CN211366740U

CN211366740U - Activated carbon filling system

Info

Publication number: CN211366740U
Application number: CN201921954642.XU
Authority: CN
Inventors: 刘雁飞; 刘昌齐; 彭杰; 周德明; 姬胜利
Original assignee: Hunan Zhongye Changtian Energy Conservation And Environmental Protection Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Current assignee: Hunan Zhongye Changtian Energy Conservation And Environmental Protection Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2020-08-28
Anticipated expiration: 2029-11-13

Abstract

The application discloses an active carbon filling system, wherein a trolley of the system is fixed on a cart, a winch is arranged in the trolley, two groups of lifting hooks are arranged on a beam body suspended below the winch through two steel wire ropes, a crane motion control device controls a lifting hook group to move to a bag breaking knife according to a bag breaking motion track so as to carry out bag breaking operation on an active carbon bag, and the bag breaking motion track is determined according to the initial coordinate of the center of a lifting appliance, the preset height of the lifting appliance in a bag breaking state, the preset height of the lifting appliance in a bag hanging state, the coordinates of a bag breaking point and an offset distance; and filling the activated carbon in the activated carbon bag into the activated carbon bin after the bag is broken, and completing the process of filling the activated carbon once when the initial unloading flow of the activated carbon bag after the bag is broken is detected to be larger than the preset unloading flow. It can be seen that the system that this embodiment provided, its process of feeding to the active carbon storehouse is controlled by the charge controller, realizes carrying out the automatic discharge process of many bags of active carbon package simultaneously, and work efficiency is higher.

Description

Activated carbon filling system

Technical Field

The application relates to the technical field of chemical production, in particular to an active carbon filling system.

Background

The iron and steel enterprises are the supporting enterprises of the whole national economy, but the iron and steel enterprises make important contribution to the economic development and are accompanied with the problem of serious atmospheric pollution. In the iron and steel industry, smoke emission is generated in a plurality of processes, such as sintering, pelletizing, coking, ironmaking, steelmaking, steel rolling and the like, and the smoke emitted by each process contains a large amount of dust and SO₂、NO_XPollutants such as dioxins, dust and heavy metals. After the polluted flue gas is discharged into the atmosphere, the environment is polluted, and the human health is threatened. Therefore, steel enterprises generally adopt a mode of containing activated carbon in an adsorption device of a flue gas purification system to adsorb flue gas, and synchronously absorb and remove various pollutants by utilizing the actions of non-selective adsorption, catalysis and the like of the activated carbon to achieve the purpose of purifying sintered flue gas.

The activated carbon is used as an adsorbent, a large amount of activated carbon needs to be filled into the adsorption device before the flue gas purification system is put into use, and the sintering flue gas can be purified only by filling the adsorption device with the activated carbon. At present, fresh activated carbon produced by activated carbon production plants is usually packaged and transported in a bag form. The activated carbon is filled into a packaging bag to form an activated carbon bag, the structure of the activated carbon bag 10 is shown in figure 1, and the bottom of the activated carbon bag 10 is provided with

The feed opening 102 is fastened by a rope to prevent leakage during charging. Two straps 103 with the length of 1m are arranged outside the packaging bag 101 for loading and unloading. In use, the activated carbon bin of the adsorption device is filled with activated carbon as shown in fig. 2 and 3, the activated carbon bag 10 is transported to a discharging place by an automobile 20, then a lifting hook worker standing on the automobile 20 hangs the hanging strip 103 on the packaging bag 101 on the lifting hook 301 of the lifting device 30 to lift the activated carbon bag 10, and a traveling crane operator standing on the discharging platform 40 controls the traveling crane 302 to move the activated carbon bag 10 to a position above a discharging point. Then, the binder at the feed opening 102 of the activated carbon bag 10 is cut off (without damaging the packaging bag) by a cutter for a discharger standing on the discharging platform 40, and the activated carbon falls into the discharging hopper 50 and is finally loaded into the activated carbon bin. After the unloading is finished, the hoisting device 30 transports the empty bags back to the side of the automobile 20 to be unloaded, and the empty bags are stacked and recovered in a centralized manner, so that the one-time unloading process is finished immediately.

As can be seen from the above-mentioned manner of transporting the activated carbon packets, the lifting hook 301 can lift only one activated carbon packet 10 at a time, and after completing the transportation of the current activated carbon packet 10, return to the unloading location, and then transport the next activated carbon packet 10. If the sum of each bag hanging time, bag lifting time, time for moving to a discharging point, single-bag discharging time and time for moving the lifting hook to the upper hook of the automobile again is set as one-time discharging time, the single-time discharging time of the conventional discharging device and method needs about 5 minutes. Therefore, if 6000 tons of activated carbon need to be initially loaded, about 21 days are needed when the activated carbon bins are completely filled with the activated carbon, the unloading time is too long, and the working efficiency is influenced. Therefore, the existing discharging device has small loading amount in unit time, and low working efficiency is caused.

SUMMERY OF THE UTILITY MODEL

The application provides an active carbon filling system to solve current device, the loading is few in the unit interval, leads to the problem that work efficiency is low.

