Hazardous waste liquid pretreatment system and use method thereof

Abstract

The invention relates to a dangerous waste liquid pretreatment system and a use method thereof, the dangerous waste liquid pretreatment system comprises a control device, a feeding device, a stirring device, a feeding device, a lifting tipping bucket device and an incineration device, the stirring device is a stirrer, and the feeding device is used for adding dangerous waste liquid into the stirrer; the feeding device comprises a conveyor used for conveying dangerous waste liquid in the stirring machine into the lifting tipping bucket device and a carrying vehicle used for moving the stirring machine to the position in front of the lifting tipping bucket device, and the lifting tipping bucket device is used for pouring the dangerous waste liquid into the incineration device for incineration treatment.

Description

Technical Field

[0001] The invention relates to a hazardous waste liquid pretreatment system and a use method thereof, belonging to the field of wastewater treatment devices. Background Art

[0002] ‌Hazardous waste liquid pretreatment‌ refers to the physical and chemical treatment of the liquid components in hazardous waste to reduce its toxicity and environmental risks for subsequent treatment and disposal. Hazardous waste liquid mainly includes heavy metal waste liquid, emulsion wastewater, cyanide-containing wastewater, waste acid, waste alkali and other types. There are many methods for pretreatment, and the specific choice depends on the composition and properties of the waste liquid. If hazardous waste liquid is treated directly without pretreatment, it may cause serious harm to the environment and human health. Pretreatment can effectively reduce the toxicity and environmental risks of waste liquid and improve the efficiency and safety of subsequent treatment. Through pretreatment, harmful substances in hazardous waste liquid can be converted into harmless or low-harmful substances, reducing negative impacts on the environment.‌

[0003] The existing hazardous waste liquid pretreatment process is to carry out the mixed adsorption operation of hazardous waste liquid and sawdust at station A, pour the hazardous waste liquid to be treated that has been tested for compatibility into the waste tank, and add sawdust (about 16 bags of sawdust × 13 kg / bag are needed for mixed adsorption each time), and then transfer it to station B by forklift after manual stirring and adsorption. Station B is the operation of putting waste into the bucket of the elevator. At present, it is done manually in two shifts, 24 hours a day to shovel the waste from the waste tank into the bucket of the elevator, and each time 20-50 kg of mixed waste (solid-liquid mixed state) needs to be taken from the waste bucket. After a single feeding is completed, the worker manually clicks the "forward" button on the control box to start the elevator to transport the bucket to the incinerator feeding port, and flips the bucket to dump the waste in the bucket into the incinerator feeding port. The worker clicks the "reverse" button on the control box to start the elevator to transport the bucket down to the ground and wait for the next waste loading operation.

[0004] Employees who dispose of hazardous liquid waste are exposed to it for a long time and need to be arranged to work 24 hours a day. The labor intensity is high and the working environment is toxic and harmful. In addition, due to the uneven mixing of waste liquid and sawdust caused by manual stirring, hazardous liquid leaks in the process of shoveling the waste into the elevator bucket, which is not conducive to ensuring personnel safety and the quality of hazardous liquid waste treatment. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a hazardous waste liquid pretreatment system and a method of using the same.

[0006] A hazardous waste liquid pretreatment system includes a control device, a feeding device, a stirring device, a feeding device, a lifting bucket device and an incineration device. The stirring device is a mixer. The feeding device is used to add hazardous waste liquid to the mixer. The feeding device includes a conveyor for conveying the hazardous waste liquid in the mixer to the lifting bucket device and a transport vehicle for moving the mixer to the front of the lifting bucket device. The lifting bucket device is used to pour the hazardous waste liquid into the incineration device for incineration treatment. By real-time monitoring and coordination of the operating parameters of each subsystem (feeding, stirring, feeding, lifting bucket and incineration), the entire treatment process is ensured to run automatically and stably; at the same time, it can alarm or shut down in time when an abnormality occurs, reducing the risk caused by human error and effectively improving safety. Through the organic combination of various modules, this system realizes the automatic control of the entire process from hazardous waste liquid pretreatment to final incineration disposal, greatly improving the treatment efficiency and operational safety. The automatic control structure is used to accurately pour hazardous waste liquid into the incineration device to ensure the continuity and accuracy of feeding, while avoiding the problem of unstable combustion caused by overflow or uneven feeding. The hazardous waste liquid pretreatment system achieves safe, efficient and environmentally friendly treatment of hazardous waste liquid through technical features such as automation, accurate feeding, uniform mixing, efficient transportation and accurate feeding, thereby reducing operational risks, improving process stability and incineration effect.

[0007] Preferably, both ends of the feeding device are connected to the mixer and the lifting bucket device respectively, and the feeding device is a pump hose or a screw conveyor. When a pump hose is used, it is suitable for hazardous waste liquids with low viscosity and good fluidity, and can achieve continuous and stable transportation while reducing the risk of pipeline blockage. When a screw conveyor is used, it is suitable for hazardous waste liquids with high viscosity and containing solid particles. The spiral push method can be used to reduce material deposition during transportation and improve transportation efficiency. Hose transportation can accurately control the delivery volume by adjusting the pump pressure, realize dynamic flow adjustment, and ensure synchronous matching with subsequent incineration treatment processes. The screw conveyor can achieve fine adjustment of the delivery speed by adjusting the screw speed, improve the uniformity of transportation, and avoid sudden large-scale feeding affecting the combustion state of the incinerator.

[0008] Furthermore, a heightening frame is provided at the bottom of the screw conveyor. The heightening frame can be adjusted according to the on-site spatial layout, adapted to mixers and lifting bucket devices of different heights, to ensure the docking accuracy of the equipment at both ends, and to avoid material spillage or docking deviation. The heightening frame can be equipped with shock-absorbing pads or elastic connectors to reduce the transmission of vibration to the ground during the operation of the equipment, thereby reducing noise and improving conveying stability.

