Slag salvaging system

Abstract

The slag salvaging system provided by the embodiment of the invention comprises a grab bridge crane, a grab bridge crane motion control device, a grab bucket weighing detection device, a grab bucket position detection device and an automatic slag salvaging control device. The bridge crane comprises a grab bucket used for grabbing materials and a crane body, the grab bucket and the crane body are connected through a steel wire rope, the grab bucket horizontally or vertically moves above a water quenching pool, the water quenching pool comprises kiln slag, and the kiln slag forms a material stacking area at the position, close to a slag flushing channel, of the bottom of the water quenching pool. And position data and weight data of the grab bucket are obtained through the grab bucket weighing detection device and the grab bucket position detection device, and a control instruction is executed through the grab bucket bridge crane motion control device to execute slag salvaging work. The slag salvaging amount of the grab bucket is controlled and the position of the grab bucket is positioned through the grab bucket weighing detection device and the grab bucket position detection device, automatic slag salvaging work is achieved, the slag salvaging process is simplified, and the slag salvaging efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial waste treatment, and in particular to a slag scooping system. Background Art

[0002] Iron-containing dust is mainly dust collected by the dust removal system during steel smelting. Its main components are iron and carbon, and contain some harmful impurities such as oxides of zinc, lead, potassium, sodium, etc. Most of these iron-containing dusts are returned to sintering or agglomeration to enter the blast furnace or converter for smelting.

[0003] The carbon element in the iron-containing dust has a certain calorific value and can replace part of the fuel combustion to provide heat in the rotary kiln combustion; the 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 flue gas of the rotary kiln, where it combines with excess oxygen to regenerate zinc oxide dust, which is eventually collected in the bag filter; the iron element forms solid iron-containing slag, which is discharged from the kiln head and enters the slag treatment system for treatment and is used as a sintering raw material for sintering and batching.

[0004] Due to the high temperature of iron kiln slag, the slag is continuously discharged from the kiln head of the rotary kiln, granulated in the slag chute, and then immersed in the water quenching pool for cooling. After cooling, the slag is scooped out by the grab bucket of the bridge crane and transported to the intermediate slag yard for natural drainage and drying. The slag will accumulate near the slag flushing channel in the water quenching pool during the cooling process. Therefore, the operator needs to deal with the accumulated slag in time. The operator will manually operate the bridge crane and its grab bucket to grab the slag from the water quenching pool and transport the slag to the intermediate slag yard. However, due to the high difficulty in handling the slag and the poor operating environment of the operator, it is difficult to grab the slag. Summary of the invention

[0005] In order to reduce the difficulty of grabbing kiln slag, some embodiments of the present application provide a slag scooping system, including: a grab bucket bridge crane, a grab bucket bridge crane motion control device, a grab bucket weighing detection device, a grab bucket position detection device and an automatic slag scooping control device;

[0006] The grab bridge crane is located directly above the water quenching tank. The bridge crane includes a grab for grabbing materials and a crane body. The grab and the crane body are connected by a wire rope. The grab moves horizontally or vertically above the water quenching tank. The water quenching tank includes kiln slag, which forms a stockpiling area at the bottom of the water quenching tank near the slag flushing channel.

[0007] The grab bucket bridge crane motion control device is connected to the starter body, and the grab bucket bridge crane motion control device is configured to control the grab bucket to perform slag scooping work according to the control instruction issued by the automatic slag scooping control device;

[0008] The grab bucket weighing detection device is arranged between the steel wire rope and the crane body, and the grab bucket weighing detection device is configured to obtain weight data of the slag picked up by the grab bucket, and send the weight data to the automatic slag picking control device;

[0009] The grab bucket position detection device is arranged at the bottom of the crane body, and is used to obtain the three-dimensional spatial position of the grab bucket center point and the fixed slag grab point position, and generate grab bucket position information based on the three-dimensional spatial position and the fixed slag grab point position, and upload the grab bucket position information to the automatic slag scooping control device;

[0010] The automatic slag scooping control device is arranged on the starter body, and is configured to generate a control instruction according to the weight data, the grab bucket position information and the working time interval.

[0011] In some embodiments, the crane body includes a trolley, a large trolley, and a hoisting motor, the hoisting motor is used to store the wire rope, the trolley is slidably connected to the crane body in a first direction, the large trolley is slidably connected to the crane body in a second direction, and the first direction is perpendicular to the second direction;

[0012] The trolley is connected to the crane body via a first slideway, and the large trolley is connected to the crane body via a second slideway.

