Method for injecting water into hot slag smothering tank

Abstract

An embodiment of the present invention provides a method for injecting water into a hot-smelting slag pond, including: Step A: Arrange the water injection device for the hot-smelting slag pond on the side of the hot-smelting slag pond, so that the swinging plane of the robotic arm is located outside the edge of the hot-smelting slag pond to reduce the direct heat radiation from the hot-smelting slag pond; Step B: Drive the robotic arm to unfold or swing through hydraulic pressure, so that the small arm extends to the upper side of the hot-smelting slag pond and the nozzle is aimed at the hot-smelting slag pond; Step C: Control the solenoid valve to open the nozzle switch, and the nozzle sprays water into the hot-smelting slag pond; Step D: During the process of the nozzle spraying water into the hot-smelting slag pond, adjust the unfolding or swinging of the robotic arm according to the water spraying range of the nozzle, so that the water sprayed by the nozzle finally covers the specified range of the hot-smelting slag pond. The present invention can realize automatic water injection into the hot-smelting slag pond, without the need for on-site operation by personnel, and can be remotely visualized throughout the process, thus eliminating the safety risks existing in the prior art and reducing the labor intensity.

Description

[0001] This application is a divisional application. The application number of the parent application is 202111559712.3, the application date is December 20, 2021, and the invention title is: A water injection device and method for a hot-smothering slag pool. Technical Field

[0002] The present invention relates to the technical field of steelmaking, and in particular to a method for injecting water into a hot-smothering slag pool. Background Art

[0003] Currently, the main domestic and foreign steel slag treatment processes include hot splashing method, shallow pan method, air quenching method, water quenching method, drum method, granulation method, hot smothering method, etc. Among these, the hot smothering method has the advantages of a wide application range, good stability of the treated steel slag, high pulverization rate, and sufficient slag-iron separation, and can achieve zero discharge of steel slag, so it is widely used. During the operation of the hot smothering method, it is necessary to repeatedly turn and manually inject water to cool the liquid slag poured into the slag pool.

[0004] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0005] During manual water injection, the on-site temperature is very high, and there will be splashing of liquid slag when turning the liquid slag. When there is accumulated water in the slag pool and turning the high-temperature steel slag, there may even be an explosion phenomenon, posing a great safety risk to the on-site water injection personnel and with a relatively high labor intensity. Therefore, how to resolve the safety risk of the operators during the water injection operation is a problem that needs to be solved. Summary of the Invention

[0006] The embodiments of the present invention provide a water injection device for a hot-smothering slag pool to solve the problem of safety risks existing in the existing manual water injection operation.

[0007] To achieve the above object, on the one hand, the embodiments of the present invention provide a water injection device for a hot-smothering slag pool, including a base, a swingable robotic arm hinged on the base, a water delivery pipeline, and a nozzle provided at the end of the robotic arm; the water delivery pipeline is laid along the robotic arm, and the water delivery pipeline contains a flexible pipe section; the end of the water delivery pipeline is connected to the nozzle; the water injection device for the hot-smothering slag pool further includes: a hydraulic station and a hydraulic cylinder; the hydraulic station is arranged on the base; the output end of the hydraulic station is connected to the hydraulic cylinder through a hydraulic pipeline; the piston rod end of the hydraulic cylinder is hinged on the robotic arm.

[0008] Further, the robotic arm includes a hinged boom and a forearm; a first rotating shaft arranged horizontally is provided on the base; the boom is hinged to the base through the first rotating shaft; the hydraulic cylinder includes a first hydraulic cylinder, the bottom of the first hydraulic cylinder is hinged to the base, and the piston rod end of the first hydraulic cylinder is hinged to the end of the boom; a second rotating shaft arranged horizontally is provided at the front end of the boom; the forearm is hinged to the boom through the second rotating shaft; the hydraulic cylinder further includes a second hydraulic cylinder, the bottom of the second hydraulic cylinder is hinged to the boom, and the piston rod end of the second hydraulic cylinder is hinged to the forearm.

