Slag slow cooling field automatic crane in low-temperature environment

Abstract

The utility model relates to an automatic crane for a slow slag cooling field in a low-temperature environment in the field of cranes. The automatic crane comprises a PLC (Programmable Logic Controller) automatic control device, a cart running mechanism, a trolley running mechanism, a main hoisting mechanism and an auxiliary hoisting mechanism, an absolute value encoder X, an absolute value encoder Y, an absolute value encoder ZI and an absolute value encoder ZII are respectively mounted on a traveling wheel of the cart traveling mechanism, a traveling wheel of the trolley traveling mechanism, a winding drum of the main hoisting mechanism and a winding drum of the auxiliary hoisting mechanism; the cart track is provided with a plurality of radio frequency identification tags X, the cart body is provided with a reader-writer X and a cinder ladle identification device, the trolley track is provided with a plurality of radio frequency identification tags Y, the trolley body is provided with a reader-writer Y and a hooking identification device, and the main hoisting mechanism is provided with a weighing device; according to the automatic crane, lifting and overturning are intelligently and automatically improved while reliability and safety are met.

Description

Technical Field

[0001] The utility model relates to the field of cranes, in particular to an automatic crane for slow cooling of slag in a low-temperature environment. Background Art

[0002] In the slag slow cooling area, the cranes used for lifting and dumping slag bags are heavy lifting equipment specially designed for high temperature and high strength working conditions. These cranes are usually used to handle smelting waste slag, steel slag or other types of slag bags in industrial production processes such as steel mills and metallurgical plants; the slag slow cooling area is a specific area used for slow cooling, storage, dumping and other operations of waste slag in the smelting furnace. In this process, the crane plays a key role, mainly responsible for lifting, transporting and dumping heavy slag bags, such as the Chinese invention patent with announcement number CN107840158A. Disclosed are a metallurgical container tipping mechanism and a metallurgical process, which mainly describe how to use the main lifting mechanism and the auxiliary lifting mechanism of the crane to lift and tip the metallurgical container; however, with the advancement of copper smelting technology, there are new requirements for the lifting equipment of the slag slow cooling field in terms of application environment and production efficiency. For example, it is required to achieve a daily turnover of more than 110 slag bags in a plant area with an ambient temperature of -30°C and an altitude of more than 2000m. This requires maximizing the reduction of human resource costs, and the traditional manual operation of the crane to lift and tip the slag bags can no longer meet the demand. Utility Model Content

[0003] In order to overcome the deficiencies in the background technology and solve the existing technical problems, the utility model discloses an automatic crane for slag slow cooling in a low temperature environment, which performs intelligent and automatic improvements on lifting and flipping while meeting the requirements of reliability and safety.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An automatic crane for slag slow cooling in a low temperature environment comprises a trolley running mechanism, a trolley running mechanism, and a main lifting mechanism and an auxiliary lifting mechanism for lifting and flipping slag bags; the running wheels of the trolley running mechanism, the running wheels of the trolley running mechanism, the drum of the main lifting mechanism and the drum of the auxiliary lifting mechanism are respectively equipped with an absolute value encoder X, an absolute value encoder Y, an absolute value encoder ZⅠ and an absolute value encoder ZⅡ; a plurality of radio frequency identification tags X are arranged at intervals along the trolley track of the trolley running mechanism, a reader / writer X corresponding to the signal of the radio frequency identification tag X is installed on the trolley body of the trolley running mechanism, and a slag bag identification device corresponding to the slag slow cooling field is installed. The trolley track of the trolley operating mechanism is provided with a plurality of radio frequency identification tags Y at intervals along the track body; the trolley body of the trolley operating mechanism is installed with a reader / writer Y corresponding to receiving the signal of the radio frequency identification tag Y, and a hook identification device corresponding to the slag bag lifting ear; the main lifting mechanism is installed with a weighing device for measuring the lifting weight; the trolley operating mechanism, the trolley operating mechanism, the main lifting mechanism, the auxiliary lifting mechanism, the absolute value encoder X, the absolute value encoder Y, the absolute value encoder ZⅠ, the absolute value encoder ZⅡ, the reader / writer X, the reader / writer Y, the slag bag identification device, the hook identification device and the weighing device are respectively connected to the PLC automatic control device by signal.

