A coke drum hoist motion control method

Abstract

The application provides a novel motion control method of coke tank crane, comprising the following steps: S1, in the first time period T1, the standby position is empty tank descending, the hook is opened; S2, in the second time period T2, the full tank is lifted in the lifting tower; S3, in the third time period T3, the full tank is moved to the dry quenching furnace; S4, in the fourth time period T4, the full tank is descended in the dry quenching furnace, the gate is opened; S5, in the fifth time period T5, the coke is loaded; S6, in the sixth time period T6, the empty tank is lifted in the dry quenching furnace; S7, in the seventh time period T7, the empty tank is returned to the lifting tower; S8, in the eighth time period T8, the empty tank is descended in the lifting tower and is returned to the standby position; the application realizes the motion control principle of distinguishing the lifting and descending stage motion control and coke discharging through the frequency change and load change, shortens the operation cycle, improves the dry quenching coke production rate and has unique advantages.

Description

Technical Field

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

[0002] With the country's increasing focus on environmental protection and energy conservation, and increasingly stringent environmental requirements for the coking industry, CDQ waste heat power generation technology has been widely promoted and applied. Coke hopper cranes, a key lifting device used in the CDQ process to lift and load red coke into the CDQ furnace, operate fully automatically, offering high production efficiency, automated program control, and excellent stability. Their motion control principles directly determine the crane's operating cycle and influence CDQ productivity.

[0003] The coke tank crane utilizes multiple speed changes throughout its entire operating cycle of lifting, operating, and loading. This includes the hook closing at its initial position, lifting a full tank, operating, lowering, and separating the load, then lifting, operating, lowering, and seating the empty tank, all the way to the hook opening, returning to its initial position, and stopping to prepare for another load. To ensure fully automated operation, the crane requires a positioning accuracy of ±45mm for lifting and ±20mm for operating.

[0004] Existing motion control methods categorize lifting motion into three speeds: high, medium, and low; operating motion into two speeds: high and low; and defocusing motion at low speed. This arrangement results in a long operating cycle. To shorten the operating cycle while maintaining productivity, the speed must be increased. However, increasing the speed results in higher motor power, increased equipment manufacturing costs, and increased operating energy consumption. Summary of the Invention

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

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

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

[0008] S1. In the first period T1, the empty tank in the standby position descends and the hook is opened: the empty tank starts to accelerate to the second speed from the standby position, and descends at the second speed until the coke tank cover is seated. The empty tank then decelerates to the fourth speed and continues to descend to the lower limit of the lifting tower. The empty tank speed 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 hoisting tower is fully loaded. The hoisting tower starts accelerating to the fourth speed at the lower limit position of the fully loaded coke tank. When the fully loaded coke tank cover leaves the bed at the fourth speed, the fully loaded coke tank is accelerated to the second speed. The fully loaded coke tank is hoisted at the second speed until the guide wheel at the bottom of the coke tank passes the junction of the electric locomotive derrick and the fixed derrick. The fully loaded coke tank is then accelerated to the first speed. When the fully loaded coke tank is hoisted at the first speed until the guide wheel at the top of the spreader approaches the junction of the fixed derrick and the mobile derrick, the fully loaded coke tank is decelerated to the second speed. When the fully loaded coke tank approaches the upper limit of the hoisting tower at the second speed, the fully loaded coke tank is decelerated to the fourth speed. The fully loaded coke tank continues to be hoisted to the upper limit. The speed is reduced to zero, the hoisting brake is engaged, and the fully loaded coke tank is converted to 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 and approaches 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 operating brake is engaged, and the full tank is converted to lifting motion;

[0011] S4. In the fourth period T4, the full tank of the CDQ furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the CDQ furnace. When the full tank descends to near the lower limit of the CDQ furnace, it decelerates to the fourth speed. The full tank continues to descend to the lower limit of the CDQ furnace. The full tank speed 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 CDQ 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 lifting speed. When the empty tank is lifted close to the upper limit of the CDQ furnace, it is decelerated to the fourth speed. The empty tank continues to be lifted to the upper limit of the CDQ furnace. The empty tank speed is reduced to zero, the lifting brake is engaged, and the empty tank is converted to translational motion;

[0014] S7. In the seventh period T7, the empty can returns to the lifting tower: the empty can starts to accelerate to the fifth speed from the upper limit position of the CDQ furnace. When the empty can runs at the fifth speed and approaches the lifting tower, it decelerates to the sixth speed and continues to run to the top of the CDQ furnace. The speed of the empty can drops to zero, the operating brake is engaged, and the empty can switches to 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, and the empty tank descends at the third speed to the junction of the guide wheel on the top of the spreader and the fixed derrick and the mobile derrick. The empty tank is then accelerated to the first speed. When the empty tank descends at the first speed to near the standby position, the empty tank is decelerated to the fourth speed and continues to descend to the standby position. The empty tank is decelerated to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

[0016] Furthermore, 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 lowering the upper limit empty tank, 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 descending speed V7 at the dry quenching furnace, and the eighth speed is the lifting speed V8 at the dry quenching furnace.