[0013] In some embodiments, according to the control instruction issued by the automatic slag scooping control device, the step of controlling the grab bucket to perform the slag scooping operation includes:

[0014] The slag removal work is performed alternately in a first slag removal mode and a second slag removal mode. The first slag removal mode is to perform partial slag removal work on the kiln slag within a first preset time interval, and the second slag removal mode is to perform all slag removal work on the kiln slag within a second preset time interval.

[0015] In some embodiments, performing partial slag removal on kiln slag further includes:

[0016] Determine a fixed slag scooping point of the slag, wherein the fixed slag scooping point is the highest point formed during the accumulation of the slag;

[0017] Obtaining the slag discharge amount of the slag flushing channel within the first preset time;

[0018] An equal amount of kiln slag is collected at the fixed slag collecting point according to the slag discharge amount.

[0019] In some embodiments, taking an equal amount of kiln slag at the fixed slag scooping point according to the slag discharge amount further comprises:

[0020] The grab bucket is moved to above the kiln slag by means of the grab bucket bridge crane motion control device;

[0021] The grab bucket is moved to the fixed slag scooping point by means of the grab bucket position detection device;

[0022] releasing the steel wire rope through the grab bridge crane to lower the grab into the stockpile area to load the slag;

[0023] During the process of loading the slag in the grab bucket, the slag in the grab bucket is weight-detected by the grab bucket weighing detection device, so that the slag in the grab bucket is equal to the slag discharge amount;

[0024] The steel wire rope is retracted by the grab bridge crane to lift the grab to leave the material stacking area.

[0025] In some embodiments, determining the fixed slag scooping point of the kiln slag further includes:

[0026] Obtaining the contact height between the slag and the side wall of the water quenching tank, the side wall height of the water quenching tank, the initial stacking height of the slag, and the repose angle of the slag;

[0027] The contact distance between the fixed slag scooping point and the water quenching tank wall is calculated according to the contact height, the side wall height, the initial stacking height and the repose angle.

[0028] In some embodiments, the contact distance between the fixed slag dredging point and the water quenching tank wall is calculated according to the contact height, the side wall height, the initial stacking height and the repose angle, and further includes:

[0029] The contact distance is calculated by the following formula:

[0030]

[0031] Among them, H1 is the contact height between the slag and the side wall of the water quenching pool, H is the initial stacking height of the slag, A is the repose angle of the slag, and D is the contact distance between the fixed slag scooping point and the wall of the water quenching pool.

[0032] In some embodiments, before determining the fixed slag scooping point of the kiln slag, the method further includes:

[0033] Setting a limit height of the slag, wherein the limit height is a height at which the slag scooping system triggers the slag scooping operation;

[0034] The time for the slag to accumulate from the initial accumulation height to the limit height is calculated by the following formula:

[0035]

[0036] Among them, V is the initial accumulation volume of the slag, s is the slag discharge volume rate of the slag flushing channel, Q is the slag discharge mass rate of the slag flushing channel, ρ is the density of the slag, k is the calculation coefficient, and T1 is the time for the slag to accumulate from the initial accumulation height to the limit height.

[0037] In some embodiments, after determining the fixed slag scooping point of the kiln slag, the method further includes:

[0038] Determine at least one correction comparison point according to the fixed slag removal point;

[0039] The grab bridge crane performs slag scooping at the modified comparison point to calculate the full grab rate of the modified comparison point;

[0040] The full catch rate of the fixed slag scooping point is calculated, so that the position with the highest full catch rate among the fixed slag scooping point and the corrected comparison point is corrected as the fixed slag scooping point.

[0041] In some embodiments, calculating the full grasp rate of the modified comparison point further includes:

[0042] Obtaining the volume of the grab bucket, the density of water in the water quenching tank, the density of the slag, the sum of the weight of the grab bucket and the grabbed slag, and the weight of the grab bucket itself;

[0043] The full catch rate is calculated by the following formula:

[0044]

[0045] Wherein, m is the sum of the weight of the grab and the weight of the slag to be grabbed, m d is the grab bucket’s own weight, V d is the volume of the grab bucket, ρ1 is the density of water in the water quenching tank, ρ is the density of the slag, and η0 is the full grab rate.