[0006] Furthermore, the slag bag identification device is configured as a laser radar.

[0007] Furthermore, the radio frequency identification tag X and the radio frequency identification tag Y are both configured as RFID magnetic cards.

[0008] Furthermore, the hook identification device is configured as an AI camera or an identification radar.

[0009] Furthermore, the weighing device is configured as a weighing sensor installed on the bottom surface of the inner hook of the main lifting mechanism hook, or a tension sensor installed on the lifting wire rope of the main lifting mechanism.

[0010] Furthermore, the main lifting mechanism is also provided with an anti-sway device for controlling the swing of the hook.

[0011] Furthermore, the trolley operating mechanism is equipped with an anti-collision device.

[0012] Furthermore, the slag slow cooling field is provided with an abnormal intrusion monitoring system.

[0013] Due to the adoption of the above-mentioned technical solution, the utility model has the following beneficial effects:

[0014] The utility model discloses an automated crane for slag slow cooling field in a low temperature environment, which can utilize a slag bag identification device to identify the position of the slag bag in the slag slow cooling field, and then automatically control the trolley operating mechanism and the small car operating mechanism through a PLC automatic control device to transport the main lifting mechanism and the auxiliary lifting mechanism to the position for lifting and flipping, and adopts an absolute value encoder and a radio frequency identification positioning for double positioning, thereby ensuring the accuracy of the slag bag positioning, and ensures the safety and reliability of the flipping control of the hooked slag bag through a hook identification device and a weighing device, thereby realizing automatic unmanned bag placing, lifting and flipping of the crane, meeting the needs of reducing manpower and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the main view of the crane structure of the utility model;

[0016] Figure 2 It is a three-dimensional schematic diagram of the operating state of the crane of the utility model.

[0017] In the figure: 1. Carriage running mechanism; 2. Carriage running mechanism; 3. Main lifting mechanism; 4. Auxiliary lifting mechanism; 5. Absolute value encoder X; 6. Absolute value encoder Y; 7. Absolute value encoder ZⅠ; 8. Radio frequency identification tag X; 9. Radio frequency identification tag Y; 10. Hook identification device; 11. Absolute value encoder ZⅡ. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. In the description, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right" and the like indicating directions or positional relationships, they are only corresponding to the drawings of the present invention, for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction:

[0019] Combined with Figure 1-2The slag slow cooling field automatic crane in the low temperature environment comprises a trolley running mechanism 1, a trolley running mechanism 2, and a main lifting mechanism 3 and an auxiliary lifting mechanism 4 for lifting and flipping the slag bag; according to needs, the main lifting mechanism 3 is also provided with an anti-sway device for controlling the swing of the hook, which usually adopts a slanting wire rope winding method to prevent swing. When the slag bag is accurately located and the automatic operation is performed, the operating speed can also be controlled to prevent excessive swing. For example, when controlling the movement of the trolley or the trolley, first accelerate, then maintain a constant speed, until it is detected that it is about to approach the slag bag, and then control the trolley or the trolley to crawl slowly until it reaches the slag bag. To stop positioning; in addition, the trolley running mechanism 1 is equipped with an anti-collision device, which can be specifically installed with a buffer column on the trolley leg for mechanical anti-collision, or a limit switch or laser ranging can be installed for inductive anti-collision; the running wheels of the trolley running mechanism 1, the running wheels of the trolley running mechanism 2, the drum of the main lifting mechanism 3 and the drum of the auxiliary lifting mechanism 4 are respectively installed with absolute value encoders X5, absolute value encoder Y6, absolute value encoder ZⅠ7 and absolute value encoder ZⅡ11, and the absolute value encoders are used to accurately measure and feedback the positions of the trolley, trolley and lifting hook, so as to facilitate automatic control to stop in place;