[0009] Further, the robotic arm further includes a swivel arm; the end of the swivel arm is a flat plate structure; a third rotating shaft perpendicular to the second rotating shaft is provided at the front end of the forearm; the middle of the swivel arm is hinged to the forearm through the third rotating shaft; the hydraulic cylinder includes a third hydraulic cylinder, the bottom of the third hydraulic cylinder is hinged to the forearm, and the piston rod end of the third hydraulic cylinder is hinged to the side of the swivel arm.

[0010] Further, the water injection device for the hot slag-pit also includes a nozzle oil cylinder and a rotary joint rotatably connected to the center of the flat plate structure; the internal pipeline of the rotary joint is communicated with the end of the water delivery pipeline; the outer wall of the end of the nozzle is fixedly connected to the rotary joint, and the internal pipeline of the nozzle is communicated with the internal pipeline of the rotary joint; the bottom of the nozzle oil cylinder is hinged to the outer wall of the front end of the nozzle, and the piston rod end of the nozzle oil cylinder is hinged to a position away from the center of the flat plate structure.

[0011] Further, the water injection device for the hot slag-pit also includes an electromagnetic valve; the electromagnetic valve is connected to the nozzle.

[0012] Further, the water injection device for the hot slag-pit also includes a remote controller, and the remote controller is signal-connected to the hydraulic station and the electromagnetic valve.

[0013] Further, a camera is also provided on the outer wall of the nozzle; the camera faces the direction of the outlet of the nozzle.

[0014] Further, a cooling water jacket is also provided outside the hydraulic pipeline.

[0015] On the other hand, an embodiment of the present invention provides a method for injecting water into a hot slag-pit. The method for injecting water into the hot slag-pit uses the aforementioned water injection device for the hot slag-pit, and the method for injecting water into the hot slag-pit includes:

[0016] Step A: Arrange the water injection device for the hot slag-pit on the side of the hot slag-pit, so that the swing plane of the robotic arm is located outside the edge of the hot slag-pit to reduce the direct heat radiation from the hot slag-pit.

[0017] Step B: Drive the robotic arm to unfold or swing through hydraulic pressure, so that the forearm extends to the upper side of the hot slag-pit and the nozzle is aligned with the hot slag-pit.

[0018] Step C: Control the electromagnetic valve to open the nozzle switch, and the nozzle sprays water into the hot slag-pit.

[0019] Step D: During the process of the nozzle spraying water into the hot-smothered slag pool, adjust the deployment or swing of the robotic arm according to the water spraying range of the nozzle, so that the water sprayed by the nozzle finally covers the specified range of the hot-smothered slag pool.

[0020] Furthermore, a remote controller is used to remotely control the swing of the robotic arm and the water spraying of the nozzle.

[0021] The above technical solution has the following beneficial effects:

[0022] In the technical solution of the present invention, a nozzle for water spraying is arranged at the end of the robotic arm, and the robotic arm is driven by a hydraulic cylinder, so that the position of the nozzle can be adjusted within a large range, thereby aiming at the target in the hot-smothered slag pool. Through this solution, automatic water spraying for the hot-smothered slag pool can be realized, without the need for on-site operation by personnel, and remote visual operation can be carried out throughout the process. Therefore, the safety risks existing in the prior art are eliminated, and the working intensity is reduced. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic structural diagram of a water spraying device for a hot-smothered slag pool according to an embodiment of the present invention;

[0025] Figure 2 is a partial schematic diagram (top view) of the end of the forearm and the nozzle part according to an embodiment of the present invention;

[0026] Figure 3 is Figure 2 the corresponding axonometric drawing;

[0027] Figure 4 is an application schematic diagram of a water spraying device for a hot-smothered slag pool according to an embodiment of the present invention;

[0028] Figure 5 is a schematic structural diagram of the cooling water jacket according to an embodiment of the present invention;

[0029] Figure 6 is a flowchart of a method for spraying water into a hot-smothered slag pool according to an embodiment of the present invention;