[0009] Preferably, the lifting bucket device includes a hoist and a bucket provided on the hoist. A weight sensor for weighing the hazardous waste liquid is provided in the bucket. The weight sensor is electrically connected to the control device. When the weight sensor senses the set weight standard, the lifting bucket device automatically rises, pours the hazardous waste liquid in the bucket into the incineration device, and then descends. The weight sensor monitors the weight of the hazardous waste liquid in real time to ensure that the feeding amount is accurate and controllable each time, so as to avoid excessive loading of the incinerator or insufficient loading affecting the combustion efficiency. The control device can set an adjustable weight threshold (such as 50kg~200kg) to meet the needs of different types of hazardous waste liquid treatment and improve the flexibility of the system. This process can be combined with the feedback of the combustion state of the incinerator (such as temperature, oxygen content, etc.) to achieve on-demand feeding, ensure that the incinerator operates in the best combustion state, and improve the incineration efficiency. The dual sensor verification mechanism (such as the use of piezoelectric sensor + hydraulic sensor) ensures accurate weighing data and prevents the risk of overload and dumping due to sensor errors. The use of weight sensors to automatically control feeding can reduce manual intervention, improve work efficiency, reduce workers' labor intensity, reduce exposure time to dangerous operations, and improve personnel safety. Through automatic weighing + lifting linkage, the feeding amount is ensured to be consistent each time, so that the incinerator feed port and the dump bucket discharge port are accurately connected, preventing problems such as material spillage and gas leakage during feeding, and improving the environmental protection and safety of hazardous waste liquid treatment.

[0010] Furthermore, the incineration device is an incinerator. The incinerator is used as the final treatment device for hazardous waste liquid, which can completely decompose organic components under high temperature environment (usually 850~1200℃) to avoid secondary pollution. Through the dual effects of pyrolysis + combustion, the toxic and harmful substances in the hazardous waste liquid can be effectively reduced and the environmental risks can be reduced. According to the calorific value, viscosity and solid content of the hazardous waste liquid, the air supply ratio, combustion chamber temperature and residence time of the incinerator can be adjusted to improve the treatment adaptability.

[0011] Preferably, the feeding device is a hydraulic lifting dumping vehicle for dumping hazardous waste liquid into the stirring device. The hydraulic lifting dumping vehicle can automatically lift and accurately dump hazardous waste liquid into the stirring device, avoiding the tedious operation of manual handling and improving the feeding efficiency. For large-capacity load-bearing barrels (such as 200L iron barrels or IBC barrels), hydraulic lifting can easily complete the dumping, reduce the physical burden of operators, and improve work safety and comfort.

[0012] Preferably, the feeding device also includes a transfer and feeding robot for handling high-risk hazardous waste. A pallet is provided in front of the transfer and feeding robot, and a carrying bucket for carrying high-risk hazardous waste is provided on the pallet. After the robot quantitatively puts the carrying bucket into the lifting bucket device, the lifting bucket device automatically rises, pours the hazardous waste liquid in the bucket into the incineration device, and then descends. High-risk hazardous waste (such as highly corrosive, volatile, and highly toxic chemicals) usually has a pungent odor, high volatility, carcinogenicity or explosion hazards, and traditional manual feeding methods have high safety hazards. The use of a transfer and feeding robot can be remotely operated or fully automatically executed. The feeding process can minimize the risk of personnel exposure and reduce accidents such as inhalation of harmful gases, skin contact, and misoperation.

[0013] Preferably, the robot is a six-axis robot with the function of identifying the position of the barrel in the slot, and the pallet is provided with positioning grids for ensuring the uniform spacing of the barrels. The six-axis robot is highly flexible. Compared with the traditional three-axis or four-axis robot arm, the six-axis robot has a higher degree of freedom and can complete complex path movements to adapt to the grabbing and delivery of barrels at different positions and angles. The positioning grids can be designed in different specifications (such as 25L, 50L, 200L) according to the diameter of the barrel body, so that it can adapt to hazardous waste barrels of different specifications. Some grids can be adjusted modularly to meet the storage needs of different hazardous waste materials and improve the versatility of the pallet.

[0014] The present invention also provides a method for using the hazardous waste liquid pretreatment system, and using the system to treat hazardous waste liquid includes the following steps: (1) Pour hazardous waste liquid and sawdust into the stirring device through a feeding device or manually; (2) Starting the stirring device to stir, and if the viscosity of the hazardous waste liquid is high, adding water or other solvents to dilute it; (3) The stirring device is moved to the front of the lifting bucket device by manually operating a transport vehicle; (4) transporting the hazardous waste liquid to the lifting bucket device through the feeding device; (5) Pour the hazardous waste liquid into the incineration device through the lifting bucket device; (6) Start the incineration device for incineration and update the processing data.

[0015] Preferably, the lifting bucket device monitors the weight of the injected hazardous waste in real time. When the weight sensor in the lifting bucket device senses the set weight standard, the lifting bucket device automatically rises, and then the bucket flips, pouring the hazardous waste liquid in the bucket into the incinerator, and then descends to the ground to wait for the next feeding. By linking with the control device, the lifting and flipping actions of the bucket can be precisely controlled to ensure that the amount of hazardous waste liquid is accurate when poured into the incinerator, avoiding overflow or leakage. The entire process is fully automated, from injecting materials, weight sensing, bucket operation to pouring materials, reducing the frequency and error of manual operation, and greatly improving the efficiency and safety of the operation.

