling carriage 41. The servo motor 48 is connected to the lead screw module 49 for transmission. The positioning carriage 44 is connected to the lead screw module 49. The servo motor 48 is controlled by the cap-grabbing machine displacement detection system 7 to drive the lead screw module 49 to drive the positioning carriage 44 along the third track 42. This application achieves precise positioning of the positioning carriage 44 by using a servo motor 48 to drive the positioning carriage 44. Of course, the drive unit can also use a linear motor, etc., which can also achieve the same precise positioning effect. Examples are not provided here.

[0047] The lifting mechanism includes an electric hoist 45 and a lifting column 46. The electric hoist 45 is fixedly installed on the top of the alignment vehicle 44. A guide sleeve 47 is vertically fixed along the upper edge of the alignment vehicle 44. The lifting column 46 is slidably fitted inside the guide sleeve 47. The wire rope of the electric hoist 45 is connected to the upper end of the lifting column 46, and the lifting device 43 is fixed to the lower end of the lifting column 46. This application, through the cooperative use of the lifting column 46 and the guide sleeve 47, can effectively prevent the lifting device 43 from swaying, avoiding any shaking that could prevent alignment with the coke quenching tank 3.

[0048] In addition, the electric hoist 45 is equipped with a weight acquisition sensor to ensure safe lifting. The lifting stroke distance of the spreader 43 is controlled by a displacement sensor, and the descent speed has a deceleration buffer function when the spreader 43 falls close to the quenching tank 3.

[0049] In this embodiment, the top of the lid of the quenching tank 3 is provided with a lifting plate, and the lifting plate is made of magnetic material, preferably carbon steel.

[0050] See Figure 5 and Figure 6 The lifting device 43 includes a magnetic lifting device 431, which is used to attract the lifting plate of the can lid when energized. In this embodiment, the lifting plate is disc-shaped, and the corresponding magnetic lifting device 431 is also disc-shaped.

[0051] This application also includes a backup power supply on the crane 41, which is activated in the event of an unexpected power outage, so that the magnetic lifting device 431 can hold the can lid in place.

[0052] Due to the limited power of the backup power supply, the magnetic lifting device 431 can only maintain its magnetic retention function for a period of time after a power outage. In the event of an unexpected power failure, it is essential to ensure that the can lid lifted by the magnetic lifting device 431 does not fall off. Therefore, a safety device is added to the magnetic lifting device 431, namely, multiple hooks 432 and multiple hydraulic cylinders 433. Multiple support plates extend radially from the outer circumference of the magnetic lifting device 431, and the multiple hooks 432 are distributed in a ring at equal intervals around the magnetic lifting device 431, with their centers hinged to the multiple support plates. It is understood that the number of hooks 432 should be at least three to ensure stable gripping of the can lid; in this embodiment, six hooks 432 are preferably provided, and correspondingly, six hydraulic cylinders 433 and six support plates are also provided. Six hydraulic cylinders 433 are arranged horizontally on the top of the magnetic lifting device 431, and the tail end of the hydraulic cylinder 433 is hinged to the magnetic lifting device 431. The output end of the hydraulic cylinder 433 is hinged to the upper end of the grab hook 432.

[0053] This application also includes a hydraulic station on the crane 41. The hydraulic station is equipped with a 24V motor powered by a backup power supply. Furthermore, the hydraulic station is equipped with an inverter, an automatic power switching device, and a wireless remote start device. In the event of a sudden power outage, the backup power supply can be switched automatically or by the operator on the quenching car 1, activating the hydraulic cylinder 433. This drives the respective grab hooks 432 to rotate, causing their hook bodies to retract inwards to clamp the edge of the lifting plate. Afterwards, the hydraulic station motor automatically stops. The energy storage system maintains cylinder pressure after shutdown, ensuring the grab hooks 432 remain clamped until power is restored. After power is restored, the hydraulic station can be remotely started by the operator on the quenching car 1. After the hydraulic cylinder 433 drives the respective grab hooks 432 away from the lifting plate, the hydraulic station motor automatically stops, and the grab hooks 432 remain open under spring pressure. This application uses a gripper 432 driven by a hydraulic cylinder 433 on a magnetic lifting device 431. The gripper 432 is used to hold the can lid in place, which can prevent the can lid from falling off after the magnetic retention function of the magnetic lifting device 431 fails due to an accidental power outage, thus greatly improving the safety performance.

[0054] See Figure 3 and Figure 4 The coke quenching car displacement detection system 6 includes a first electromagnetic induction ruler 61 arranged in parallel along the first track 2 and a first electrical control device installed on the coke quenching car 1. The first electrical control device is used to acquire the position and running speed of the coke quenching car 1 in real time.