[0046] It can be seen from the above scheme that the embodiment of the present application provides a slag scavenging system, including a grab bucket bridge crane, a grab bucket bridge crane motion control device, a grab bucket weighing detection device, a grab bucket position detection device and an automatic slag scavenging control device. The grab bucket bridge crane is located directly above the water quenching pool. The bridge crane includes a grab bucket for grabbing materials and a crane body. The grab bucket and the crane body are connected by a wire rope. The grab bucket moves horizontally or vertically above the water quenching pool. The water quenching pool includes kiln slag, and the kiln slag forms a stockpiling area at the bottom of the water quenching pool near the slag flushing channel. The position data and weight data of the grab bucket are obtained through the grab bucket weighing detection device and the grab bucket position detection device, and the slag scavenging work is performed by executing control instructions through the grab bucket bridge crane motion control device. The present application controls the slag scavenging amount of the grab bucket and locates the grab bucket position through the grab bucket weighing detection device and the grab bucket position detection device, thereby realizing automated slag scavenging work, simplifying the slag scavenging process, and improving the slag scavenging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] Figure 1 This is a top view of a factory's slag treatment system;

[0049] Figure 2 This is a side view of a factory's slag handling system;

[0050] Figure 3 A schematic diagram of the structure of a slag scooping system provided in an embodiment of the present application;

[0051] Figure 4 Schematic diagram of the position of the fixed slag scooping point of the kiln slag in this embodiment;

[0052] Figure 5 The slag removal work is performed at a fixed slag removal point in this embodiment as a side view of the stockpiling area;

[0053] Figure 6 This is a schematic diagram of the positional relationship between the fixed slag scooping point and the side wall of the water quenching tank in the embodiment of the present application;

[0054] Figure 7 This is a schematic diagram of dividing the intermediate slag yard into areas according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0056] Iron-containing dust is mainly dust collected by the dust removal system during the steel smelting process. Its main components are iron and carbon, and it contains some harmful impurities such as oxides of zinc, lead, potassium, sodium, etc. Most of these iron-containing dusts have been returned to sintering or agglomeration to enter the blast furnace or converter for smelting. With the continuous enrichment of zinc in the iron-containing dust in the blast furnace process and the increasing proportion of waste galvanized steel used in steelmaking, the zinc content in the iron-containing dust has also gradually increased. After the iron-containing dust with a 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, affecting the furnace condition and shortening the life of the blast furnace.

[0057] In order to deal with these iron-containing dusts, steel mills can dispose of them by social utilization or landfill, but the above disposal methods have high logistics costs, many links and are likely to cause large-scale environmental pollution. Therefore, steel mills build disposal production lines, which can recycle iron-containing dusts and use rotary kiln iron and zinc reduction processes.

[0058] In this process, iron-containing dust is mixed with ingredients and then enters the rotary kiln, where it is preheated, dried, heated, and burned at high temperature (1100℃~1200℃).

[0059] The carbon element in the iron-containing dust has a certain calorific value and can replace part of the fuel combustion to provide heat 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, where it combines with excess oxygen to regenerate zinc oxide dust, which is eventually 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 for treatment as a sintering raw material and sent to the sintering process for batching.

[0060] The slag is discharged continuously from the kiln head of the rotary kiln, granulated by water in the slag flushing channel, and then immersed in the water quenching pool for cooling. After cooling, the slag is scooped out by the grab bucket of the bridge crane and transported to the intermediate slag yard for natural drainage and drying. Before the bridge crane scoops up the slag, the slag will be accumulated in the water quenching pool.

[0061] Figure 1 This is a top view of a factory's slag treatment system. Figure 2 This is a side view of a factory's slag treatment system. Figure 1 and Figure 2As shown, the water quenching pool is 12m long, 6.4m wide and 5m deep, the middle slag field is 6m long, the rotary kiln produces 320t of slag every day, the slag flushing channel is 2.5m long and 3m deep; the bridge crane specification is 10t, and the grab bucket capacity is 2m 3 , power is 37kW; slag density is about 1.5t / m 3 .

[0062] Therefore, operators are required to deal with the accumulated kiln slag in time. Figure 2 As shown, the operator can manually operate the bridge crane and its grab in the control room to grab the slag from the water quenching tank and transport the slag to the intermediate slag yard. However, since the slag is difficult to handle and the operating environment of the operator is poor, it is difficult to grab the slag.

[0063] In order to reduce the difficulty of grabbing kiln slag, Figure 3 As shown, some embodiments of the present application provide a slag scooping system, including: a grab bucket bridge crane, a grab bucket bridge crane motion control device, a grab bucket weighing detection device, a grab bucket position detection device, and an automatic slag scooping control device. The grab bucket bridge crane is located directly above the water quenching tank, and the bridge crane includes a grab bucket for grabbing materials and a crane body. The grab bucket and the crane body are connected by a steel wire rope, so that the grab bucket can be lowered and raised by the steel wire rope to achieve scooping of kiln slag.