[0017] Furthermore, 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 lowered from the first speed to the second speed and then S1 is repeated.

[0021] Furthermore, the lower limit of the hoisting tower, the upper limit of the hoisting 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 provided at the tail of the reel, and an absolute value encoder for detecting the running position is provided 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 coke tank crane motion control methods 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 coke tank crane motion control methods by running 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. While ensuring the positioning accuracy and not increasing the impact, it shortens the operation cycle, thereby optimizing the power of the lifting motor, reducing manufacturing costs, 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative labor.

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

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

[0030] Figure 3 This is the decomposition timing diagram of the CDQ furnace in the 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 the program control time detection diagram of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 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 dry quenching furnace stops at the extreme position (generally 4m / min, ensuring the lifting and 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 operation 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 represents the full tank movement state, and the blue part represents the empty tank movement state. V represents the speed in each time period. The coke tank crane moves in a sequence of 1 to 43. Figure 4 shown Figure 1 When the transverse traction device is set for dry coke quenching, there is no standby position.

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

[0040] S1. In the first period T1, the empty tank in the standby position descends and the hook is opened: the empty tank starts to accelerate to the second speed from the standby position, and descends at the second speed until the coke tank cover is seated. The empty tank then decelerates to the fourth speed and continues to descend to the lower limit of the lifting tower. The empty tank speed 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 hoisting tower is fully loaded. The hoisting tower starts accelerating to the fourth speed at the lower limit position of the fully loaded coke tank. When the fully loaded coke tank cover leaves the bed at the fourth speed, the fully loaded coke tank is accelerated to the second speed. The fully loaded coke tank is hoisted at the second speed until the guide wheel at the bottom of the coke tank passes the junction of the electric locomotive derrick and the fixed derrick. The fully loaded coke tank is then accelerated to the first speed. When the fully loaded coke tank is hoisted at the first speed until the guide wheel at the top of the spreader approaches the junction of the fixed derrick and the mobile derrick, the fully loaded coke tank is decelerated to the second speed. When the fully loaded coke tank approaches the upper limit of the hoisting tower at the second speed, the fully loaded coke tank is decelerated to the fourth speed. The fully loaded coke tank continues to be hoisted to the upper limit. The speed is reduced to zero, the hoisting brake is engaged, and the fully loaded coke tank is converted to 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 and approaches 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 operating brake is engaged, and the full tank is converted to lifting motion;

[0043] S4. In the fourth period T4, the full tank of the CDQ furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the CDQ furnace. When the full tank descends to near the lower limit of the CDQ furnace, it decelerates to the fourth speed. The full tank continues to descend to the lower limit of the CDQ furnace. The full tank speed 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 CDQ 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 lifting speed. When the empty tank is lifted close to the upper limit of the CDQ furnace, it is decelerated to the fourth speed. The empty tank continues to be lifted to the upper limit of the CDQ furnace. The empty tank speed is reduced to zero, the lifting brake is engaged, and the empty tank is converted to translational motion;

[0046] S7. In the seventh period T7, the empty can returns to the lifting tower: the empty can starts to accelerate to the fifth speed from the upper limit position of the CDQ furnace. When the empty can runs at the fifth speed and approaches the lifting tower, it decelerates to the sixth speed and continues to run to the top of the CDQ furnace. The speed of the empty can drops to zero, the operating brake is engaged, and the empty can switches to 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, and the empty tank descends at the third speed to the junction of the guide wheel on the top of the spreader and the fixed derrick and the mobile derrick. The empty tank is then accelerated to the first speed. When the empty tank descends at the first speed to near the standby position, the empty tank is decelerated to the fourth speed and continues to descend to the standby position. The empty tank is decelerated to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

[0048] The detection element is a key part of the coke pot crane movement control principle, through the signal sent by the detection element into the PLC control system, the coke pot crane is realized according to the action decomposition timing chart movement. The detection element mainly has the following several kinds:

[0049] ① Non-contact position detection limit: the lower limit, the upper limit (standby position) and the dry quenching furnace lower limit key position of the lifting tower sets double detection limit, the rest of the coke pot bed detection and other acceleration and deceleration position sets single detection limit or double detection limit according to the agreement, as the stop action key position of double limit needs to act at the same time when the coke pot crane stops, as shown in Figure 5