[0055] See Figure 7The first electrical control device includes a first electromagnetic generator, a first PLC 62, a first electromagnetic matching device 63, a first data interpreter 64, a first switch 65, and a first frequency converter 66. The first electromagnetic generator is located at the beginning of the first electromagnetic induction ruler 61. The first electromagnetic matching device 63 is electrically connected to the first PLC 62 via the first data interpreter 64. The first electromagnetic matching device 63 works in conjunction with the first electromagnetic induction ruler 61 to detect the position of the coke quenching car 1 and transmit data to the first PLC 62. The first frequency converter 66 is electrically connected to the first PLC 62 via the first switch 65, and is also connected to the first motor on the coke quenching car 1. The first PLC 62 can regulate the speed of the first motor on the coke quenching car 1 through the first frequency converter 66. The first switch 65 is equipped with a first wireless bridge 67.

[0056] Continue reading Figure 3 and Figure 4 The cap grabber displacement detection system 7 includes a second electromagnetic induction ruler 71 arranged in parallel along the second track 5 and a second electrical control device installed on the cap grabber 4; the second electrical control device is used to acquire the position and running speed of the cap grabber 4 in real time, and to interact with the first electrical control device to control the cap grabber 4 and the coke quenching car 1 to remain relatively stationary in the direction of travel, and then control the lifting mechanism to move until its center line coincides with the center line of the coke quenching tank 3.

[0057] See Figure 8 The second electrical control equipment includes a second electromagnetic generator, a second PLC 72, a second electromagnetic matching device 73, a second data interpreter 74, a second switch 75, and a second frequency converter 76. The second electromagnetic matching device 73 is electrically connected to the second PLC 72 via the second data interpreter 74. The second electromagnetic matching device 73 works in conjunction with the second electromagnetic induction ruler 71 to detect the position of the cap-grabbing machine 4 and transmit data to the second PLC 72. The second frequency converter 76 is electrically connected to the second PLC 72 via the second switch 75, and is also connected to the second motor on the cap-grabbing machine 4. The second PLC 72 can regulate the speed of the second motor on the cap-grabbing machine 4 via the second frequency converter 76. The second switch 75 is equipped with a second wireless bridge 77, which is used to establish wireless communication with the first wireless bridge 67 for data exchange.

[0058] Furthermore, for coking plants with a four-machine interlocking system (coal feeder, coke pusher, coke quencher, and coke quenching car), the automatic cover-adding and uncovering electronic control system of the coke quenching car in this application can be connected to the four-machine interlocking system.

[0059] Therefore, this embodiment of the automatic capping and uncapping device for the coke quenching car based on the dual-car displacement detection system is equipped with a cap-grabbing machine 4 that travels in the same direction as the coke quenching car 1. Electromagnetic induction rulers are arranged on the tracks on which the coke quenching car 1 and the cap-grabbing machine 4 each run. The technical solution combines electromagnetic induction ruler movement position detection technology with PLC control technology. During the journey, the cap-grabbing machine 4 and the coke quenching car 1 are controlled to run synchronously. Initial positioning is achieved first, and wireless communication technology is used to allow data to be exchanged between the coke quenching car 1 and the cap-grabbing machine 4 to obtain the position difference between the two machines. Under synchronous operation, the servo motor 48 on the cap-grabbing machine 4 drives the alignment car 44 to move, so that the center line of the lifting device 43 coincides with the center line of the coke quenching tank 3. After achieving precise positioning, the capping and uncapping operations are automatically performed. This realizes the automated control of capping and uncapping of the coke quenching car 1 without stopping, ensuring the normal operation of the production cycle, reducing the environmental pollution caused by the disorderly emission of harmful flue gas from the coke quenching car 1, and reducing the heat loss of coke in the coke quenching tank 3, while increasing the heat recovery of waste heat.

[0060] Example 2

[0061] See Figures 1 to 9 This application also provides an automatic capping and uncapping method for a coke quenching car based on a dual-car displacement detection system, which is implemented using the automatic capping and uncapping device for a coke quenching car based on a dual-car displacement detection system of Embodiment 1, including steps S1 to S4.

[0062] S1, obtain the position and running speed of the coke quenching car 1 on the first track 2.

[0063] The coke quenching car 1 is equipped with a first electronic control device, which detects the position of the coke quenching car 1 by using a first electromagnetic induction ruler 61 arranged in parallel along the first track 2. Specifically, the first PLC 62 of the first electronic control device obtains the real-time movement position data of the coke quenching car 1 through a first data interpreter 64, a first electromagnetic matching device 63, and the first electromagnetic induction ruler 61.