[0064] The grab can move horizontally or vertically above the water quenching pool. Slag is piled in the water quenching pool. The slag forms a stockpiling area at the bottom of the water quenching pool near the slag flushing channel. Due to natural gravity, a conical slag pile is formed in the water quenching pool in the stockpiling area.

[0065] The grab bucket bridge crane motion control device is used to control the movement of the grab bucket so as to perform slag scooping work at a designated location in the stockpile area. The grab bucket bridge crane motion control device is connected to the starter body, and a plurality of motors may be provided on the starter body. The grab bucket bridge crane motion control device may move the grab bucket by controlling the direction of the motor.

[0066] In order to facilitate the control of the grab bucket to move to the designated position, the grab bucket bridge crane motion control device can be configured to control the grab bucket to perform the slag scooping work according to the control instructions issued by the automatic slag scooping control device. The automatic slag scooping control device is the execution carrier of the slag scooping system, which is used to generate a control instruction instructing the grab bucket to move to the designated position. Since the grab bucket needs to move in different directions during the slag scooping work, the designated position indicated by each control instruction may also be different.

[0067] The grab bucket position detection device is arranged at the bottom of the crane body to obtain the position of the grab bucket, so as to adjust the grab bucket position. The grab bucket position detection device is used to obtain the three-dimensional spatial position of the grab bucket center point and the fixed slag grab point position, and generate the grab bucket position information based on the three-dimensional spatial position and the fixed slag grab point position, and upload the grab bucket position information to the automatic slag scooping control device.

[0068] In order to facilitate the acquisition of the grab position, the grab position detection device can also be equipped with a camera device to capture the position image of the grab. The grab position detection device can generate grab position information based on the grab and reference objects near the grab. The automatic slag removal control device can control the grab bridge crane motion control device to move the grab according to the grab position information, thereby achieving position adjustment.

[0069] After the grab bucket is moved to the designated position, the wire rope can be released, and the grab bucket can naturally move down according to its own weight and enter the kiln slag. Due to the bucket-shaped structure of the grab bucket, the kiln slag will roll into the grab bucket until the grab bucket is full of kiln slag. The grab bucket weighing detection device can obtain the weight data of the scooped kiln slag.

[0070] The grab bucket weighing detection device is arranged between the steel wire rope and the crane body. After obtaining the weight data of the lifted slag, the grab bucket weighing detection device sends the weight data to the automatic slag lifting control device, so that the steel wire rope is retracted when the weight data reaches a preset value to lift the grab bucket and the slag.

[0071] Among them, since the grab bucket is connected to the crane body through a steel wire rope, the weight value obtained by the grab bucket weighing detection device also includes the weight of the grab bucket itself. Therefore, before obtaining the weight data, it is necessary to subtract the weight of the grab bucket itself from the weight value obtained by the grab bucket weighing detection device. The remaining weight value is the weight data of the scooped slag.

[0072] During the above-mentioned slag scooping work, the automatic slag scooping control device can generate corresponding control instructions according to the grab bucket position information and weight data to control the movement of the grab bucket, thereby completing the slag scooping work.

[0073] In order to accurately control the moving position of the grab bucket, the crane body may also include a trolley, a large car and a winch motor. The winch motor is used to store the wire rope, and the wire rope can be wound around the connecting shaft of the winch motor. The forward rotation of the winch motor retracts the wire rope and lifts the grab bucket. The reverse rotation of the winch motor releases the wire rope and lowers the grab bucket.

[0074] The trolley is slidably connected to the crane body in a first direction, and the large cart is slidably connected to the crane body in a second direction. The first direction and the second direction are perpendicular to each other and form a cross shape. The trolley and the large cart can control the planar moving position of the grab bucket, and change the position of the grab bucket by moving the distance in the first direction and the second direction.

[0075] In order to facilitate the sliding of the trolley and the cart, a first slide and a second slide may be further provided on the crane body. The trolley is connected to the crane body via the first slide, and the cart is connected to the crane body via the second slide. The directions of the first slide and the second slide correspond to the first direction and the second direction respectively.

[0076] The movement of grab bucket bridge crane is the movement of big car, small car, lowering and lifting of grab bucket, opening and closing of grab bucket. When the grab bucket performs slag removal work, it includes running to the slag removal position, lowering the grab bucket, opening the grab bucket, closing the grab bucket after lifting the kiln slag, lifting the grab bucket, running to the kiln slag stacking position, lowering the grab bucket, releasing the grab bucket, lifting the grab bucket after discharging the kiln slag, etc.

