Novel motion control method for coke tank crane

Abstract

The invention provides a novel motion control method for a coke tank crane, which comprises the following steps: S1, in a first time period T1, descending an empty tank at a standby position, and opening a lifting hook; s2, in the second time period T2, the lifting tower is lifted in a full tank mode; s3, in the third time period T3, the full tank goes to the dry quenching furnace; s4, in the fourth time period T4, the dry quenching furnace is full and descends, and a gate is opened; s5, in a fifth time period T5, loading coke and settling; s6, in the sixth time period T6, the empty tank of the dry quenching furnace is lifted; s7, in the seventh time period T7, the empty tank returns to the lifting tower; s8, in the eighth time period T8, the empty tank of the lifting tower descends and returns to the standby position; according to the invention, through frequency change and load change, the motion control principle of distinguishing motion control and coke release in the lifting stage and the descending stage is realized, the operation cycle is shortened, the coke dry quenching productivity is improved, and the method has unique advantages.

Description

Technical Field

[0001] The present invention relates to the technical field of motion control of coke tank cranes, and in particular to a novel motion control method for coke tank cranes. Background Art

[0002] As the country pays more and more attention to environmental protection and energy conservation, the environmental protection requirements for the coking industry are becoming increasingly stringent, and the dry coke quenching waste heat power generation technology has been widely promoted and applied. The coke tank crane is the key lifting equipment for lifting red coke in the dry coke quenching process and loading the red coke into the dry coke quenching furnace. It operates fully automatically and has the characteristics of high production efficiency, automatic program control, and high stability. Its motion control principle directly determines the operation cycle of the crane and affects the dry coke quenching productivity.

[0003] The coke tank crane adopts multiple speed changes in the whole operation cycle of lifting, running and loading, starting from the hook closing at the initial position, to lifting, running, lowering, separating the load of the full tank, and then lifting, running, lowering, and seating the empty tank, until the hook opens, returns to the initial position and stops, ready to lift another load. In order to ensure the full automatic operation of the coke tank crane, the lifting positioning accuracy is required to be ±45mm and the running positioning accuracy is ±20mm.

[0004] The existing motion control method is to divide the lifting motion into three speeds: high, medium and low, the running motion into two speeds: high and low, and the defocusing motion into low speed. This setting results in a long operation cycle. If the operation cycle is to be shortened while ensuring productivity, the speed must be increased. However, increasing the speed will result in a larger motor power, higher equipment manufacturing costs, and higher operating energy consumption. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a new motion control method for a coke tank crane to solve the technical problems of large motor power, high equipment manufacturing cost and high operating energy consumption in existing equipment.

[0006] The technical means adopted by the present invention are as follows:

[0007] A novel motion control method for a coke tank crane comprises the following steps:

[0008] S1, in the first period T1, the empty tank at the standby position descends and the hook is opened: the empty tank is started from the standby position and accelerated to the second speed. When the empty tank descends at the second speed until the coke tank cover is seated, the empty tank is decelerated to the fourth speed and continues to descend to the lower limit of the lifting tower. The speed of the empty tank is reduced to zero, the hook is opened, and the electric locomotive is waiting to shift from the empty tank to the full tank;

[0009] S2, in the second period T2, the full tank is lifted by the lifting tower: the full tank is lifted by the lifting tower at the lower limit position and accelerated to the fourth speed. When the full tank is lifted to the fourth speed until the coke tank cover leaves the bed, the full tank is accelerated to the second speed. After the full tank is lifted to the second speed until the guide wheel at the bottom of the coke tank passes through the junction of the electric locomotive derrick and the fixed derrick, the full tank is accelerated to the first speed. When the full tank is lifted to the first speed until the guide wheel at the top of the hoist approaches the junction of the fixed derrick and the mobile derrick, the full tank is decelerated to the second speed. When the full tank is lifted to the second speed and approaches the upper limit of the lifting tower, the full tank is decelerated to the fourth speed. The full tank continues to be lifted to the upper limit, the speed is reduced to zero, the lifting brake is engaged, and the full tank is converted into translational motion;