[0030] Attached drawing reference numerals: 1, hydraulic station; 2, base; 3, boom; 4, forearm; 5, swing arm; 6, solenoid valve; 7, camera; 8, nozzle; 9, rotary joint; 11, first hydraulic cylinder; 12, second hydraulic cylinder; 13, third hydraulic cylinder; 14, nozzle cylinder; 21, hydraulic pipeline; 22, cooling water jacket; 31, first rotating shaft; 32, second rotating shaft; 41, third rotating shaft; 100, hot slag smelting pool. Specific implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0032] As Figure 1 shown, the embodiment of the present invention provides a hot slag smelting pool water injection device, including a water pump (not shown in the figure), a base 2, a swingable robotic arm hinged on the base 2, a water delivery pipeline, and a nozzle 8 provided at the end of the robotic arm; the nozzle 8 is connected to the water delivery pipeline, the water delivery pipeline is laid along the robotic arm and supplies water to the nozzle 8, and the water delivery pipeline contains a flexible pipe section to flexibly supply water to the nozzle 8 during the swing of the robotic arm; the front end of the water delivery pipeline is connected to the outlet of the water pump, and the end of the water delivery pipeline is communicated with the nozzle 8; the hot slag smelting pool water injection device further includes: a hydraulic station 1 and a hydraulic cylinder; the hydraulic station 1 is provided on the base 2; the output end of the hydraulic station 1 is connected to the hydraulic cylinder through a hydraulic pipeline 21; the piston rod end of the hydraulic cylinder is hinged on the robotic arm.

[0033] In order to replace manual operation, the present application uses a robotic arm to support the nozzle 8 and hinges the robotic arm on the base for position adjustment. During the water injection operation, adjust the position of the robotic arm so that the nozzle 8 is aligned with the target to be watered, pressurize through the water pump, and send water to the nozzle 8 through the water delivery pipeline. Since the position of the robotic arm is adjustable, the entire water delivery pipeline cannot be rigid. In the present application, all rubber hoses (i.e., the whole is a flexible pipe section) can be used; or the main part can use metal pipes or non-metal hard pipes, and flexible pipe sections that are easily deformable and adjustable are provided at the movable parts (the hinged position between the base and the robotic arm, and the hinged position inside the robotic arm, such as the connection between the boom and the forearm) to avoid interference with the position adjustment of the robotic arm. The flexible pipe section is a non-metal hose or a metal bellows. When a combination of a hard pipe and a flexible pipe section is used, the flexible pipe section can be a non-metal hose such as a rubber pipe, or a stainless steel bellows can be used to achieve it. In the present application, the water delivery pipeline can be buried inside the robotic arm and laid along the robotic arm.

[0034] When only the robotic arm fixes the nozzle, during the water spraying operation, the position of the nozzle usually needs to be continuously adjusted. Therefore, during the operation, the position of the robotic arm still needs to be manually adjusted to change the orientation of the nozzle. Therefore, this can only partially reduce potential safety hazards. To achieve fully automated operation, the position adjustment of the robotic arm needs to be automatically completed under remote control. Therefore, this application configures a hydraulic drive system for the water spraying device, that is, a hydraulic station 1 is provided on the base 2, and the movement of the robotic arm is controlled by multiple hydraulic cylinders.

[0035] Furthermore, the hot slag smelting pool water spraying device further includes a hydraulic station 1 and hydraulic cylinders; the hydraulic station 1 is provided on the base 2; the output end of the hydraulic station 1 is connected to the hydraulic cylinders through a hydraulic pipeline 21; the piston rod end of the hydraulic cylinder is hinged to the robotic arm.