[0077] When performing slag removal work, due to the large amount of slag discharge from the slag flushing channel, the kiln slag in the water quenching pool cannot be emptied in a short time. Therefore, in order to reduce the kiln slag in the water quenching pool in time, the automatic slag removal control device can generate control instructions for two slag removal modes to control the grab bucket to work in two slag removal modes. In order to facilitate the description of the two slag removal modes, the slag removal mode can include a first slag removal mode and a second slag removal mode.

[0078] A preset time interval may be set between the grab bucket bridge crane motion control device executing the first slag scooping mode and the second slag scooping mode. In some embodiments, a first preset time interval may be set between the grab bucket bridge crane motion control device executing the first slag scooping mode and the next execution of the first slag scooping mode, and a second preset time interval may be set between the grab bucket bridge crane motion control device executing the second slag scooping mode and the next execution of the second slag scooping mode. The first slag scooping mode may perform partial slag scooping work on the kiln slag within the first preset time interval, and the second slag scooping mode may perform full slag scooping work on the kiln slag within the second preset time interval.

[0079] Since the slag is in a cone shape in the water quenching tank, the first slag removal mode can be used to remove the slag at the peak of the slag. The rotary kiln will continue to discharge the slag, and the slag will form a truncated cone in the water quenching tank. The subsequent slag will accumulate on the top of the truncated cone until the next peak is formed.

[0080] like Figure 4As shown, in the cone formed by the slag, the top of the cone is the highest point. Therefore, in some embodiments, the first slag scooping mode can also be triggered according to the height of the slag, and the height can be defined as the limit height. The automatic slag scooping control device can set the stacking height that triggers the first slag scooping mode. For example, when the stacking height of the slag is 3m, the first slag scooping mode is started to control the grab bucket to scoop the slag at the top of the cone.

[0081] In some embodiments, different slag removal amounts may cause deformation of the stockpile area, thereby preventing the subsequently discharged slag from forming a new cone. In order to maintain the shape of the slag in the stockpile area, it is necessary to determine a fixed slag removal point when performing partial slag removal work on the slag.

[0082] Figure 5 This is a schematic diagram of the grab bucket performing slag removal work at a fixed slag removal point. Figure 5 As shown, the fixed slag scooping point is the highest point formed during the accumulation of kiln slag. Both the first slag scooping mode and the second slag scooping mode can perform slag scooping work from the fixed slag scooping point.

[0083] In some embodiments, after the fixed slag scooping point is initially determined, the fixed slag scooping point can also be verified, and a number of correction comparison points are determined according to the initially determined slag scooping point, and the correction comparison points are used to compare the relationship between the slag scooping amount and the fixed slag scooping point. At this time, the grab can be controlled to perform a slag scooping operation at each correction comparison point in turn according to the slag scooping process, so as to calculate the full grab rate of the correction comparison point, and then calculate the full grab rate of the fixed slag scooping point, and compare the full grab rates of the correction comparison point and the fixed slag scooping point, and correct the fixed slag scooping point and the position with the highest full grab rate among the correction comparison point and the fixed slag scooping point to the fixed slag scooping point.

[0084] In some embodiments, in the process of calculating the full grab rate of the corrected comparison point, the volume of the grab bucket, the density of water in the water quenching tank, the density of the slag, the sum of the weight of the grab bucket and the grabbed slag, and the weight of the grab bucket itself can also be obtained.

[0085] The full catch rate is then calculated by the following formula:

[0086]

[0087] Wherein, m is the sum of the weight of the grab and the weight of the slag to be grabbed, m d is the grab bucket’s own weight, V d is the volume of the grab bucket, ρ1 is the density of water in the water quenching tank, ρ is the density of the slag, and η0 is the full grab rate.

[0088] In order to maintain the shape of the stockpile area, the slag removal amount can also be set, and the slag removal amount can be set to the slag discharge amount within the first preset time, so that each time the slag removal work of the first slag removal mode is performed, the slag removal amount is the same as the slag discharge amount, so as to maintain the shape of the stockpile area. To this end, the slag discharge amount of the slag flushing channel within the first preset time can be obtained, and an equal amount of kiln slag can be removed at a fixed slag removal point according to the slag discharge amount.

[0089] In some embodiments, an equal amount of slag can be obtained according to the weight of the slag discharge amount. In the slag flushing channel, the slag discharge flow rate and the slag discharge speed can be calculated, and the weight of the slag discharge amount within the first preset time can be calculated according to the density of the slag. Then, when the slag scavenging work of the first slag scavenging mode is performed, the weight of the slag in the grab bucket can be detected by the grab bucket weighing detection device. When the weight of the slag in the grab bucket reaches the weight of the slag discharge amount, the automatic slag scavenging control device generates a control instruction for raising the grab bucket to lift the grab bucket and complete the slag scavenging work of the first slag scavenging mode.