[0050] ② Absolute value encoder: the absolute value encoder (1) at the tail of the drum is used for coke pot crane height position detection, and the absolute value encoder (1) on the driven wheel shaft is used for walking position detection, as shown in Figure 6

[0051] ③ Program control detection: time detection is added in the PLC program, the time protection setting time is 1-1.5S later than the normal action time, which can also reduce the speed and prevent mechanical collision caused by speed loss, as shown in Figure 7

[0052] The movement control of the coke pot crane is generally divided into three speeds of high, medium and low speed for lifting movement, and two speeds of high and low speed for running movement. The control principle of low speed running for coke movement. The present application realizes the movement control scheme of distinguishing lifting and descending stages by frequency change and load change, ensures the positioning accuracy, and does not increase the impact, so as to ensure the optimal movement control principle of the coke pot crane and the shortest running cycle.

[0053] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solutions of the embodiments of the present application.​​​

Claims

1. A coke tank crane motion control method, characterized in that: The steps include: S1. In the first period T1, the empty tank in the standby position descends and the hook is opened: the empty tank starts to accelerate to the second speed from the standby position, and descends at the second speed until the coke tank cover is seated. The empty tank then decelerates to the fourth speed and continues to descend to the lower limit of the lifting tower. The empty tank speed 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 hoisting tower is fully loaded. The hoisting tower starts accelerating to the fourth speed at the lower limit position of the fully loaded coke tank. When the fully loaded coke tank cover leaves the bed at the fourth speed, the fully loaded coke tank is accelerated to the second speed. The fully loaded coke tank is hoisted at the second speed until the guide wheel at the bottom of the coke tank passes the junction of the electric locomotive derrick and the fixed derrick. The fully loaded coke tank is then accelerated to the first speed. When the fully loaded coke tank is hoisted at the first speed until the guide wheel at the top of the spreader approaches the junction of the fixed derrick and the mobile derrick, the fully loaded coke tank is decelerated to the second speed. When the fully loaded coke tank approaches the upper limit of the hoisting tower at the second speed, the fully loaded coke tank is decelerated to the fourth speed. The fully loaded coke tank continues to be hoisted to the upper limit. The speed is reduced to zero, the hoisting brake is engaged, and the fully loaded coke tank is converted to 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 and approaches 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 operating brake is engaged, and the full tank is converted to lifting motion; S4. In the fourth period T4, the full tank of the CDQ furnace descends and the gate is opened: the full tank starts to accelerate to the seventh speed from the upper limit position of the CDQ furnace. When the full tank descends to near the lower limit of the CDQ furnace, it decelerates to the fourth speed. The full tank continues to descend to the lower limit of the CDQ furnace. The full tank speed 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 CDQ 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 lifting speed. When the empty tank is lifted close to the upper limit of the CDQ furnace, it is decelerated to the fourth speed. The empty tank continues to be lifted to the upper limit of the CDQ furnace. The empty tank speed is reduced to zero, the lifting brake is engaged, and the empty tank is converted to translational motion; S7. In the seventh period T7, the empty can returns to the lifting tower: the empty can starts to accelerate to the fifth speed from the upper limit position of the CDQ furnace. When the empty can runs at the fifth speed and approaches the lifting tower, it decelerates to the sixth speed and continues to run to the top of the CDQ furnace. The speed of the empty can drops to zero, the operating brake is engaged, and the empty can switches to 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, and the empty tank descends at the third speed to the junction of the guide wheel on the top of the spreader and the fixed derrick and the mobile derrick. The empty tank is then accelerated to the first speed. When the empty tank descends at the first speed to near the standby position, the empty tank is decelerated to the fourth speed and continues to descend to the standby position. The empty tank is decelerated to zero, the lifting brake is engaged, and the empty tank returns to the standby position.

2. The coke tank crane motion control method according to claim 1, 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 descent of the upper limit empty tank, 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 coke tank crane motion control method according to claim 2, characterized in that: V3=1.5V2, V8=1.5V7.

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

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

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

7. The coke tank crane motion control method according to claim 1, 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 at the same time when the coke tank crane stops.

8. The coke tank crane motion control method according to claim 1, characterized in that: An absolute encoder for detecting the height position of the coke tank crane is provided at the tail of the drum, and an absolute encoder for detecting the traveling position is provided 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 coke tank crane motion control method according to 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 coke tank crane motion control method according to any one of claims 1 to 8 by running the computer program.

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