[0010] S3, in the third period T3, the full tank moves towards the dry quenching furnace: the lifting tower starts to accelerate to the fifth speed at the upper limit position. When the full tank runs at the fifth speed close to the dry quenching furnace, the full tank decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the full tank is reduced to zero, the running brake is engaged, and the full tank is converted into lifting motion;

[0011] S4, in the fourth period T4, the full tank of the dry quenching furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the dry quenching furnace, and when the full tank descends to near the lower limit of the dry quenching furnace, it decelerates to the fourth speed, and the full tank continues to descend to the lower limit of the dry quenching furnace. The speed of the full tank is reduced to zero, and the gate at the bottom of the coke tank is opened to start discharging coke;

[0012] S5, in the fifth period T5, the focus is on calmness;

[0013] S6. In the sixth period T6, the empty tank of the dry quenching furnace is lifted: after the full tank is discharged, it becomes an empty tank, the bottom gate of the coke tank is closed, and the empty tank starts to accelerate to the eighth speed. When the empty tank is lifted to the upper limit of the dry quenching furnace, it is decelerated to the fourth speed, and the empty tank continues to be lifted to the upper limit of the dry quenching furnace. The speed of the empty tank is reduced to zero, the lifting brake is engaged, and the empty tank is converted into translational motion;

[0014] S7. In the seventh period T7, the empty tank returns to the lifting tower: the empty tank starts to accelerate to the fifth speed from the upper limit position of the dry quenching furnace. When the empty tank runs at the fifth speed to the position close to the lifting tower, it decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the empty tank drops to zero, the operating brake is engaged, and the empty tank is converted into lifting motion;

[0015] S8. In the eighth time period T8, the empty tank on the lifting tower descends and returns to the standby position: the empty tank lifting tower starts to accelerate to the third speed at the upper limit position. After the empty tank descends to the third speed until the guide wheel on the top of the hoist passes through the junction of the fixed derrick and the mobile derrick, the empty tank accelerates to the first speed. When the empty tank descends to the first speed close to the standby position, the empty tank decelerates to the fourth speed and continues to descend to the standby position. The empty tank decelerates to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

[0016] Furthermore, the first speed is a high speed V1 at the lifting tower, the second speed is a medium speed V2 at the lifting tower, the third speed is a medium speed V3 for lowering the upper limit empty tank, the fourth speed is a low speed V4 before the lifting tower or the dry quenching furnace stops at the limit position, the fifth speed is a high speed V5 for operation, the sixth speed is a low speed V6 for operation, the seventh speed is a descending speed V7 at the dry quenching furnace, and the eighth speed is a lifting speed V8 at the dry quenching furnace.

[0017] Further, V3=1.5V2, V8=1.5V7.

[0018] Furthermore, V4 is 4 m / min, V6 is 3.5 m / min, and V7 is 8 m / min.

[0019] Furthermore, in S5, the focusing quiet time is 25 seconds or 30 seconds.

[0020] Furthermore, when a transverse traction device is provided for dry coke quenching, in S1, the empty tank is started at the second speed; in S8, the tank is reduced from the first speed to the second speed and then S1 is repeated.

[0021] Furthermore, the lower limit of the lifting tower, the upper limit of the lifting tower, the standby position and the lower limit of the dry quenching furnace are provided with double detection limits, and the double detection limits stop simultaneously when the coke tank crane stops.

[0022] Furthermore, an absolute value encoder for detecting the height position of the coke tank crane is arranged at the tail of the drum, and an absolute value encoder for detecting the running position is arranged on the passive wheel axle.

[0023] The present invention also provides a storage medium, which includes a stored program, wherein when the program is run, any of the above-mentioned new motion control methods for coke tank cranes is executed.

[0024] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes any of the above-mentioned novel motion control methods for coke tank cranes through the operation of the computer program.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] The present invention realizes the motion control of distinguishing the lifting and lowering stages and the motion control of defocusing through frequency changes and load changes. Under the premise of ensuring the positioning accuracy and not increasing the impact, the operation cycle is shortened, thereby optimizing the lifting motor power, reducing the manufacturing cost and improving the market competitiveness of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 This is the action decomposition timing diagram of the lifting tower in the action decomposition timing diagram of the motion control of the coke tank crane of the present invention.