The utility model provides a pair of active carbon filling system, include: the automatic bag breaking device comprises a loading controller, a loading remote controller, a crane motion control device, a position detection device, a discharging platform, a discharging hopper arranged on the discharging platform, a plurality of bag breaking cutters positioned in the center of a receiving port of the discharging hopper, a track positioned above the discharging platform, a cart sliding along the track, and a trolley fixed on the cart; the cart is connected with the crane motion control device;

a hoist connected with the crane motion control device is arranged in the trolley, a position detection device is arranged in the hoist, and the hoist suspends a lifting appliance together through two steel wire ropes; the lifting appliance is parallel to the trolley; two groups of lifting hooks are symmetrically arranged on the lifting appliance along the center line of the lifting appliance; each group of lifting hooks comprises two lifting hooks, and the two lifting hooks are symmetrically arranged on two sides of the lifting appliance by taking the length direction of the lifting appliance as a central line;

a designated unloading position is arranged below the track, a parking marking line of the designated unloading position is parallel to the length direction of the cart, and a parking center line of the designated unloading position is vertical to the length direction of the cart; the connecting line of the bag breaking knives is parallel to the length direction of the cart, the bag breaking center lines of the bag breaking knives are parallel to the parking center line, and an offset distance is generated between the bag breaking center line and the parking center line;

the loading remote controller is used for sending a bag hanging instruction and a loading instruction to the loading controller; the position detection device is used for detecting the operating coordinate of the position of the central point of the lifting appliance and sending the detected operating coordinate to the loading controller; the loading controller is used for sending a travelling motion instruction to the crane motion control device according to the bag hanging instruction, the loading instruction and the operation coordinate, so that the crane motion control device controls the cart to slide along the rail and the hoist to drive the lifting hook for lifting the activated carbon bags to move up or down, and bag breaking, unloading and unloading operations of the activated carbon bags are realized.

Optionally, the method further comprises: and the weight sensor is used for detecting the weight value of the activated carbon packet on the corresponding lifting hook and sending the corresponding weight value to the charging controller.

Optionally, when the bag is hung, the projection of the central point of the lifting appliance coincides with the parking center line; and when the bag is broken, the projection of the central point of the lifting appliance coincides with the projection of the bag breaking point.

Optionally, the bag breaking knife is provided with two bag breaking knives, the distance between the two bag breaking knives is equal to the distance between the two hook groups, a central point between the two bag breaking knives is a bag breaking point, and the bag breaking point is located on a bag breaking central line.

Optionally, the distance between the two hook groups is smaller than the distance between the two suspension points, and the distance between the two hook groups and the width of the activated carbon bag satisfy the following relationship:

W₂＝k₁×L；

in the formula, W₂The distance between the two hook groups is in unit mm; k is a radical of₁The value range is 1-1.4; l is the width of the activated carbon bag in mm.

Optionally, the offset distance is:

in the formula, L₁To offset a distance, H₁The height is preset in unit mm for the lifting appliance in a bag breaking state; h₂The height is preset in unit mm for the hanger in a bag hanging state; d₁The diameter of a winding drum of the winding motor is unit mm; d₂Is the diameter of the steel wire rope in mm.

According to the above technical solution, the embodiment of the utility model provides an active carbon loading system, the discharge hopper of system sets up on unloading platform, discharge hopper material receiving opening center is equipped with several broken bag sword, the track is located the platform of unloading, the cart slides along the track, the dolly is fixed on the cart, be equipped with the hoist engine in the dolly, a roof beam body is suspended in midair through two wire rope to the below of hoist engine, the roof beam body is gone up and is equipped with two sets of lifting hooks along the central line symmetry of roof beam body, by crane movement control device according to broken bag movement track control lifting hook group move to broken bag sword department, in order to carry out broken bag operation to several active carbon package that lifting hook group hoisted, broken bag movement track is according to hoist center initial coordinate, the preset height of hoist under the broken bag state, the preset height of hoist under the string bag state, broken bag point coordinate and skew distance confirm; and after the bags are broken, filling the activated carbon in the plurality of activated carbon bags into the activated carbon bin together, and returning each unloaded empty activated carbon bag to the initial coordinate position of the center of the lifting appliance when detecting that the initial unloading flow of each broken activated carbon bag is greater than the preset unloading flow, so as to finish the process of simultaneously filling a plurality of bags of activated carbon in the activated carbon bin at one time. It can be seen that the system that this embodiment provided, its process of loading to the active carbon storehouse is controlled by the controller of loading, according to the instruction of loading that the remote controller of loading sent, by the operation of crane motion control device automatic control hook group, realizes carrying out the process of unloading of many bags of active carbon package simultaneously, and should unload the process and realize for automatic, work efficiency is higher.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 is a schematic structural diagram of an activated carbon packet provided by the prior art;

FIG. 2 is a schematic structural diagram of an activated carbon discharge system provided by the prior art;