[0016] The beneficial effects of the present invention are as follows: The present invention can realize the pretreatment of hazardous waste and automatic feeding with less manpower or unmanned operation: 1) Through the hazardous waste liquid adsorption and stirring device, the sawdust can fully absorb the hazardous waste liquid and eliminate the dripping during the waste transportation and feeding process; 2) Through the unmanned transfer device for pre-processing waste solid materials, about 30kg of waste solid and liquid materials to be processed are transferred from the mixer to the elevator bucket device each time, and the elevator is started according to the weighing results, replacing manual 24-hour operation; 3) A new waste barrel transfer and feeding robot is added to intelligently grab high-risk hazardous waste (packaged in 5L plastic barrels), replacing manual 24-hour work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0018] Figure 1 It is a structural diagram of the present invention; Figure 2 The structural diagram of the present invention without the upper incineration device; Figure 3 It is the structural diagram of the stirring device, feeding device and lifting bucket device; Figure 4 This is the structural diagram of the pallet; Figure 5 It is the dynamic response curve diagram; Figure 6 This is the relationship diagram between the robot's operating radius, maximum speed, and obstacle avoidance response time; Figure 7 Adjust the logic flow chart for the combustion process; In the figure, 2, feeding device; 21, transfer and feeding robot; 22, pallet; 23, carrying bucket; 24, positioning grid; 3, stirring device; 31, solvent filling pump; 4, feeding device; 41, screw conveyor; 42, raising frame; 5, lifting and tipping device; 51, elevator; 52, tipping bucket; 6, incineration device. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0021] The directions and positions mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., are only for reference to the directions or positions of the drawings. Therefore, the directions and positions used are for explaining and understanding the present invention, but not for limiting the scope of protection of the present invention.

[0022] like Figure 1-7 As shown, an embodiment of a hazardous waste liquid pretreatment system of the present invention includes a control device, a feeding device 2, a stirring device 3, a feeding device 4, a lifting bucket device 5 and an incineration device 6. The stirring device 3 is a mixer. The feeding device 2 is used to add hazardous waste liquid to the mixer. The feeding device 4 includes a conveyor for conveying the hazardous waste liquid in the mixer to the lifting bucket device 5 and a transporter for moving the mixer to the front of the lifting bucket device 5. The lifting bucket device 5 is used to pour the hazardous waste liquid into the incineration device 6 for incineration treatment. By real-time monitoring and coordination of the operating parameters of each subsystem (feeding, stirring, feeding, lifting bucket 52 and incineration), the entire treatment process is ensured to run automatically and stably; at the same time, when an abnormality occurs, it can timely alarm or shut down, reduce the risk caused by human error, and effectively improve safety. Through the organic combination of various modules, this system realizes the automatic control of the whole process from hazardous waste liquid pretreatment to final incineration disposal, greatly improving the treatment efficiency and operation safety. The automatic control structure is adopted to accurately pour the hazardous waste liquid into the incineration device 6, ensuring the continuity and accuracy of the feeding; at the same time, it avoids the problem of unstable combustion caused by overflow or uneven feeding. The hazardous waste liquid pretreatment system realizes the safe, efficient and environmentally friendly treatment of hazardous waste liquid through technical features such as automation, accurate feeding, uniform stirring, efficient transportation and accurate feeding, thereby reducing operational risks, improving process stability and incineration effect.

[0023] The control device uses an industrial controller, which can be a PLC or embedded control system, responsible for data acquisition, signal processing, logic control and execution of instructions. The mixer is a mature product in the market, and can also be replaced by a mixer or other products with the same effect. The transporter can be a forklift.

[0024] The two ends of the feeding device 4 are respectively connected to the mixer and the lifting bucket device 5, and the feeding device 4 is a pump hose or a screw conveyor 41. When a pump hose is used, it is suitable for hazardous waste liquids with low viscosity and good fluidity, and can achieve continuous and stable transportation, while reducing the risk of pipeline blockage. When a screw conveyor 41 is used, it is suitable for hazardous waste liquids with high viscosity and containing solid particles. The spiral push method can be used to reduce material deposition during transportation and improve transportation efficiency. Hose transportation can accurately control the delivery volume by adjusting the pump pressure, realize dynamic flow adjustment, and ensure synchronous matching with subsequent incineration treatment processes. The screw conveyor 41 can achieve fine adjustment of the delivery speed by adjusting the screw speed, improve the uniformity of transportation, and avoid sudden large-scale feeding affecting the combustion state of the incinerator.

[0025] The bottom of the screw conveyor 41 is provided with a heightening frame 42. The heightening frame 42 can be adjusted according to the on-site spatial layout, adapted to mixers and lifting bucket devices 5 of different heights, to ensure the docking accuracy of the equipment at both ends, and to avoid material spillage or docking deviation. The heightening frame 42 can be equipped with shock-proof pads or elastic connectors to reduce the transmission of vibration to the ground during the operation of the equipment, thereby reducing noise and improving the transportation stability.