[0029] Figure 2 It is the operating mechanism action decomposition timing diagram in the coke tank crane motion control action decomposition timing diagram of the present invention.

[0030] Figure 3 This is the action decomposition timing diagram of the dry quenching furnace in the action decomposition timing diagram of the motion control of the coke pot crane of the present invention.

[0031] Figure 4 for Figure 1 Replace the picture at A in the middle.

[0032] Figure 5 This is a schematic diagram of the contactless position detection limit and control principle of the present invention.

[0033] Figure 6 This is the absolute value encoder and control principle diagram of the present invention.

[0034] Figure 7 This is a time detection diagram of the program control of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Speed ​​definition: The first speed is the high speed V1 at the lifting tower, the second speed is the medium speed V2 at the lifting tower, the third speed is the medium speed V3 for the upper limit empty tank descent (generally 1.5V2), the fourth speed is the low speed V4 before the lifting tower or the dry quenching furnace stops at the extreme position (generally 4m / min, ensuring the lifting positioning accuracy of ±45mm), the fifth speed is the high speed V5, the sixth speed is the low speed V6 (generally 3.5m / min, ensuring the running positioning accuracy of ±20mm), the seventh speed is the descending speed V7 at the dry quenching furnace (generally 8m / min), and the eighth speed is the lifting speed V8 at the dry quenching furnace (generally 1.5V7).

[0038] like Figure 1-3 As shown in the figure, a complete operation cycle of the coke tank crane is divided into eight parts according to the action decomposition timing diagram. The black part is the full tank movement state, and the blue part is the empty tank movement state. V represents the speed in each time period. The coke tank crane moves in the order of 1 to 43. Figure 4 shown Figure 1 When the A position is used for dry coke quenching and the transverse traction device is set, there is no standby position.

[0039] The present invention provides a novel motion control method for a coke tank crane, comprising the following steps:

[0040] S1, in the first period T1, the empty tank at the standby position descends and the hook is opened: the empty tank is started from the standby position and accelerated to the second speed. When the empty tank descends at the second speed until the coke tank cover is seated, the empty tank is decelerated to the fourth speed and continues to descend to the lower limit of the lifting tower. The speed of the empty tank is reduced to zero, the hook is opened, and the electric locomotive is waiting to shift from the empty tank to the full tank;

[0041] S2, in the second period T2, the full tank is lifted by the lifting tower: the full tank is lifted by the lifting tower at the lower limit position and accelerated to the fourth speed. When the full tank is lifted to the fourth speed until the coke tank cover leaves the bed, the full tank is accelerated to the second speed. After the full tank is lifted to the second speed until the guide wheel at the bottom of the coke tank passes through the junction of the electric locomotive derrick and the fixed derrick, the full tank is accelerated to the first speed. When the full tank is lifted to the first speed until the guide wheel at the top of the hoist approaches the junction of the fixed derrick and the mobile derrick, the full tank is decelerated to the second speed. When the full tank is lifted to the second speed and approaches the upper limit of the lifting tower, the full tank is decelerated to the fourth speed. The full tank continues to be lifted to the upper limit, the speed is reduced to zero, the lifting brake is engaged, and the full tank is converted into translational motion;

[0042] S3, in the third period T3, the full tank moves towards the dry quenching furnace: the lifting tower starts to accelerate to the fifth speed at the upper limit position. When the full tank runs at the fifth speed close to the dry quenching furnace, the full tank decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the full tank is reduced to zero, the running brake is engaged, and the full tank is converted into lifting motion;

[0043] S4, in the fourth period T4, the full tank of the dry quenching furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the dry quenching furnace, and when the full tank descends to near the lower limit of the dry quenching furnace, it decelerates to the fourth speed, and the full tank continues to descend to the lower limit of the dry quenching furnace. The speed of the full tank is reduced to zero, and the gate at the bottom of the coke tank is opened to start discharging coke;

[0044] S5, in the fifth period T5, the focus is on calmness;