[0090] In some embodiments, in the process of collecting an equal amount of slag at a fixed slag collecting point according to the slag discharge amount, the grab bucket can be moved to the top of the stockpiling area formed by the slag through the grab bucket bridge crane motion control device to collect the slag from the top downward. Then the grab bucket is moved to the fixed slag collecting point through the grab bucket position detection device. During the movement, the grab bucket position detection device can position and adjust the position of the grab bucket to move the grab bucket to the top of the fixed slag collecting point.

[0091] After positioning is completed, the grab bridge crane can release the wire rope. Under the action of gravity, the grab slowly descends as the wire rope is released. The grab bridge crane can control the release speed of the wire rope to increase or decrease the scooping efficiency according to different situations. After the grab is lowered to the stockpile area, it starts to load the slag. During the slag loading process, the slag in the grab can be weighted by the grab weighing detection device to make the slag in the grab equal to the slag discharge volume. Finally, the grab bridge crane retracts the wire rope. After the grab picks up the slag, it needs to be moved to the intermediate slag yard to complete the slag scooping work.

[0092] When the grab bucket is not working, the total weight detected by the grab bucket weighing detection device is calculated as W1, which is the weight of the grab bucket. When the grab bucket touches the kiln slag during the descent process, it will be supported by the kiln slag, so that the total weight (calculated as W) detected by the grab bucket weighing detection device will decrease. When W≤kW1 (k is the adjustment coefficient, which is 0.8-0.98), the slag scooping system can determine that the grab bucket has touched the kiln slag, and send a stop lowering grab bucket and grab bucket scooping slag instructions to the bridge crane motion control device.

[0093] In some embodiments, when it is necessary to determine the fixed slag removal point of the kiln slag, the fixed slag removal point can also be determined based on the parameters of the water quenching tank and the stockpile area. Figure 6 As shown, the operator can obtain the contact height between the slag and the side wall of the water quenching tank, the side wall height of the water quenching tank, the initial accumulation height of the slag and the repose angle of the slag through actual measurement. The contact distance between the fixed slag scooping point and the water quenching tank wall is calculated according to the contact height, side wall height, initial accumulation height and repose angle, and finally the fixed slag scooping point is located according to the contact distance.

[0094] See also Figure 6 , the contact distance can be calculated by the following formula:

[0095]

[0096] Wherein, H1 is the contact height between the slag and the side wall of the water quenching tank, H is the initial stacking height of the slag, A is the repose angle of the slag, and D is the contact distance between the fixed slag scooping point and the water quenching tank wall. The repose angle is the minimum angle between the free surface and the horizontal plane when the free surface of the powder accumulation body is in the limit state of equilibrium, that is, as the inclination angle increases, the object on the inclined plane will slide down more easily; when the object reaches the state of starting to slide down, the angle of the critical state is called the repose angle.

[0097] The above formula can also be converted to:

[0098] D = H1*cotA = (H2-H0)*cotA;

[0099] Wherein, H2 is the side wall height of the water quenching tank, and H0 is the height difference between the side wall height of the water quenching tank and the contact height between the slag and the side wall of the water quenching tank.

[0100] After the grab bridge crane performs the slag removal work in the first slag removal mode, it can perform the slag removal work in the second slag removal mode after a second time interval. The second time interval can be a multiple of the first time interval, that is, after performing the first slag removal mode several times, the second slag removal mode is performed once, and then the first slag removal mode is continued.

[0101] If the slag is not removed from the water for a long time, it will cool and form slag blocks in the water quenching pool. This will cause the slag in areas outside the fixed slag removal points to form large blocks, making it difficult to clean, resulting in a reduction in the effective capacity of the water quenching pool and affecting the normal operation of the slag treatment system. Therefore, the second slag removal mode will quickly remove the slag in the stockpiling area and empty the slag in the water quenching pool to avoid the above-mentioned slag from forming large blocks.

[0102] In some embodiments, a first preset time interval of the first slag scooping mode can be set. After the grab bucket performs the slag scooping work of the first slag scooping mode, the slag flushing channel continues to discharge the kiln slag, and the time interval between the current stockpile height in the stockpile area and the limit height can be set as the first time interval.