[0026] The lifting bucket device 5 includes a hoist 51 and a bucket 52 arranged on the hoist 51. A weight sensor for weighing the hazardous waste liquid is arranged in the bucket 52. The weight sensor is electrically connected to the control device. When the weight sensor senses the set weight standard, the lifting bucket device 5 automatically rises, pours the hazardous waste liquid in the bucket 52 into the incineration device 6, and then descends. The weight sensor monitors the weight of the hazardous waste liquid in real time to ensure that the feeding amount is accurate and controllable each time, so as to avoid excessive loading of the incinerator or insufficient loading affecting the combustion efficiency. The control device can set an adjustable weight threshold (such as 50kg~200kg) to adapt to different types of hazardous waste liquid treatment needs and improve the flexibility of the system. This process can be combined with the combustion state feedback of the incinerator (such as temperature, oxygen content, etc.) to achieve on-demand feeding, ensure that the incinerator operates in the best combustion state, and improve the incineration efficiency. The dual sensor verification mechanism (such as the use of piezoelectric sensor + hydraulic sensor) ensures accurate weighing data and prevents the risk of overload and dumping due to sensor errors. The use of weight sensors to automatically control feeding can reduce manual intervention, improve work efficiency, reduce workers' labor intensity, reduce exposure time to dangerous operations, and improve personnel safety. Through automatic weighing + lifting linkage, the amount of feeding is ensured to be consistent each time, so that the incinerator feed port and the tipping bucket 52 discharge port are accurately connected to prevent problems such as material spillage and gas leakage during feeding, and improve the environmental protection and safety of hazardous waste liquid treatment. The tilt angle of the tipping bucket 52 can be precisely controlled (such as 55°±2°) to avoid splashing caused by incomplete tipping or dumping too quickly. It is suitable for hazardous waste liquids in different forms (such as mud containing solid particles, emulsified liquids, and high-viscosity liquids). Different weight thresholds can be set for automatic feeding to improve treatment adaptability.

[0027] The incineration device 6 is an incinerator. The incinerator is used as the final treatment device for hazardous waste liquid, which can completely decompose organic components under high temperature environment (usually 850~1200℃) to avoid secondary pollution. Through the dual effects of pyrolysis + combustion, the toxic and harmful substances in the hazardous waste liquid can be effectively reduced and the environmental risks can be reduced. The air supply ratio, combustion chamber temperature, and residence time of the incinerator can be adjusted according to the calorific value, viscosity, and solid content of the hazardous waste liquid to improve the treatment adaptability. The incinerator is set at a higher height or on the second floor. After the lifting bucket device 5 rises to the pouring entrance of the incinerator, the tipping bucket 52 is turned over to dump the hazardous waste liquid for incineration.

[0028] The feeding device 2 is a hydraulic lifting dumping vehicle for dumping hazardous waste liquid into the stirring device 3. The hydraulic lifting dumping vehicle can automatically lift and accurately dump hazardous waste liquid, avoiding the tedious operation of manual handling and improving the feeding efficiency. For large-capacity load-bearing barrels 23 (such as 200L iron barrels or IBC barrels), hydraulic lifting can easily complete the dumping, reduce the physical burden of operators, and improve work safety and comfort.

[0029] The feeding device 2 also includes a transfer and feeding robot 21 for handling high-risk hazardous waste. A pallet 22 is arranged in front of the transfer and feeding robot 21. A carrying bucket 23 for carrying high-risk hazardous waste is arranged on the pallet 22. After the robot quantitatively puts the carrying bucket 23 into the lifting bucket device 5, the lifting bucket device 5 automatically rises, pours the hazardous waste liquid in the bucket 52 into the incineration device 6, and then descends. High-risk hazardous waste (such as highly corrosive, volatile, and highly toxic chemicals) usually has a pungent odor, high volatility, carcinogenicity or explosion hazards, and the traditional manual feeding method has high safety hazards. The transfer and feeding robot 21 can be used to remotely operate or fully automatically perform the feeding process, minimize the risk of personnel exposure, and reduce accidents such as inhalation of harmful gases, skin contact, and misoperation. The robot uses 3D laser scanning + RFID recognition, which can accurately identify the position, size, and label information of the carrying bucket 23 on the pallet 22 to ensure efficient grasping and delivery. Combined with a six-axis robotic arm + flexible clamping device, it can adapt to load barrels 23 of different sizes (such as 25L, 50L, 200L, etc.), automatically adjust the gripping force and dumping angle to ensure stable feeding and prevent material splashing or damage to the barrel. The robot is integrated with a weight sensor, which can detect the weight of the material when grabbing, and accurately quantitatively feed it in combination with the control system to ensure consistent proportions of hazardous waste liquids and improve pretreatment efficiency. The robot can operate continuously for 24 hours, and its efficiency is 3-5 times higher than manual feeding, which can shorten the hazardous waste treatment cycle, reduce the accumulation of hazardous waste in the factory area, and reduce safety hazards. The robot's feeding data (such as material type, weight, time, and number of times of feeding) can be uploaded to the central control system to facilitate traceability management of the entire process.

[0030] The robot is a six-axis robot with the function of identifying the position of the tank carrying barrel 23. The pallet 22 is provided with positioning grids 24 for ensuring that the carrying barrels 23 are evenly spaced. The six-axis robot is highly flexible. Compared with the traditional three-axis or four-axis robot arm, the six-axis robot has a higher degree of freedom and can complete complex path movement to adapt to the grabbing and delivery of the carrying barrels 23 at different positions and angles. The positioning grids 24 can be designed with different specifications (such as 25L, 50L, 200L) according to the barrel diameter, so that it can adapt to hazardous waste carrying barrels 23 of different specifications. Some grids can be adjusted modularly to meet the storage requirements of different hazardous waste materials and improve the versatility of the pallet 22. The positioning grids 24 can use anti-slip rubber pads or magnetic fixing devices to avoid the barrel body from sliding or tipping during handling or transportation, and ensure the safety of the feeding operation. When the robot detects that the position of the carrying barrel 23 on the pallet 22 is offset or the number is insufficient, the system can automatically adjust the grabbing path or alarm to avoid equipment damage or hazardous waste liquid leakage caused by grabbing failure. The six-axis robot combines identification slots, visual positioning, and intelligent path planning to accurately identify and grab the load-bearing barrel 23, and cooperates with the positioning grid slots 24 on the tray 22 to ensure that the barrels are neatly arranged, the grabbing is stable, and the feeding is efficient. This not only improves the automation level of hazardous waste treatment, but also greatly improves safety, efficiency, and intelligent management capabilities.