[0045] S6. In the sixth period T6, the empty tank of the dry quenching furnace is lifted: after the full tank is discharged, it becomes an empty tank, the bottom gate of the coke tank is closed, and the empty tank starts to accelerate to the eighth speed. When the empty tank is lifted to the upper limit of the dry quenching furnace, it is decelerated to the fourth speed, and the empty tank continues to be lifted to the upper limit of the dry quenching furnace. The speed of the empty tank is reduced to zero, the lifting brake is engaged, and the empty tank is converted into translational motion;

[0046] S7. In the seventh period T7, the empty tank returns to the lifting tower: the empty tank starts to accelerate to the fifth speed from the upper limit position of the dry quenching furnace. When the empty tank runs at the fifth speed to the position close to the lifting tower, it decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the empty tank drops to zero, the operating brake is engaged, and the empty tank is converted into lifting motion;

[0047] S8. In the eighth time period T8, the empty tank on the lifting tower descends and returns to the standby position: the empty tank lifting tower starts to accelerate to the third speed at the upper limit position. After the empty tank descends to the third speed until the guide wheel on the top of the hoist passes through the junction of the fixed derrick and the mobile derrick, the empty tank accelerates to the first speed. When the empty tank descends to the first speed close to the standby position, the empty tank decelerates to the fourth speed and continues to descend to the standby position. The empty tank decelerates to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

[0048] The detection element is the key part of the new motion control principle of the coke tank crane. The signal sent by the detection element is transmitted to the PLC control system, so that the coke tank crane can move according to the action decomposition timing diagram. There are mainly the following types of detection elements:

[0049] ① Non-contact position detection limit: Double detection limit is set at the key positions of the lower limit of the lifting tower, the upper limit (standby position) and the lower limit of the dry quenching furnace. The other acceleration and deceleration positions such as the coke tank bed detection are set with single detection limit or double detection limit according to the agreement. The double limit as the key position of the stop effect needs to act simultaneously when the coke tank crane stops. For details, Figure 5 shown.

[0050] ②Absolute encoder: The absolute encoder (1) at the end of the drum is used to detect the height position of the coke tank crane, and the absolute encoder (1) on the passive wheel axle is used to detect the travel position. Figure 6 shown.

[0051] ③Program control detection: Add time detection in the PLC program. The time set for time protection should be 1 to 1.5 seconds later than the normal action time. It can also decelerate when the limit fails to prevent mechanical collision caused by stall. Figure 7 shown.

[0052] The motion control of the coke tank crane generally has three speeds: high, medium and low for lifting motion, high and low for running motion, and low speed for releasing coke motion. The present invention realizes the motion control scheme of distinguishing lifting and lowering stages and releasing coke by changing frequency and load, ensuring the positioning accuracy and not increasing the impact, thus ensuring the optimal motion control principle and the shortest operating cycle of the coke tank crane.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 invention.