[0020] A plurality of radio frequency identification tags X8 are arranged at intervals along the track body of the trolley track of the trolley operating mechanism 1, and a reader / writer X corresponding to the signal of the radio frequency identification tag X8 and a slag bag identification device corresponding to the slag cooling field are installed on the trolley body of the trolley operating mechanism 1. Specifically, the slag bag identification device can be set as a laser radar, which can realize all-weather scanning of objects without fear of interference from weather such as rain, snow and smoke. The slag bag identification device scans and identifies the slag bag, confirms the slag bag position, slag bag angle, lifting lug position, whether it deviates, etc., and feeds back the identification information. A plurality of radio frequency identification tags Y9 are arranged at intervals along the track body of the trolley operating mechanism 2, and a reader / writer Y corresponding to the signal of the radio frequency identification tag Y9 and a hook identification device 10 corresponding to the slag bag lifting lug are installed on the trolley body of the trolley operating mechanism 2. The hook identification device 10 can be hoisted by a bracket to facilitate identification close to the slag bag. Specifically, the hook identification device 10 can be set It is an AI camera or a recognition radar. If a recognition radar is used, it can also be shared with a slag bag recognition device to save costs. It is mainly used to determine whether the hook is hooked in place. For on-site safety considerations, the operator can also perform further video confirmation at the rear. According to needs, the radio frequency identification tag X8 and the radio frequency identification tag Y9 are both set as RFID magnetic cards. At each stage of the operation of the trolley operating mechanism 1 and the trolley operating mechanism 2, the position can be confirmed by the RFID magnetic card and the reader Y, thereby ensuring the operation accuracy of the trolley operating mechanism 1 and the trolley operating mechanism 2. The main lifting mechanism 3 is equipped with a weighing device for measuring the lifting weight. According to needs, the weighing device is set as a weighing sensor installed on the bottom surface of the inner hook of the main lifting mechanism 3, or a tension sensor installed on the lifting wire rope of the main lifting mechanism 3. By weighing, it can also be further determined whether the slag bag is hooked successfully, and at the same time, the flipping and unloading state of the slag bag can be determined.

[0021] As needed, the slag cooling yard is equipped with an abnormal intrusion monitoring system. The monitoring system mainly uses high-definition digital cameras or high-definition network cameras to monitor the storage area, personnel, entrances and exits and other application scenarios. Relying on the security supervision system running in the background and with the help of video intelligent analysis technology, it can realize real-time detection and analysis of risk hazards in the storage area and overhead crane operation area, key areas, dangerous operation scenarios, as well as safety operations such as personnel, vehicles, goods, large equipment, and environment, and timely warning, such as overhead crane collision detection, personnel intrusion, safety helmet detection, etc.

[0022] The trolley running mechanism 1, the trolley running mechanism 2, the main lifting mechanism 3, the auxiliary lifting mechanism 4, the absolute value encoder X5, the absolute value encoder Y6, the absolute value encoder ZⅠ7, the absolute value encoder ZⅡ11, the reader X, the reader Y, the slag bag identification device, the hook identification device 10 and the weighing device are respectively connected to the PLC automatic control device by signal; the slag slow cooling field automatic crane under the low temperature environment of the utility model is implemented, firstly the position of the slag bag to be lifted and turned over is identified by the slag bag identification device, and then the driving mechanism of the trolley running mechanism 1 and the trolley running mechanism 2 is controlled to move, with the help of the absolute value encoder and the radio frequency identification positioning, it is ensured that the two lifting mechanisms are accurately transported to the position, and then the slag bag is controlled to be hooked, generally the main lifting mechanism 3 is lowered to a position about 200mm below the side of the slag bag lifting ear, and then the trolley is controlled to move toward the slag bag lifting ear, and after the hook head of the main hook contacts the ear shaft of the lifting ear, the trolley stops Stop moving, and then control the main hook to lift an appropriate distance, generally 200mm. Due to the gravity of the hook itself, the hook head will be close to the ear axis of the lifting ear. After the lifting ear enters the inside of the hook, it stops rising and waits for system recognition or remote manual confirmation. When the tail hook of the slag bag needs to be hung, the auxiliary hook is also lowered to a position about 200mm below the tail hook of the slag bag, and then moved to the lower part of the tail hook of the slag bag. The auxiliary hook is lifted an appropriate distance, and the chain of the auxiliary hook can automatically hang the tail hook of the slag bag; after the hooking is completed, the operator judges the result according to the hooking identification device 10, and confirms whether the bag is hung successfully in combination with the actual situation. If it is judged that the bag is hung successfully, the main hook and the auxiliary hook continue to rise 100-150mm and then stop. At this time, if the weight measured by the weighing device is within a reasonable range, it is confirmed that the hook is successful and the rising operation can continue. If the weight is not within a reasonable range or the bag is unsuccessful, the system automatically alarms and waits for manual processing;