[0031] The present invention also provides a method for using the hazardous waste liquid pretreatment system, and using the system to treat hazardous waste liquid includes the following steps: (1) Pour hazardous waste liquid and sawdust into the stirring device 3 through the feeding device 2 or manually; (2) starting the stirring device 3 to stir, and if the viscosity of the hazardous waste liquid is high, adding water or other solvents to dilute it; (3) The stirring device 3 is transported to the front of the lifting bucket device 5 by manually operating a transport vehicle; (4) The hazardous waste liquid is transported to the lifting bucket device 5 through the feeding device 4; (5) pouring the hazardous waste liquid into the incineration device 6 through the lifting bucket device 5; (6) Start the incineration device 6 to perform incineration and update the processing data.

[0032] The lifting bucket device 5 monitors the weight of the injected hazardous waste in real time. When the weight sensor in the lifting bucket device 5 senses the set weight standard, the lifting bucket device 5 automatically rises, and then the bucket 52 flips over, pouring the hazardous waste liquid in the bucket 52 into the incineration device 6, and then descends to the ground, waiting for the next feeding. By linking with the control device, the lifting and flipping actions of the bucket 52 can be precisely controlled to ensure that the amount of hazardous waste liquid is accurate when poured into the incinerator, avoiding overflow or leakage. The entire process is fully automated, from injecting materials, weight sensing, operating the bucket 52 to pouring materials, reducing the frequency and error of manual operations, and greatly improving the efficiency and safety of operations.

[0033] In order to meet the needs of 24-hour continuous production, the day shift needs to prepare enough hazardous waste to be processed. Therefore, this project needs to prepare two mixing devices 3, and the day shift operators and technicians are responsible for the mixing and preparation of hazardous waste. One is used for the day shift, and the other can be replaced before the day shift ends, or after the first one is used up.

[0034] Example 1: Conventional hazardous waste liquid treatment process (1) Adding and mixing The operator hydraulically raises the dump truck or manually pours the hazardous waste liquid and sawdust into the mixing device 3 according to a predetermined ratio. The mixer is started to mix evenly to ensure that the hazardous waste liquid and sawdust are fully mixed.

[0035] (2) Confirmation of stirring status The mixing state of the materials in the stirring device 3 is monitored in real time (via online detection equipment or manual observation), and the next step is performed after confirming that the mixing is uniform.

[0036] (3) Equipment handling The transport vehicle is manually operated to move the stirring device 3 to the front of the lifting dump device 5 to ensure accurate docking between the two devices.

[0037] (4) Feeding and weighing The mixed hazardous waste liquid is conveyed to the lifting bucket device 5 through a pump hose or a screw conveyor 41 (a feeding device 4 suitable for the current liquid properties is selected). The weight sensor in the lifting bucket device 5 monitors the weight of the injected hazardous waste liquid in real time. When the set weight standard is reached, the control device automatically sends a signal.

[0038] (5) Automatic lifting and dumping After the weight reaches the set value, the lifting bucket device 5 automatically rises and turns over, and the hazardous waste liquid in the bucket 52 is evenly poured into the incinerator, and then automatically descends to the initial height to prepare for the next feeding.

[0039] (6) Incineration and data update Start the incinerator to carry out high-temperature incineration treatment on the poured hazardous waste liquid.

[0040] During the incineration process, the system updates the processing data (including feeding time, weight, incineration temperature, etc.) in real time and uploads it to the central monitoring system to achieve full-process data traceability.

[0041] Example 2: High viscosity hazardous waste liquid treatment mode (1) Adding materials and initial mixing High-viscosity hazardous waste liquid and sawdust are poured into the stirring device 3, and the material loading is assisted by hydraulically raising the dump truck.

[0042] The mixer is started for preliminary stirring, while the system detects the material viscosity (e.g., via online viscosity sensor feedback).

[0043] (2) Automatic dilution adjustment When the viscosity of the hazardous waste liquid is detected to exceed the preset threshold (such as 3000 cP), the control device automatically instructs the start of the solvent or water filling valve and increases the mixer speed (for example, adjust it to 120-150 rpm), realizing the closed-loop control of "stirring-detection-adjustment" to ensure improved material fluidity.

[0044] The stirring process continues until the viscosity of the material is detected to return to the normal range and a uniform mixture is ensured.

[0045] (3) Subsequent operations After the mixing is completed, the mixing device 3 is moved to the front of the lifting bucket device 5 by manual or automatic transport vehicle; The diluted mixed material is conveyed to the lifting bucket device 5 by a screw conveyor 41 or a pump hose, and the weight sensor monitors that the material is automatically turned over and dumped into the incinerator after reaching the set weight; The incinerator starts the incineration process, and the system updates and records the process data.

[0046] Embodiment 3: High-risk hazardous waste treatment mode (using transfer and feeding robot 21) (1) Special feed preparation For high-risk hazardous waste (such as highly corrosive, volatile organic solvents or highly toxic waste liquids), the materials are first loaded into a dedicated carrying barrel 23.

[0047] The carrying buckets 23 are placed on a tray 22 with positioning grid grooves 24 , which ensure that the carrying buckets 23 are evenly spaced and neatly arranged.

[0048] (2) Robot automatic recognition and grasping The six-axis robot equipped with the function of identifying the position of the slot carrying bucket 23 uses a visual system (such as 3D laser scanning) and RFID recognition to locate and identify the carrying bucket 23 on the pallet 22.

[0049] The robot automatically grabs the quantitative carrying bucket 23 according to the set parameters and transfers it from the tray 22 .

[0050] (3) Feeding and automatic dumping The robot accurately positions the carrying bucket 23 and places it into the lifting and dumping device 5 .

[0051] After the weight sensor in the lifting bucket device 5 detects the set weight, it automatically rises and turns over, and the high-risk hazardous waste in the carrying bucket 23 is evenly poured into the incinerator, and then the bucket 52 device descends to the initial position.