[0036] Furthermore, the robotic arm includes a hinged boom 3 and forearm 4; a horizontally arranged first rotating shaft 31 is provided on the base 2; the boom 3 is hinged to the base 2 through the first rotating shaft 31 near the end; the hydraulic cylinder includes a first hydraulic cylinder 11, the bottom of the first hydraulic cylinder 11 is hinged to the base 2, and the piston rod end of the first hydraulic cylinder 11 is hinged to the end of the boom 3; a horizontally arranged second rotating shaft 32 is provided at the front end of the boom 3; the forearm 4 is hinged to the boom 3 through the second rotating shaft 32 near the end; the hydraulic cylinder includes a second hydraulic cylinder 12, the bottom of the second hydraulic cylinder 12 is hinged to the boom 3, and the piston rod end of the second hydraulic cylinder 12 is hinged to the end of the forearm 4.

[0037] The robotic arm can be a single one to achieve a single direction adjustment, or a group to achieve multi-direction adjustment. Among them, the boom 3 closest to the base 2 is the most important and indispensable. As Figure 1 shown, a first rotating shaft 31 is provided at the top right of the base 2, the first rotating shaft 31 is horizontally arranged, a Y-shaped fixing seat is provided at the bottom of the boom 3, the boom 3 is hinged to the first rotating shaft 31 at the middle of the Y-shaped fixing seat, the bottommost end of the Y-shaped fixing seat is hinged to the piston rod end of the first hydraulic cylinder 11 placed inside the base 2, and the bottom end of the cylinder block of the first hydraulic cylinder 11 is hinged to the left side of the base 2. When the hydraulic station 1 operates, the high-pressure hydraulic oil at the oil outlet of the hydraulic station 1 enters the rodless cavity of the first hydraulic cylinder 11 through the hydraulic pipeline 21, pushing the piston rod end to move to the right and pushing the boom 3 to swing counterclockwise around the first rotating shaft 31. At the same time, the oil in the rod chamber of the first hydraulic cylinder 11 flows back to the oil return port of the hydraulic station 1 through another hydraulic pipeline 21; when the control valve of the hydraulic station 1 is reversed, the piston rod end retracts to the left and pushes the boom 3 to swing clockwise around the first rotating shaft 31.

[0038] At the top of the boom 3, a second rotating shaft 32 is provided, and it is hinged to the rear end of the forearm 4 through the second rotating shaft 32, so that the forearm 4 can swing around the second rotating shaft 32 as the axis. And the second hydraulic cylinder 12 for driving the forearm 4, its bottom end is hinged to the left fork of the Y-shaped fixed seat of the boom 3, and the top end is hinged to the end of the forearm 4. For smooth movement and convenient layout, a parallelogram mechanism can also be provided between the forearm 4 and the second hydraulic cylinder 12. Through the cooperation of the boom 3 and the forearm 4, the end of the forearm 4 can realize forward and backward movement and up and down movement in the vertical plane (the plane where the boom 3 and the forearm 4 are located). Correspondingly, the components connected to the end of the forearm 4 can also realize the adjustment of the front-back or up-down position.

[0039] Further, the robotic arm further includes a swivel arm 5; the end of the swivel arm 5 is a flat plate structure; a third rotating shaft 41 perpendicular to the second rotating shaft 32 is provided at the front end of the forearm 4; the middle part of the swivel arm 5 is hinged to the forearm 4 through the third rotating shaft 41; the hydraulic cylinder includes a third hydraulic cylinder 13, the bottom of the third hydraulic cylinder 13 is hinged to the forearm 4, and the piston rod end of the third hydraulic cylinder 13 is hinged to the side of the swivel arm 5.

[0040] In addition to the forward and backward movement and up and down movement, in order to better adjust the nozzle 8, a swivel arm 5 can also be provided to realize the forward and backward swing of the nozzle 8. As Figure 2 、 Figure 3 shown, the middle part of the swivel arm 5 is hinged to the front end of the forearm 4 through the third rotating shaft 41, and the end of the swivel arm 5 is a circular flat plate structure. The third rotating shaft 41 is not horizontally arranged like the second rotating shaft 32, but is perpendicular to the second rotating shaft 32, and both ends of the third rotating shaft 41 point to the upper and lower surfaces of the swivel arm 5 respectively. In this way, when the swivel arm 5 swings under the drive of the third hydraulic cylinder 13, it can no longer only swing in the vertical plane like the boom 3 and the forearm 4, but can realize the forward and backward swing around the third rotating shaft 41 as the axis.