[0103] In this embodiment, the limit height of the slag can be set first. The limit height is the height at which the slag retrieval system triggers the slag retrieval operation. After the presence of slag is detected at the limit height, the slag retrieval system starts the slag retrieval operation. The limit height can be applicable to the first slag retrieval mode and the second slag retrieval mode.

[0104] In some embodiments, the time it takes for the slag to accumulate from the initial accumulation height to the limit height can be calculated by the following formula:

[0105]

[0106] Among them, V is the initial accumulation volume of the slag, s is the slag discharge volume rate of the slag flushing channel, Q is the slag discharge mass rate of the slag flushing channel, ρ is the density of the slag, k is the calculation coefficient, T1 is the time for the slag to accumulate from the initial accumulation height to the limit height, and T1 can be set as the first preset time interval.

[0107] In some embodiments, Figure 7 As shown, the intermediate slag field can also be divided into several equal-sized partitions, with a length of a and a width of b. The partition length a is the grab bucket opening length a, and the partition width b is the grab bucket opening width b. The area where the grab bucket center point is the same as the center point of the intermediate slag field is taken as the starting partition, and the partition is divided around from the starting partition. The small areas around the intermediate slag field are discarded. After the slag scooping work is completed, the scooped kiln slag is placed at the starting partition.

[0108] In some embodiments, the grab bridge crane picks up the kiln slag and piles it in the middle slag yard in a partitioned order from right to left and from top to bottom. For example, the kiln slag picked up for the first time is placed in the partition of column 0 and row 0, the kiln slag picked up for the second time is placed in the partition of column 0 and row 1, and the kiln slag picked up for the (i+1)th time is placed in the partition of column 1 and row 0, and the unloading is continued in sequence. After piling up the partition of column i and row j, it returns to column 0 and row 0 to start piling. The automatic slag catching control system counts the number of slag catching times and calculates the partition of the middle slag yard where the kiln slag picked up this time is piled, and sends the coordinates of the center point of the area to the motion control device of the grab bridge crane, so that the grab bridge crane moves to the position accurately.

[0109] It can be seen from the above scheme that the embodiment of the present application provides a slag scavenging system, including a grab bucket bridge crane, a grab bucket bridge crane motion control device, a grab bucket weighing detection device, a grab bucket position detection device and an automatic slag scavenging control device. The grab bucket bridge crane is located directly above the water quenching pool. The bridge crane includes a grab bucket for grabbing materials and a crane body. The grab bucket and the crane body are connected by a wire rope. The grab bucket moves horizontally or vertically above the water quenching pool. The water quenching pool includes kiln slag, and the kiln slag forms a stockpiling area at the bottom of the water quenching pool near the slag flushing channel. The position data and weight data of the grab bucket are obtained through the grab bucket weighing detection device and the grab bucket position detection device, and the slag scavenging work is performed by executing control instructions through the grab bucket bridge crane motion control device. The present application controls the slag scavenging amount of the grab bucket and locates the grab bucket position through the grab bucket weighing detection device and the grab bucket position detection device, thereby realizing automated slag scavenging work, simplifying the slag scavenging process, and improving the slag scavenging efficiency.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0111] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are intended to better explain the present disclosure, so that those skilled in the art can better use the embodiments.

Claims

1. A slag removal system, characterized in that: include: Grab bucket bridge crane, grab bucket bridge crane motion control device, grab bucket weighing detection device, grab bucket position detection device and automatic slag scooping control device; The grab bridge crane is located directly above the water quenching tank. The bridge crane includes a grab for grabbing materials and a crane body. The grab and the crane body are connected by a wire rope. The grab moves horizontally or vertically above the water quenching tank. The water quenching tank includes kiln slag, which forms a stockpiling area at the bottom of the water quenching tank near the slag flushing channel. The grab bucket bridge crane motion control device is connected to the starter body, and the grab bucket bridge crane motion control device is configured to control the grab bucket to perform slag scooping work according to the control instruction issued by the automatic slag scooping control device; The grab bucket weighing detection device is arranged between the steel wire rope and the crane body, and the grab bucket weighing detection device is configured to obtain weight data of the slag picked up by the grab bucket, and send the weight data to the automatic slag picking control device; The grab bucket position detection device is arranged at the bottom of the crane body, and is used to obtain the three-dimensional spatial position of the grab bucket center point and the fixed slag grab point position, and generate grab bucket position information based on the three-dimensional spatial position and the fixed slag grab point position, and upload the grab bucket position information to the automatic slag scooping control device; The automatic slag scooping control device is arranged on the starter body and is configured to generate a control instruction according to the weight data, the grab bucket position information and the working time interval.