[0052] (4) Incineration and data monitoring Start the incinerator for high-temperature incineration treatment to ensure that high-risk hazardous waste is completely decomposed under high temperature conditions.

[0053] The whole system automatically records the feeding data (including the weight of each feeding, feeding time, robot operation data, etc.), and updates it to the central control system in real time to realize production monitoring and safety traceability.

[0054] The above three embodiments respectively demonstrate the use of the hazardous waste liquid pretreatment system of the present invention under different material properties and risk levels. Embodiment 1 is suitable for conventional hazardous waste liquid treatment, with simple operation and automatic linkage, and is suitable for most conventional waste liquid pretreatment processes. Embodiment 2 is for high-viscosity hazardous waste liquid, and ensures mixing uniformity and smooth transportation through online detection and automatic dilution adjustment. Embodiment 3 uses a transfer and feeding robot to realize unmanned and fully automatic feeding of high-risk hazardous waste materials, significantly improving operational safety and system intelligence.

[0055] A viscosity sensor for detecting the concentration of the hazardous waste liquid and a solvent filling pump 31 for filling the solvent are arranged in the stirring device.

[0056] In the stirring device, in addition to viscosity detection through traditional viscosity sensors, a rotary torque sensor or an online laser viscometer can also be used in conjunction with a solvent filling pump to achieve real-time dynamic monitoring of the stirring process.

[0057] The PID or adaptive fuzzy control algorithm is embedded in the control device to establish a mathematical model between viscosity, stirring speed and solvent filling amount, thus realizing the "stirring-detection-adjustment" closed-loop control.

[0058] When the liquid viscosity is detected to be greater than 3000cP, the system automatically starts the solvent filling valve, increases the mixer speed to 120-150rpm, and records parameter changes; at the same time, a multi-level alarm mechanism is set up: if the viscosity fluctuates abnormally (for example, exceeding the predetermined range or the solvent supply is abnormal), the system immediately switches to a safe shutdown state and sends a remote alarm signal through the control platform.

[0059] The output formula of the PID controller is: Where e(t)=r(t)−y(t) is the error (the difference between the set value and the actual value), r(t) is the set value (e.g. 1.0 in this example), and y(t) is the system output.

[0060] In this embodiment, the PID parameters are selected as: K p =0.8, K i = 0.05, K d =0.1; In order to intuitively demonstrate the closed-loop control effect, a simplified second-order system model is used here to simulate the control response. Assuming that the system accepts a step input (the set value jumps from 0 to 1), the response curve is approximately described by the following empirical formula: y(t)=1−e −t (cos(2t)+0.5*sin(2t)) This formula reflects that under PID regulation, the system responds quickly at the initial moment and gradually tends to a steady state. The following is a set of simulation data (unit: second, response value dimensionless): As shown in Table 1, the dynamic response curve is as follows Figure 5 As shown: Table 1 The controller measures the state of the mixture in the stirring container in real time (such as viscosity, temperature, etc., converted into output signal y(t)), calculates the error, and adjusts the mixer speed and solvent addition amount to achieve a closed-loop control of "stirring-detection-adjustment", thereby improving mixing uniformity and optimizing energy consumption.

[0061] From the above data, it can be seen that the system reaches a steady state in about 3 seconds with a small overshoot, which fully verifies the effectiveness of closed-loop control in ensuring mixing uniformity while optimizing energy consumption.

[0062] From the above detailed data and simulation results, we can see that: After adopting PID closed-loop control, the stirring system can quickly adjust the output and reach the set value in a short time after receiving a step input, with good dynamic response; the error convergence speed is fast and the overshoot is small, which proves that the system has been effectively optimized in terms of mixing uniformity and energy consumption control; the simulation data and dynamic response curves provide a quantitative basis for the effectiveness of the closed-loop control technology in this scheme. In the actual implementation process, it can better improve the work efficiency and the stirring and mixing quality of hazardous waste liquid.

[0063] An explosion-proof servo motor that complies with ATEX standards is used as the end effector of the six-axis robot to ensure safe operation in flammable and explosive environments; the base of the load-bearing barrel is designed with an integrated RFID reader, which cooperates with the 3D laser scanner (or stereo vision system) carried by the robot to form a dual positioning verification to ensure that the positioning accuracy error is less than 2mm.

[0064] Image recognition sensors can also be installed on the six-axis robot to perform real-time image recognition and correction of the target barrel shape and position, and be equipped with environmental monitoring and obstacle avoidance sensors. When surrounding obstacles are detected, the robot automatically slows down or stops to ensure fully enclosed unmanned operation.

[0065] Figure 6 The relationship between the robot's operating radius, maximum speed, and obstacle avoidance response time is shown. It can be seen that as the operating radius R increases, the robot's maximum speed Vmax gradually decreases. This is because at a larger radius, the robot needs to ensure stability and obstacle avoidance response time.

[0066] In addition, to further optimize obstacle avoidance response time: Set the minimum obstacle avoidance response time t min is 0.2s.

[0067] Combine 3D vision system and path optimization algorithm (such as DWA dynamic window method) to improve obstacle avoidance accuracy.

[0068] The obstacle avoidance response time increases with the increase of radius. When R=0.5m, the response time is 0.15s, while it reaches 0.5s when R=3.5m.

[0069] Comparison test results of actual working environment 1. Test conditions Robot model: Six-axis explosion-proof robot (with visual positioning) Task: Transfer hazardous waste barrels to the tipping device Test environment: A. Traditional manual handling (control group) B. Robotic automatic handling (experimental group) Data collection cycle: 30 days, recording indicators such as handling efficiency and accident rate 2. Experimental data summary, as shown in Table 2 Table 2 Overall, robotic automatic handling improves efficiency and significantly reduces safety risks when handling hazardous waste materials, verifying the effectiveness of intelligent handling solutions.