[0041] Further, the hot slag pool water injection device further includes a nozzle oil cylinder 14 and a swivel joint 9 rotatably connected to the center of the flat plate structure; the internal pipeline of the swivel joint 9 is communicated with the end of the water delivery pipeline; the outer wall of the end of the nozzle 8 is fixedly connected to the swivel joint 9, and the internal pipeline of the nozzle 8 is communicated with the internal pipeline of the swivel joint 9; the bottom of the nozzle oil cylinder 14 is hinged to the outer wall of the front end of the nozzle 8, and the piston rod end of the nozzle oil cylinder 14 is hinged to a position away from the center on the flat plate structure. The nozzle oil cylinder 14 is connected to the hydraulic station through a hydraulic pipeline.

[0042] To further expand the adjustment range of the nozzle 8, a swivel joint 9 is also provided at the end of the swivel arm 5; the swivel joint 9 is connected to the center of the flat structure and is in communication with the water pipeline inside the swivel arm 5. The nozzle 8 is a long strip structure, the outer wall of its rear end is fixed to the swivel joint 9, can rotate with the rotation of the swivel joint 9, and its internal pipeline is in through connection with the internal pipeline of the swivel joint 9, and can receive the water sent by the water pump. Under the action of the nozzle cylinder 14, the swivel joint 9 rotates around its own axis, thereby driving the nozzle 8 to swing up and down.

[0043] Furthermore, the hot slag pit water injection device further includes a solenoid valve 6; the solenoid valve 6 is connected to the internal water pipeline of the nozzle 8. The solenoid valve is powered by a cable, and the cable extends along the robotic arm to the base and is connected to external power. At the nozzle, a wire protection sleeve resistant to 1000 degrees Celsius is used to protect the cable.

[0044] By controlling the on / off of the solenoid valve 6, the on / off of the water flow can be remotely controlled, facilitating the intermittent water spraying operation during the on-site water injection process, without the need to frequently start and stop the water pump.

[0045] Furthermore, in addition to operating in the main control room, the operator can also perform remote control operations at a place far from the hot slag pit outside the main control room. Therefore, a remote control can also be configured for the hot slag pit water injection device, and the remote control is connected to the hydraulic station 1 and the solenoid valve through a wireless signal.

[0046] Furthermore, a camera 7 is also provided on the outer wall of the nozzle 8; the camera 7 faces the direction of the outlet of the nozzle 8.

[0047] In order to remotely observe the situation inside the hot melt slag pool 100 and the water outlet situation of the nozzle 8, a camera 7 can be fixed on the outer wall of the nozzle 8.

[0048] Furthermore, the hot slag pit water injection device further includes a cooling water pump; a cooling water jacket 22 is provided outside the hydraulic pipeline 21; the cooling water jacket 22 is in communication with the cooling water pump.

[0049] Although the hot slag pit water injection device of the present invention is located on the side of the hot slag pit 100, that is, the swing plane of the robotic arm is all outside the hot slag pit 100, and the hydraulic pipeline 21 will not be located directly above the hot slag pit 100, minimizing the damage to the hydraulic pipeline 21 caused by heat radiation. However, for better protection of the hydraulic pipeline 21, such as Figure 5As shown in the figure, a cooling water jacket 22 can be provided outside each group of hydraulic pipelines 21 to cool down the hydraulic pipelines 21. A cooling water pump can also be included in the present invention. An inlet and a return port are respectively provided at both ends of the cooling water jacket 22, which are respectively connected to the output port and the return port of the cooling water pump; alternatively, a cooling water pump may not be configured, and the cooling water system of the steel mill can be connected. The cooling water jacket 22 can protect all the hydraulic pipelines 21. For example, the cooling water jacket 22 can extend to the end of the small arm 4, that is, to the nozzle cylinder 14 before the nozzle 8.