[0064] S2, when the coke quenching car 1 reaches the target position, the control cap grabber 4 starts to run, and the running speed of the cap grabber 4 is adjusted according to the running speed of the coke quenching car 1 to keep it running synchronously with the coke quenching car 1 to achieve preliminary positioning.

[0065] In this embodiment, the target position is the second gear position. When the coke quenching car 1 approaches the edge of the coke blocking car and the edge of the coke quenching tower at a certain distance, it needs to be adjusted to the second gear operating speed before the cover removal operation is performed.

[0066] The cap-grabbing machine 4 is located at the target position. A second electronic control device is installed on the cap-grabbing machine 4, which detects the position of the cap-grabbing machine 4 by using a second electromagnetic induction ruler 71 arranged parallel to the second track 5. Wireless communication is established between the first PLC 62 of the first electronic control device and the second PLC 72 of the second electronic control device for data exchange.

[0067] Furthermore, when the coke quenching car 1 reaches the target position, the second PLC 72 of the second electrical control equipment receives an automatic can lid grabbing command issued by the HMI of the coke quenching car 1 or the HMI of the central control room. The second PLC 72 controls the second motor of the can lid grabbing machine 4 to start through the second frequency converter 76, so that the can lid grabbing machine 4 moves in the same direction as the coke quenching car 1 on the second track 5. And by controlling the second frequency converter 76, the second motor of the can lid grabbing machine 4 is driven to run synchronously with the coke quenching car 1.

[0068] Both the coke quenching car 1 and the capping machine 4 are driven by their respective frequency converters, with their own motors outputting power through their own reducers. Each speed gear of the coke quenching car 1 corresponds to a specific frequency of the first frequency converter 66. The uniform speed after deceleration and inertia elimination at each gear can be calculated using the transmission ratios of each component and the wheel diameter of the coke quenching car 1. The operating speed of the capping machine 4 corresponds to the output frequency of the second frequency converter 76. Based on the parameters of the second motor of the capping machine 4 and its wheel diameter, the transmission ratio of the capping machine 4 is configured to ensure that the operating speeds of the coke quenching car 1 and the capping machine 4 are consistent when operating at the same frequency.

[0069] Therefore, the operating speed of the coke quenching car 1 depends on the output frequency of the first frequency converter 66. By obtaining the output frequency of the first frequency converter 66 of the coke quenching car 1 and controlling the second frequency converter 76 of the cap grabber 4 to output at this frequency, the cap grabber 4 and the coke quenching car 1 can be made to operate synchronously.

[0070] There are two methods for reading the output frequency of the first frequency converter 66 of the coke quenching car 1: First, the first PLC 62 directly reads the signal of the gear switch of the first frequency converter 66, and obtains the output frequency of the first frequency converter 66 according to the frequency relationship corresponding to the gear switch signal; second, the output frequency of the first frequency converter 66 of the coke quenching car 1 is directly read through the field industrial bus communication method. The first PLC 62 of the coke quenching car 1 transmits the output frequency of the first frequency converter 66 to the second wireless bridge of the capping machine 4 through the first switch 65 and the first wireless bridge. The second PLC 72 of the capping machine 4 issues a command to control the second frequency converter 76 to operate synchronously with the same output frequency as the coke quenching car 1.

[0071] It should be noted that after a period of operation, the wheels of the coke quenching car 1 and the capping machine 4 will be in a state of running at the same frequency but different speeds. In order to ensure that the capping machine 4 and the coke quenching car 1 run at the same speed under the same output frequency, the actual walking speed of the capping machine 4 and the coke quenching car 1 can be measured (which can be measured by their respective electromagnetic induction rulers), and the actual error can be eliminated by modifying the additional correction coefficient.

[0072] S3, obtain the position of the cap grabber 4 traveling on the second track 5, and control the lifting mechanism on the cap grabber 4 to move according to the position difference between the cap grabber 4 and the coke quenching car 1, so that the center line of the lifting mechanism coincides with the center line of the coke quenching tank 3 carried on the coke quenching car 1, thereby achieving precise positioning.

[0073] Specifically, the second PLC 72 obtains the real-time moving position data of the cover grabber 4 through the second data interpreter 74, the second electromagnetic matching device 73, and the second electromagnetic induction ruler 71.