[0070] The screw conveyor used to transport hazardous waste liquid adopts a double-helix structure, which can effectively prevent blockage by high-viscosity and solid particle materials; the interior is lined with ceramic, which has excellent corrosion resistance and is designed as a detachable module for easy cleaning and maintenance; the quick-release sealing flange structure is adopted to achieve integrated sealing disassembly and assembly, thereby improving maintenance efficiency.

[0071] The heightening frame is equipped with a hydraulic lifting mechanism with an adjustable stroke design of 0.5 to 2m to ensure that it can adapt to different working heights; shock-proof gaskets and shock-absorbing buffer devices are added to the bottom to reduce the risk of leakage caused by vibration, and online flow and pressure sensors are installed to monitor the conveying status in real time.

[0072] High viscosity materials require greater driving force to push, and the screw conveyor speed may need to be reduced to avoid clogging or excessive wear. Granular materials may require higher conveying speeds to ensure stable conveying and avoid particle sedimentation and clogging. High moisture materials may require a reduced conveying speed to avoid excessive moisture affecting the thermal efficiency of the incinerator. The conveying capacity and conveying speed are linearly related and are usually calculated by the screw diameter, speed and material density. For different materials, the conveying capacity can be adjusted by adjusting the screw speed.

[0073] The conveying volume Q can be calculated by the following formula: Q = A × v × ρ in: A is the cross-sectional area of ​​the screw (m²) v is the linear speed of the screw (m / s) ρ is the density of the material (kg / m³) The material delivery volume directly affects the load of the incinerator. According to the calorific value and humidity of the material, the material delivery volume can be appropriately increased or decreased to adjust the temperature of the incinerator.

[0074] The temperature of an incinerator usually increases as the input of material increases, but dynamic adjustment is required to prevent overheating or incomplete combustion.

[0075] The temperature of the incinerator is T f It can be adjusted by the relationship between the calorific value of the material and the conveying amount: in: T f is the temperature of the incinerator (°C) T base is the reference temperature (°C) Q is the material conveying capacity (kg / s) H material is the calorific value of the material (kJ / kg) C is the heat capacity of the furnace (J / °C) Dynamic regulation of the combustion process includes: 1. Oxygen supply regulation: Control the air supply according to the incinerator temperature, gas composition and material delivery volume to ensure efficient combustion.

[0076] 2. Temperature feedback control: Real-time monitoring of the temperature inside the incinerator, and adjustment of the burner output through the PID control system to ensure that the temperature is stable within the set range.

[0077] The following table shows the dynamic adjustment of screw conveyor and incinerator when burning different materials. In the process of processing different materials, the control system will adjust the working parameters of the screw conveyor and the working status of the incinerator according to the above formulas and data. For example, high-viscosity asphalt waste liquid requires reducing the speed of the screw conveyor to avoid overload, and increasing the temperature through dynamic control to ensure incineration efficiency.

[0078] The main sensor in the lifting and tipping device adopts a high-precision piezoelectric weighing element, and the auxiliary sensor uses a hydraulic sensor. Cross-checking is used to ensure that the weighing error is controlled within the range of ±0.5%. The sensor data is transmitted to the control device in real time to form a closed-loop verification logic to prevent abnormal operation caused by failure of a single sensor.

[0079] The control device is deeply integrated with the DCS system. Calorific value sensors and gas detectors are installed in the incinerator to collect material calorific value and combustion parameters (including oxygen content, CO, NOx, etc.) in real time, and dynamically match preheating and combustion parameters through closed-loop feedback. The incinerator temperature and combustion time are adjusted according to the material characteristics to ensure that the thermal efficiency is improved by more than 25%, while controlling dioxin emissions to <0.1ng TEQ / m³.

[0080] In this embodiment, in order to ensure that the hazardous waste liquid entering the incinerator is in the best combustion state, it is necessary to set the corresponding preheating chamber target temperature according to the flash point of different materials. Table 2 below is an example of the corresponding relationship between the flash point of typical materials and the recommended preheating chamber temperature (target temperature and allowable temperature gradient range), as shown in Table 3: Table 3 The temperature gradient of the preheating chamber is designed to be in the range of 200°C to 600°C and can be adjusted according to material properties and actual on-site conditions.

[0081] To ensure that the combustion gas parameters during the incineration process are always within the safety and environmental protection standards, the online gas detector used in this embodiment is calibrated regularly to ensure data accuracy. Table 4 below gives a set of calibration data (the units and detection ranges are all common industrial standards): Table 4 In actual use, adjustments should be made based on the calibration standards and on-site working conditions provided by the testing instrument manufacturer to ensure the accuracy and real-time nature of the online monitoring data.

[0082] In order to achieve coordinated control between the preheating chamber and the incinerator, this embodiment designs a closed-loop regulation logic. This logic dynamically adjusts the combustion parameters based on the preheating chamber temperature, material calorific value, and online gas detection data (such as oxygen, CO, NOx, etc.) to ensure combustion efficiency and environmental protection indicators. Figure 7 Logic flow chart for combustion process regulation.

[0083] Start: After the system starts, the preheating chamber temperature is first detected.

[0084] Temperature judgment: If the temperature of the preheating chamber does not reach the target value, the heating device is started until the target temperature is reached; if the target temperature is reached, the online gas detector data is read.

[0085] Gas parameter judgment: Compare the current gas parameters with the set standards (such as O 2 , CO, NOx, etc. are all within the allowable range), if they meet the requirements, the current combustion parameters are maintained, otherwise the automatic adjustment process is entered.