[0050] The schematic diagram of the hot slag quenching tank water injection device in actual application of this technical solution is as Figure 4 shown: The hot slag quenching tank water injection device is located on the side of the hot slag quenching tank 100, and its nozzle 8 points to the side hot slag quenching tank 100; the two robotic arm linkages (i.e., the large arm 3 and the small arm 4) of the water injection device can swing back and forth, and the nozzle 8 can move back and forth under the drive of the robotic arm; the nozzle 8 can swing forward and backward under the drive of the swivel arm 5; the nozzle 8 can swing up and down under the drive of the rotary joint 9. The vertical distance between the nozzle 8 and the plane of the hot slag quenching tank is 1-6 meters, such as 4 meters, 5 meters, 6 meters, and long-distance water injection can be achieved; therefore, by controlling the actions of the hydraulic cylinders through a control system (not shown in the figure), multi-directional adjustment of the nozzle 8 can be realized, so that the entire hot slag quenching tank 100 is within the coverage range of the nozzle 8, fully simulating the water injection operation of personnel beside the hot slag quenching tank 100. The control system is programmed by PLC. The water injection device can be operated in the control room using a remote control or a computer panel, and the entire water injection operation can be completed with one key, or it can be operated step by step. The water injection action can change the mode through programming to meet the water injection requirements in various situations. As an option, a camera 7 can also be installed on one side of the nozzle 8, so that the operator can observe the water injection status in real time through the camera 7 in the main control room and better complete the work. The remote control uses a radio signal with a frequency of 315 mHz, which can achieve remote control and can also achieve mobile control, and can still be controlled up to 200 meters away. In addition, a wired connection method can also be used to connect the main control room and the water injection device. For example, a wired connection method can be used to connect the main control room, the robotic arm, and the solenoid valve.

[0051] The working process of this example is as follows: When the operator sees in the main control room or through the camera 7 on the device that the liquid slag in the hot slag quenching tank 100 has been turned and raked, the operator starts the hydraulic station 1 through the remote control. The robotic arm of the automatic water injection device is adjusted to a predetermined position above the hot slag quenching tank 100, and then the automatic water injection key on the remote control is pressed, and the nozzle 8 starts to inject water. The water injection device injects water into the entire hot slag quenching tank 100 according to the designed route. After the water injection is completed, the water pump is automatically turned off and automatically reset to the side of the hot slag quenching tank 100. In the present invention, a camera may not be provided, and the task can also be completed directly by injecting water with the nozzle 8.

[0052] AsFigure 6 As shown in the figure, the present application also provides a method for injecting water into a hot slag smothering pool, including:

[0053] Step A: Arrange the water injection device for the hot slag smothering pool on the side of the hot slag smothering pool, so that the swing plane of the robotic arm is located outside the edge of the hot slag smothering pool to reduce the direct heat radiation from the hot slag smothering pool.

[0054] Step B: Drive the robotic arm to unfold or swing through hydraulic pressure, so that the forearm extends upward to the side of the hot slag smothering pool and the nozzle is aligned with the hot slag smothering pool.

[0055] Step C: Control the solenoid valve to open the nozzle switch, and the nozzle sprays water into the hot slag smothering pool; the vertical distance from the nozzle 8 to the plane of the hot slag smothering pool is 1-6 meters, such as 1 meter, 2 meters, 3 meters, 4 meters, 5 meters, 6 meters, which can achieve long-distance water injection; it can also achieve close-range precise water injection; the nozzle can be adjusted to a suitable height according to needs.

[0056] Step D: During the process of the nozzle spraying water into the hot slag smothering pool, adjust the unfolding or swinging of the robotic arm according to the spraying range of the nozzle, so that the water sprayed by the nozzle finally covers the specified range of the hot slag smothering pool.