[0074] Because the speed of the cap grabber 4 when it starts is lower than the running speed of the coke quenching car 1, the coke quenching car 1 will overtake the cap grabber 4. Under normal circumstances, after the coke quenching car 1 decelerates from third gear to second gear to eliminate the inertial motion during deceleration, the uniform running speed is 333mm / s, which is relatively slow. When the running speed of the cap grabber 4 is consistent with the running speed of the coke quenching car 1, the distance (i.e., the positional difference) between the cap grabber 4 and the coke quenching car 1 will not exceed 1000mm, which is within the travel range of the lifting mechanism.

[0075] The first PLC 62 of the coke quenching car 1 transmits the real-time position information of the coke quenching car 1 detected by the first data interpreter 64 to the second wireless bridge of the cap grabber 4 through the first wireless bridge; the second PLC 72 of the cap grabber 4 receives the real-time position information of the coke quenching car 1 through the second wireless bridge, and calculates the position difference with the real-time position information of the cap grabber 4; then the second PLC 72 controls the servo motor 48 to drive the alignment car 44 to move by the position difference so that the center line of the lifting device 43 coincides with the center line of the coke quenching tank 3 carried on the coke quenching car 1, thereby achieving precise positioning.

[0076] S4, the lifting mechanism operates to open or close the cover.

[0077] First, the electric hoist 45 drives the magnetic lifting device 431 to descend until it contacts the lifting plate of the can lid. Then, the magnetic lifting device 431 is energized and attracts the lifting plate of the can lid. Finally, the electric hoist 45 drives the magnetic lifting device 431 to lift the can lid, separating it from the quenching can 3, completing the lid removal. The lid-adding action is the reverse of the lid-removing action and will not be described in detail. After the lid-adding and lid-removing actions are completed, the lid gripper 4 automatically returns to the starting position.

[0078] Therefore, this embodiment of the automatic capping and uncapping method for the coke quenching car based on the dual-car displacement detection system adopts a technical solution that combines electromagnetic induction ruler movement position detection technology with PLC control technology. During operation, the cap grabber 4 and the coke quenching car 1 are controlled to run synchronously. Initial positioning is achieved first, and wireless communication technology is used to allow data to be exchanged between the coke quenching car 1 and the cap grabber 4 to obtain the position difference between the two machines. Under synchronous operation, the servo motor 48 on the cap grabber 4 drives the alignment car 44 to move, so that the center line of the lifting device 43 coincides with the center line of the coke quenching tank 3. After achieving precise positioning, the capping and uncapping operations are automatically performed. This realizes the automated control of capping and uncapping of the coke quenching car 1 without stopping, ensuring the normal operation of the production cycle, reducing environmental pollution caused by the disorderly emission of harmful flue gas from the coke quenching car 1, and reducing the heat loss of coke in the coke quenching tank 3, while increasing the heat recovery of waste heat.

[0079] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. An automatic capping and uncapping device for a coke quenching car based on a dual-car displacement detection system, characterized in that, include: The coke quenching car (1) travels on the first track (2) and is used to transport the coke quenching can (3); The lid grabber (4) travels on a second track (5) arranged parallel to the first track (2); the lid grabber (4) includes a trolley (41), a third track (42) installed on the trolley (41) and parallel to the second track (5), and a lifting mechanism traveling on the third track (42), the lifting mechanism being used to grab can lids and perform lid opening and closing operations; The coke quenching car displacement detection system (6) includes a first electromagnetic induction ruler (61) arranged in parallel along the first track (2) and a first electrical control device installed on the coke quenching car (1). The first electrical control device is used to acquire the position and running speed of the coke quenching car (1) in real time. The cap grabber displacement detection system (7) includes a second electromagnetic induction ruler (71) arranged in parallel along the second track (5) and a second electrical control device installed on the cap grabber (4); the second electrical control device is used to acquire the position and running speed of the cap grabber (4) in real time, and to interact with the first electrical control device to control the cap grabber (4) and the coke quenching car (1) to remain relatively stationary in the direction of travel, and then control the lifting mechanism to move until its center line coincides with the center line of the coke quenching tank (3).

2. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 1, characterized in that: The lifting mechanism includes a lifting device (43), a positioning vehicle (44), a lifting mechanism, and a drive device for driving the positioning vehicle (44) to travel on the third track (42). The lifting mechanism is installed on the positioning vehicle (44), and the lifting device (43) is connected to the lifting mechanism and is driven by the lifting mechanism to perform lifting movements.

3. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 2, characterized in that: The lifting device (43) includes a magnetic lifting device (431) which is used to attract the can lid when energized.

4. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 3, characterized in that: The lifting device (43) also includes multiple hooks (432) and multiple hydraulic cylinders (433). The multiple hooks (432) are rotatably mounted on the outer periphery of the magnetic lifting device (431). The multiple hydraulic cylinders (433) are all arranged on the magnetic lifting device (431) and connected one-to-one with the multiple hooks (432) to drive the multiple hooks (432) to rotate and lock the can lid.

5. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 2, characterized in that: The lifting mechanism includes an electric hoist (45) and a lifting column (46). A guide sleeve (47) is fixed on the alignment vehicle (44). The lifting column (46) is slidably fitted inside the guide sleeve (47). The electric hoist (45) is connected to the upper end of the lifting column (46). The lifting device (43) is fixed to the lower end of the lifting column (46).

6. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 2, characterized in that: The driving device includes a servo motor (48) and a lead screw module (49). The servo motor (48) is controlled by the second electronic control device to drive the lead screw module (49) to move the alignment car (44).

7. The automatic capping device for a coke quenching car based on a dual-car displacement detection system according to claim 1, characterized in that: The first electrical control device includes a first PLC (62), a first electromagnetic matching device (63), a first data interpreter (64), a first switch (65), and a first frequency converter (66). The first electromagnetic matching device (63) is electrically connected to the first PLC (62) through the first data interpreter (64). The first electromagnetic matching device (63) works in conjunction with the first electromagnetic induction ruler (61) to detect the position of the coke quenching car (1) and transmit the data to the first PLC (62). The first frequency converter (66) is electrically connected to the first PLC (62) through the first switch (65). The first PLC (62) can control the speed of the first motor on the coke quenching car (1) through the first frequency converter (66). The first switch (65) is equipped with a first wireless bridge (67). The second electrical control device includes a second PLC (72), a second electromagnetic matching device (73), a second data interpreter (74), a second switch (75), and a second frequency converter (76). The second electromagnetic matching device (73) is electrically connected to the second PLC (72) through the second data interpreter (74). The second electromagnetic matching device (73) works in conjunction with the second electromagnetic induction ruler (71) to detect the position of the cap grabber (4) and transmit the data to the second PLC (72). The second frequency converter (76) is electrically connected to the second PLC (72) through the second switch (75). The second PLC (72) can control the speed of the second motor on the cap grabber (4) through the second frequency converter (76). The second switch (75) is equipped with a second wireless bridge (77), which is used to establish wireless communication with the first wireless bridge (67) for data interaction.

8. An automatic capping and uncapping method for a coke quenching car based on a dual-car displacement detection system, implemented using the automatic capping and uncapping device for a coke quenching car based on a dual-car displacement detection system as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1, obtain the position and running speed of the coke quenching car (1) on the first track (2); S2, when the coke quenching car (1) travels to the target position, the cap grabber (4) is controlled to start running, and the running speed of the cap grabber (4) is adjusted according to the running speed of the coke quenching car (1) so that it runs synchronously with the coke quenching car (1) to achieve preliminary positioning; S3, obtain the position of the cap grabber (4) traveling on the second track (5), and according to the position difference between the cap grabber (4) and the coke quenching car (1), control the lifting mechanism on the cap grabber (4) to move the position difference, so that the center line of the lifting mechanism coincides with the center line of the coke quenching tank (3) carried on the coke quenching car (1), and achieve precise positioning; S4, the lifting mechanism operates to open or close the cover.

9. The automatic capping method for a coke quenching car based on a dual-car displacement detection system according to claim 8, characterized in that: The coke quenching car (1) is equipped with a first electronic control device, which detects the position of the coke quenching car (1) by means of a first electromagnetic induction ruler (61) arranged in parallel along the first track (2); The cap grabber (4) is equipped with a second electronic control device, which detects the position of the cap grabber (4) by a second electromagnetic induction ruler (71) arranged in parallel along the second track (5); The first electronic control device and the second electronic control device can establish wireless communication for data interaction; The lifting mechanism includes a lifting device (43), an alignment vehicle (44), and a servo motor (48); in step S3, the second electrical control device controls the servo motor (48) to drive the alignment vehicle (44) to move the position difference so that the lifting device (43) is aligned with the coke quenching tank (3).

10. The automatic capping method for a coke quenching car based on a dual-car displacement detection system according to claim 8, characterized in that: The rotational speed of the first motor on the coke quenching car (1) is controlled by the first frequency converter (66). The running speed of the coke quenching car (1) is calculated by reading the output frequency of the first frequency converter (66) and the transmission ratio and the wheel diameter of the coke quenching car (1). The rotational speed of the second motor on the cap grabber (4) is controlled by the second frequency converter (76). The output frequency of the second frequency converter (76) is adjusted according to the output frequency of the first frequency converter (66), so that the cap grabber (4) moves at the same speed as the coke quenching car (1).

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