Claims

1. A novel motion control method for a coke tank crane, characterized in that: The steps include: S1, in the first period T1, the empty tank at the standby position descends and the hook is opened: the empty tank is started from the standby position and accelerated to the second speed. When the empty tank descends at the second speed until the coke tank cover is seated, the empty tank is decelerated to the fourth speed and continues to descend to the lower limit of the lifting tower. The speed of the empty tank is reduced to zero, the hook is opened, and the electric locomotive is waiting to shift from the empty tank to the full tank; S2, in the second period T2, the full tank is lifted by the lifting tower: the full tank is lifted by the lifting tower at the lower limit position and accelerated to the fourth speed. When the full tank is lifted to the fourth speed until the coke tank cover leaves the bed, the full tank is accelerated to the second speed. After the full tank is lifted to the second speed until the guide wheel at the bottom of the coke tank passes through the junction of the electric locomotive derrick and the fixed derrick, the full tank is accelerated to the first speed. When the full tank is lifted to the first speed until the guide wheel at the top of the hoist approaches the junction of the fixed derrick and the mobile derrick, the full tank is decelerated to the second speed. When the full tank is lifted to the second speed and approaches the upper limit of the lifting tower, the full tank is decelerated to the fourth speed. The full tank continues to be lifted to the upper limit, the speed is reduced to zero, the lifting brake is engaged, and the full tank is converted into translational motion; S3, in the third period T3, the full tank moves towards the dry quenching furnace: the lifting tower starts to accelerate to the fifth speed at the upper limit position. When the full tank runs at the fifth speed close to the dry quenching furnace, the full tank decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the full tank is reduced to zero, the running brake is engaged, and the full tank is converted into lifting motion; S4, in the fourth period T4, the full tank of the dry quenching furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the dry quenching furnace, and when the full tank descends to near the lower limit of the dry quenching furnace, it decelerates to the fourth speed, and the full tank continues to descend to the lower limit of the dry quenching furnace. The speed of the full tank is reduced to zero, and the gate at the bottom of the coke tank is opened to start discharging coke; S5, in the fifth period T5, the focus is on calmness; S6. In the sixth period T6, the empty tank of the dry quenching furnace is lifted: after the full tank is discharged, it becomes an empty tank, the bottom gate of the coke tank is closed, and the empty tank starts to accelerate to the eighth speed. When the empty tank is lifted to the upper limit of the dry quenching furnace, it is decelerated to the fourth speed, and the empty tank continues to be lifted to the upper limit of the dry quenching furnace. The speed of the empty tank is reduced to zero, the lifting brake is engaged, and the empty tank is converted into translational motion; S7. In the seventh period T7, the empty tank returns to the lifting tower: the empty tank starts to accelerate to the fifth speed from the upper limit position of the dry quenching furnace. When the empty tank runs at the fifth speed to the position close to the lifting tower, it decelerates to the sixth speed and continues to run to the top of the dry quenching furnace. The speed of the empty tank drops to zero, the operating brake is engaged, and the empty tank is converted into lifting motion; S8. In the eighth time period T8, the empty tank on the lifting tower descends and returns to the standby position: the empty tank lifting tower starts to accelerate to the third speed at the upper limit position. After the empty tank descends to the third speed to the junction of the guide wheel on the top of the hoisting device through the fixed derrick and the mobile derrick, the empty tank accelerates to the first speed. When the empty tank descends to the standby position at the first speed, the empty tank decelerates to the fourth speed and continues to descend to the standby position. The empty tank decelerates to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

2. The novel motion control method for coke tank crane according to claim 1 is characterized in that: The first speed is the high speed V1 at the lifting tower, the second speed is the medium speed V2 at the lifting tower, the third speed is the medium speed V3 for the upper limit empty tank descent, the fourth speed is the low speed V4 before the lifting tower or the dry quenching furnace stops at the limit position, the fifth speed is the high speed V5 for operation, the sixth speed is the low speed V6 for operation, the seventh speed is the descent speed V7 at the dry quenching furnace, and the eighth speed is the lifting speed V8 at the dry quenching furnace.

3. The novel motion control method for coke tank crane according to claim 2 is characterized in that: V3=1.5V2, V8=1.5V7.

4. The novel motion control method for coke tank crane according to claim 1 is characterized in that: V4 is 4m / min, V6 is 3.5m / min, and V7 is 8m / min.

5. The novel motion control method for coke tank crane according to claim 1 is characterized in that: In S5, the focusing quiet time is 25s or 30s.

6. The novel motion control method for coke tank crane according to claim 1 is characterized in that: When a transverse traction device is provided for dry coke quenching, in S1, the empty tank is started at the second speed; in S8, the tank is reduced from the first speed to the second speed and then S1 is repeated.

7. The novel motion control method for coke tank crane according to claim 1 is characterized in that: The lower limit of the lifting tower, the upper limit of the lifting tower, the standby position and the lower limit of the dry quenching furnace are set with double detection limits, and the double detection limits stop simultaneously when the coke tank crane stops.

8. The novel motion control method for coke tank crane according to claim 1 is characterized in that: An absolute encoder for detecting the height position of the coke tank crane is arranged at the tail of the drum, and an absolute encoder for detecting the running position is arranged on the passive wheel axle.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is run, the novel motion control method for the coke tank crane described in any one of claims 1 to 8 is executed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor executes the novel motion control method for the coke tank crane according to any one of claims 1 to 8 by running the computer program.

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