[0057] In Step D, the nozzle can spray water (inject water) along a line in the longitudinal or transverse direction, just like a dot matrix printer prints line by line, spraying water on the hot slag smothering pool line by line. After spraying or injecting water for one line, the robotic arm is driven by hydraulic pressure to swing, so that the nozzle is aligned with the next line for line-by-line water injection, and finally the specified range or the entire area of the hot slag smothering pool is watered. This adjustment of the nozzle position, that is, the adjustment during the swinging process of the robotic arm, can be automatically controlled through PLC programming for a water injection process of a hot slag smothering pool. For example, through one-key control, the nozzle can automatically spray water and the robotic arm can swing correspondingly according to the water spraying position. In this way, remote control and simpler and more convenient operation can be achieved.

[0058] The method for injecting water into the hot slag smothering pool further includes, after performing the above water injection operation, resetting the robotic arm, and swinging or retracting the boom 3 and the forearm 4 away from the hot slag smothering pool.

[0059] The method for injecting water into the hot slag smothering pool further includes: during the water injection process, cooling the hydraulic pipeline to ensure the normal swing of the robotic arm and the normal movement of the nozzle. Cooling water jackets 22 can be arranged on the outer sides of each group of hydraulic pipelines 21 to cool down the hydraulic pipelines 21. In this way, the present application can achieve double heat protection. One is to set the robotic arm outside the edge of the hot slag smothering pool to reduce the direct heat radiation from the hot slag smothering pool. The other is to cool the hydraulic pipeline with cooling water. In this way, the present application can automatically inject water all day long without worrying about the influence of the high temperature of the slag pool on the water injection effect. In addition, the solenoid valve is connected by a cable. The cable is arranged along the robotic arm and extends to the base for external power connection. At the nozzle, a wire protection sleeve resistant to 1000 degrees Celsius is used to protect the cable at the nozzle.

[0060] Furthermore, the present application can achieve automatic water injection in multiple hot slag smothering pools. A set of hot slag smothering pool water injection device is arranged in each hot slag smothering pool, and each hot slag smothering pool is independently controlled for water injection by a remote controller. In this way, the automatic control of multiple hot slag smothering pools can be realized remotely, and one person can control and manage the water injection of multiple hot slag smothering pools, which not only has safety guarantee, but also improves work efficiency and reduces the number of employees.

[0061] In order to enable any person skilled in the art to implement or use the present invention, the above-described disclosed embodiments have been described. For those skilled in the art, various modification methods of these embodiments are obvious, and the general principles defined herein can also be applied to other embodiments without departing from the spirit and protection scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the widest scope of the principles and novel features disclosed in the present application.

[0062] The above-described specific embodiments have further elaborated on the purpose, technical solution and beneficial effects of the present invention. It should be understood that the above is only the specific embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for injecting water into a hot slag smelting pond, characterized in that, Adopt a water injection device for the hot slag smothering pit. The method for water injection into the hot slag smothering pit includes: Step A: Arrange the water injection device for the hot slag smothering pit on the side of the hot slag smothering pit, such that the swinging plane of the robotic arm is located outside the edge of the hot slag smothering pit to reduce the direct heat radiation from the hot slag smothering pit. Step B: Expand or swing the robotic arm through hydraulic drive, extend the forearm to the upper side of the hot slag smothering pit, and align the nozzle with the hot slag smothering pit. Step C: Control the solenoid valve to open the nozzle switch, and the nozzle sprays water into the hot slag smothering pit. Step D: During the process of the nozzle spraying water into the hot slag smothering pit, adjust the expansion or swing of the robotic arm according to the spraying range of the nozzle, so that the water sprayed by the nozzle finally covers the specified range of the hot slag smothering pit. The water injection device for the hot slag smothering pit includes: a base (2), a swingable robotic arm hinged on the base (2), a water delivery pipeline, and a nozzle (8) provided at the end of the robotic arm; the water delivery pipeline is laid along the robotic arm, and the water delivery pipeline contains a flexible pipe section; the end of the water delivery pipeline is communicated with the nozzle (8); the water injection device for the hot slag smothering pit further includes: a hydraulic station (1) and a hydraulic cylinder; the hydraulic station (1) is provided on the base (2); the output end of the hydraulic station (1) is connected to the hydraulic cylinder through a hydraulic pipeline (21); the piston rod end of the hydraulic cylinder is hinged on the robotic arm. The robotic arm includes a hinged upper arm (3) and a forearm (4); a horizontally arranged first rotating shaft (31) is provided on the base (2); the upper arm (3) is hinged to the base (2) through the first rotating shaft (31); the hydraulic cylinder includes a first hydraulic cylinder (11), the bottom of the first hydraulic cylinder (11) is hinged on the base (2), and the piston rod end of the first hydraulic cylinder (11) is hinged on the upper arm (3); a horizontally arranged second rotating shaft (32) is provided at the front end of the upper arm (3); the forearm (4) is hinged to the upper arm (3) through the second rotating shaft (32); the hydraulic cylinder further includes a second hydraulic cylinder (12), the bottom of the second hydraulic cylinder (12) is hinged on the upper arm (3), and the piston rod end of the second hydraulic cylinder (12) is hinged on the forearm (4). The second hydraulic cylinder (12) for driving the forearm (4) has its bottom end hinged on the left fork of the Y-shaped fixing seat of the upper arm (3) and its top end hinged on the end of the forearm (4).