[0023] When the slag bag needs to be turned over, the main hook and the auxiliary hook carry the fully loaded slag bag to the bag turning area and descend to a height of 5-6m from the ground, and then the auxiliary hook is lifted. As the height of the auxiliary hook is raised, the copper slag in the slag bag will be poured out one after another; when it reaches a certain height, all the copper slag is poured out, and then the auxiliary hook descends to a suitable height and the slag bag becomes horizontal. The auxiliary hook continues to descend about 200mm and then moves horizontally to the outside to complete the automatic unhooking process.

[0024] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the above-mentioned embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the content of the claims involved.

Claims

1. An automatic crane for slow cooling of slag in a low temperature environment, comprising a trolley running mechanism (1), a trolley running mechanism (2), and a main lifting mechanism (3) and an auxiliary lifting mechanism (4) for lifting and turning a slag bag, wherein: The running wheels of the trolley running mechanism (1), the running wheels of the trolley running mechanism (2), the drum of the main lifting mechanism (3) and the drum of the auxiliary lifting mechanism (4) are respectively installed with an absolute value encoder X (5), an absolute value encoder Y (6), an absolute value encoder ZⅠ (7) and an absolute value encoder ZⅡ (11); the trolley track of the trolley running mechanism (1) is provided with a plurality of radio frequency identification tags X (8) at intervals along the track body, the trolley body of the trolley running mechanism (1) is provided with a reader / writer X corresponding to receiving signals of the radio frequency identification tag X (8), and a slag bag identification device corresponding to the slag slow cooling field, and the trolley track of the trolley running mechanism (2) is provided with a plurality of radio frequency identification tags X (8) at intervals along the track body. The trolley body of the trolley operating mechanism (2) is equipped with a reader / writer Y for receiving the signal of the radio frequency identification tag Y (9), and a hook identification device (10) corresponding to the slag bag lifting ear, and the main lifting mechanism (3) is equipped with a weighing device for measuring the lifting weight; the trolley operating mechanism (1), the trolley operating mechanism (2), the main lifting mechanism (3), the auxiliary lifting mechanism (4), the absolute value encoder X (5), the absolute value encoder Y (6), the absolute value encoder ZⅠ (7), the absolute value encoder ZⅡ (11), the reader / writer X, the reader / writer Y, the slag bag identification device, the hook identification device (10) and the weighing device are respectively connected to the PLC automatic control device.

2. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized in that: The slag bag identification device is configured as a laser radar.

3. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The radio frequency identification tag X (8) and the radio frequency identification tag Y (9) are both RFID magnetic cards.

4. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The hook identification device (10) is configured as an AI camera or an identification radar.

5. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The weighing device is configured as a weighing sensor installed on the bottom surface of the inner hook of the main lifting mechanism (3), or a tension sensor installed on the lifting wire rope of the main lifting mechanism (3).

6. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The main lifting mechanism (3) is also provided with an anti-sway device for controlling the swing of the hook.

7. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The trolley running mechanism (1) is equipped with an anti-collision device.

8. The slag slow cooling field automatic crane in low temperature environment according to claim 1 is characterized by: The slag slow cooling field is provided with an abnormal intrusion monitoring system.

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