[0086] Automatic adjustment: During the automatic adjustment process, determine whether the adjustment range meets the safety range. If so, update the combustion control instructions; otherwise, issue an alarm and start the emergency handling process.

[0087] Closed-loop feedback: After adjustment, re-test gas parameters until all indicators are stable, and finally record the data and enter the next monitoring cycle.

[0088] This system sets reasonable preheating temperatures for different materials to ensure that the materials reach the optimal pretreatment state before entering the incinerator; the calibration data of the online gas detector provides a quantitative basis for the precise monitoring of gas composition during the incineration process, ensuring data accuracy and security; the coordinated control between the preheating chamber and the incinerator realizes real-time adjustment of the combustion process through closed-loop control, ensuring that the combustion efficiency and environmental protection indicators meet the requirements.

[0089] By real-time monitoring of the combustion conditions in the incinerator (such as temperature, oxygen concentration, carbon dioxide emissions, etc.), the feed rate can be automatically adjusted to optimize the incineration process.

[0090] The adaptive algorithm automatically adjusts the feed rate based on the real-time data of the incinerator. When the temperature of the incinerator is too high, the feed rate is automatically reduced to prevent the temperature in the furnace from being too high, resulting in incomplete combustion or equipment damage. When the temperature is too low, the feed rate is increased to ensure sufficient combustion and avoid energy waste.

[0091] Sensors are used to collect data such as the temperature, oxygen content, and CO2 concentration of the incinerator. The adaptive algorithm analyzes real-time data, predicts the next state of the incinerator, and calculates the required feed speed adjustment value. Based on the algorithm calculation results, the feed equipment (such as mixer speed, conveyor speed, robot grabbing frequency) is automatically adjusted to maintain the stable operation of the incinerator.

[0092] The system visualizes the relationship between combustion data and feed rate, so operators can see the operating status of the incinerator and adjust pretreatment and feed rate in real time. At the same time, based on historical data, the system can also make long-term predictions to help optimize overall processing efficiency.

[0093] Through real-time trend graphs (such as temperature, oxygen concentration, feed rate, etc.) and machine learning predictive models, operators can understand the operating status of the system in advance and make adjustments.

[0094] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

[0095] Although the invention has been described with reference to several specific embodiments, it should be understood that the invention is not limited to the specific embodiments disclosed. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A hazardous waste liquid pretreatment system, characterized in that: It includes a control device, a feeding device, a stirring device, a feeding device, a lifting bucket device and an incineration device. The stirring device is a mixer. The feeding device is used to add hazardous waste liquid into the mixer. The feeding device includes a conveyor for conveying the hazardous waste liquid in the mixer to the lifting bucket device and a transport vehicle for moving the mixer to the front of the lifting bucket device. The lifting bucket device is used to pour the hazardous waste liquid into the incineration device for incineration treatment.

2. The hazardous waste liquid pretreatment system according to claim 1, characterized in that: The two ends of the feeding device are respectively connected with the mixer and the lifting bucket device, and the feeding device is a pump hose or a screw conveyor.

3. The hazardous waste liquid pretreatment system according to claim 2, characterized in that: A heightening frame is arranged at the bottom of the screw conveyor.

4. The hazardous waste liquid pretreatment system according to claim 1, characterized in that: The lifting and tipping bucket device includes an elevator and a tipping bucket arranged on the elevator. A weight sensor for weighing the hazardous waste liquid is arranged in the tipping bucket. The weight sensor is electrically connected to a control device. When the weight sensor senses a set weight standard, the lifting and tipping bucket device automatically rises, pours the hazardous waste liquid in the tipping bucket into an incineration device, and then descends.

5. The hazardous waste liquid pretreatment system according to claim 1 or 4, characterized in that: The incineration device is an incinerator.

6. The hazardous waste liquid pretreatment system according to claim 1, characterized in that: The feeding device is a hydraulic lifting dumping vehicle for dumping hazardous waste liquid into the stirring device.

7. The hazardous waste liquid pretreatment system according to claim 1, characterized in that: The feeding device also includes a transfer and feeding robot for processing high-risk hazardous waste. A pallet is arranged in front of the transfer and feeding robot, and a carrying bucket for carrying high-risk hazardous waste is arranged on the pallet. After the robot puts the carrying bucket into the lifting and tipping device in a quantitative manner, the lifting and tipping device automatically rises, pours the hazardous waste liquid in the tipping bucket into the incineration device, and then descends.

8. The hazardous waste liquid pretreatment system according to claim 1, characterized in that: The robot is a six-axis robot with the function of identifying the positions of the carrying barrels in the slots, and the pallet is provided with positioning grid slots for ensuring that the carrying barrels are evenly spaced.

9. A method for using a hazardous waste liquid pretreatment system, characterized in that: Using any hazardous waste liquid pretreatment system in claims 1 to 8 above for treatment comprises the following steps: (1) Pour hazardous waste liquid and sawdust into the stirring device through a feeding device or manually; (2) Starting the stirring device to stir, and if the viscosity of the hazardous waste liquid is high, adding water or other solvents to dilute it; (3) The stirring device is moved to the front of the lifting bucket device by manually operating a transport vehicle; (4) transporting the hazardous waste liquid to the lifting bucket device through the feeding device; (5) Pour the hazardous waste liquid into the incineration device through the lifting bucket device; (6) Start the incineration device for incineration and update the processing data.

10. The method for using the hazardous waste liquid pretreatment system according to claim 9, characterized in that: The lifting bucket device monitors the weight of the injected hazardous waste in real time. When the weight sensor in the lifting bucket device senses the set weight standard, the lifting bucket device automatically rises, and then the bucket flips over, pouring the hazardous waste liquid in the bucket into the incineration device, and then descends to the ground, waiting for the next feeding.

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