2. The method for injecting water into the hot slag smothering pool according to claim 1, wherein Adopt a remote controller to remotely control the swing of the robotic arm and the water spraying of the nozzle.

3. The hot slag pond water injection method according to claim 1, characterized in that, The robotic arm further includes a swivel arm (5). The end of the swivel arm (5) is a flat plate structure; a third rotating shaft (41) perpendicular to the second rotating shaft (32) is provided at the front end of the forearm (4); the middle of the swivel arm (5) is hinged to the forearm (4) through the third rotating shaft (41); the hydraulic cylinder includes a third hydraulic cylinder (13), the bottom of the third hydraulic cylinder (13) is hinged on the forearm (4), and the piston rod end of the third hydraulic cylinder (13) is hinged on the side of the swivel arm (5).

4. The method for injecting water into the hot slag smothering pit according to claim 1, characterized in that, When the operator sees in the main control room or through the camera on the device that the liquid slag in the hot slag smothering pool has been raked well, the hydraulic station is started through the remote control. The robotic arm of the automatic water injection device is adjusted to a predetermined position above the hot slag smothering pool, and then the automatic water injection button on the remote control is pressed. The nozzle starts to inject water, and the water injection device injects water into the entire hot slag smothering pool according to the designed route. After the water injection is completed, the water pump is automatically turned off and automatically reset to the side of the hot slag smothering pool.

5. The hot slag pool water injection method according to claim 1, characterized in that The nozzle sprays water along a line longitudinally or transversely, and sprays water on the hot slag smothering pool row by row, just like a dot matrix printer prints line by line. After spraying or finishing a row, the robotic arm driven by hydraulic pressure swings to align the nozzle with the next row for row-by-row water injection, and finally realizes water injection in the specified range or the entire area of the hot slag smothering pool.

6. The hot slag-pit water injection method according to claim 1, characterized in that, The method for injecting water into the hot slag smothering pool further includes: cooling the hydraulic pipeline during the water injection process to ensure the normal swinging of the robotic arm and the normal movement of the nozzle.

7. The method for injecting water into the hot slag smothering pit according to claim 6, characterized in that Cooling water jackets are arranged on the outer sides of each group of hydraulic pipelines to cool down the hydraulic pipelines.

8. The hot slag pool water injection method according to claim 1, characterized in that, The adjustment of the nozzle position, that is, the adjustment during the swinging process of the robotic arm, realizes the automatic control of the water injection process of a hot slag smothering pool through PLC programming.

9. The hot slag pool water injection method according to claim 1, characterized in that, Through one-key control, the nozzle is realized to automatically spray water and the robotic arm swings correspondingly according to the water spraying position.

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