2. The slag removal system according to claim 1, characterized in that: The crane body comprises a trolley, a large car and a hoisting motor, wherein the hoisting motor is used to store the wire rope, the trolley is slidably connected to the crane body in a first direction, and the large car is slidably connected to the crane body in a second direction, wherein the first direction is perpendicular to the second direction; The trolley is connected to the crane body via a first slideway, and the large trolley is connected to the crane body via a second slideway.

3. The slag removal system according to claim 1, characterized in that: According to the control instruction issued by the automatic slag scooping control device, the steps of controlling the grab bucket to perform the slag scooping work include: The slag removal work is performed alternately in a first slag removal mode and a second slag removal mode. The first slag removal mode is to perform partial slag removal work on the kiln slag within a first preset time interval, and the second slag removal mode is to perform all slag removal work on the kiln slag within a second preset time interval.

4. The slag removal system according to claim 3, characterized in that: Partial slag removal work is performed on kiln slag, including: Determine a fixed slag scooping point of the slag, wherein the fixed slag scooping point is the highest point formed during the accumulation of the slag; Obtaining the slag discharge amount of the slag flushing channel within the first preset time; An equal amount of kiln slag is collected at the fixed slag collecting point according to the slag discharge amount.

5. The slag removal system according to claim 4, characterized in that: According to the slag discharge amount, an equal amount of kiln slag is collected at the fixed slag collecting point, and the method further comprises: The grab bucket is moved to above the kiln slag by means of the grab bucket bridge crane motion control device; The grab bucket is moved to the fixed slag scooping point by means of the grab bucket position detection device; releasing the steel wire rope through the grab bridge crane to lower the grab into the stockpile area to load the slag; During the process of loading the slag in the grab bucket, the slag in the grab bucket is weight-detected by the grab bucket weighing detection device, so that the slag in the grab bucket is equal to the slag discharge amount; The steel wire rope is retracted by the grab bridge crane to lift the grab to leave the material stacking area.

6. The slag scooping system according to claim 4, characterized in that: Determining the fixed slag scooping point of the kiln slag also includes: Obtaining the contact height between the slag and the side wall of the water quenching tank, the side wall height of the water quenching tank, the initial stacking height of the slag, and the repose angle of the slag; The contact distance between the fixed slag scooping point and the water quenching tank wall is calculated according to the contact height, the side wall height, the initial stacking height and the repose angle.

7. The slag scooping system according to claim 6, characterized in that: Calculating the contact distance between the fixed slag scooping point and the water quenching tank wall according to the contact height, the side wall height, the initial stacking height and the repose angle, further comprising: The contact distance is calculated by the following formula: Among them, H1 is the contact height between the slag and the side wall of the water quenching pool, H is the initial stacking height of the slag, A is the repose angle of the slag, and D is the contact distance between the fixed slag scooping point and the wall of the water quenching pool.

8. The slag removal system according to claim 7, characterized in that: Before determining the fixed slag scooping point of the kiln slag, the method further includes: Setting a limit height of the slag, wherein the limit height is a height at which the slag scooping system triggers the slag scooping operation; The time for the slag to accumulate from the initial accumulation height to the limit height is calculated by the following formula: Among them, V is the initial accumulation volume of the slag, s is the slag discharge volume rate of the slag flushing channel, Q is the slag discharge mass rate of the slag flushing channel, ρ is the density of the slag, k is the calculation coefficient, and T1 is the time for the slag to accumulate from the initial accumulation height to the limit height.

9. The slag removal system according to claim 4, characterized in that: After determining the fixed slag scooping point of the kiln slag, the method further includes: Determine at least one correction comparison point according to the fixed slag removal point; The grab bridge crane performs slag scooping at the modified comparison point to calculate the full grab rate of the modified comparison point; The full catch rate of the fixed slag scooping point is calculated, so that the position with the highest full catch rate among the fixed slag scooping point and the corrected comparison point is corrected as the fixed slag scooping point.

10. The slag scooping system according to claim 9, characterized in that: Calculating the full grasping rate of the modified comparison point also includes: Obtaining the volume of the grab bucket, the density of water in the water quenching tank, the density of the slag, the sum of the weight of the grab bucket and the grabbed slag, and the weight of the grab bucket itself; The full catch rate is calculated by the following formula: Wherein, m is the sum of the weight of the grab and the weight of the slag to be grabbed, m d is the grab bucket’s own weight, V d is the volume of the grab bucket, ρ1 is the density of water in the water quenching tank, ρ is the density of the slag, and η0 is the full grab rate.

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