FIG. 3 is a top view of a prior art activated carbon discharge system;

fig. 4 is a side view of an activated carbon loading system according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a hook group provided in the embodiment of the present invention;

fig. 6 is a schematic view of a bag of activated carbon bags hoisted by the hook set provided by the embodiment of the present invention;

fig. 7 is a schematic view of a hook set provided by the embodiment of the present invention for hanging two bags of activated carbon bags;

fig. 8 is a schematic diagram of an arrangement of a weight sensor according to an embodiment of the present invention;

fig. 9 is a top view of an activated carbon loading system according to an embodiment of the present invention;

fig. 10 is a schematic view of an activated carbon filling system according to an embodiment of the present invention during bag breaking;

fig. 11 is a schematic view of a relationship between a central line of a lifting appliance and a central line of a trolley in a bag hanging state and a bag breaking state of activated carbon according to an embodiment of the present invention;

fig. 12 is a block diagram of an activated carbon loading system according to an embodiment of the present invention;

fig. 13 is a flow chart of an activated carbon loading method according to an embodiment of the present invention;

fig. 14 is a schematic view of a bag breaking movement track provided by an embodiment of the present invention.

Detailed Description

Fig. 4 is a side view of an activated carbon loading system according to an embodiment of the present invention.

Referring to fig. 4, an embodiment of the present invention provides an activated carbon loading system, which is used to automatically unload activated carbon into an activated carbon bin, so as to fill the activated carbon bin with activated carbon required for purifying flue gas. In this embodiment, the activated carbon storehouse is located the below of unloading platform 1, and unloading platform 1 is used for fixed discharge hopper 2, and the discharge gate of discharge hopper 2 communicates with the pan feeding mouth in activated carbon storehouse. The receiving port of the discharge hopper 2 is provided with a 160mm × 200mm grid made of steel plates, and a steel mesh plate with 80mm × 50mm mesh openings is laid on the grid and used for resisting impact when the activated carbon bag 10 falls down and preventing the activated carbon bag from sliding off from a travelling crane due to an accident condition and entering an activated carbon bin to influence the production process.

In order to improve the unloading efficiency, the center of the receiving port of the unloading hopper 2 is provided with a plurality of bag breaking knives 3, and the bag breaking knives 3 are used for scratching the bottom of the activated carbon bag 10, so that the activated carbon in the activated carbon bag 10 falls into the unloading hopper 2 and then falls into the activated carbon bin, and the activated carbon filling in the activated carbon bin is realized. In this embodiment, can once only realize filling of one bag or two bags of active carbon, consequently, the quantity that sets up of broken bag sword 3 can be two, according to the active carbon package of the different quantity of once transporting, corresponds the broken bag sword 3 that sets up corresponding quantity.

In the embodiment, the travelling crane component controls the activated carbon bag 10 to move right above the two bag breaking knives 3 so as to facilitate bag breaking treatment. The travelling crane assembly comprises a track 4, a cart 5 sliding along the track 4, a trolley 6 fixed on the cart 5, and a crane movement control device 500, wherein the track 4 is positioned above the discharging platform 1, and the cart 5 is connected with the crane movement control device 500. In order to realize the simultaneous unloading of a plurality of activated carbon bags, the present embodiment is realized by using a plurality of hooks 11 located at the bottom of the cart 6, and a plurality of hooks 11 are used for hoisting a plurality of activated carbon bags 10.

The hoist 7 connected with the crane motion control device 500 is arranged in the trolley 6, the position detection device 400 is arranged in the hoist 7, two steel wire ropes 8 are symmetrically arranged below the hoist 7, and in other embodiments, the steel wire ropes can be arranged in multiple numbers so as to support the weight of the activated carbon bag hoisted by the lifting hook 11. One end of each wire rope 8 suspends a hanger 9 together, and the suspension points are positioned at the two ends of the hanger 9, so that the hangers 9 are parallel to the cart 5. The height difference of the two suspension points relative to the cart 5 is the same, and the two steel wire ropes are driven by the winch 7 to be in the same upper and lower positions, so that the lifting appliance 9 is kept in a horizontal state all the time.

Fig. 5 is a schematic structural view of a hook group according to an embodiment of the present invention. As shown in fig. 5, (a) in fig. 5 is a front view of the hook block, and (b) in fig. 5 is a side view of the hook block. The hanger 9 is a rigid structure supporting the hook 11 and the suspension point, the suspension point is a connection point of the steel wire rope 8 and the hanger 9, and the two suspension points are symmetrical along a center line 901 of the hanger 9. Two groups of lifting hooks are symmetrically arranged on the lifting appliance 9 along the central line 901 of the lifting appliance 9, and the lifting hooks are hanging points for lifting the activated carbon bag; each group of hooks includes two hooks 11, the two hooks 11 are symmetrically arranged on two sides of the hanger 9 by taking the length direction of the hanger 9 as a central line, and the hooks 11 belonging to the same group are located on two sides of the hanger 9, as shown in fig. 5 (b).

The lifting hook 11 arranges for the symmetry double hook, and two sets of lifting hooks are arranged in two and are hung the point inboardly, and the distance between two lifting hooks 11 that lie in hoist 9 with one side is less than two and hangs the distance between the point promptly to when preventing that only 11 lifting hooks from hoisting the active carbon package, hoist 9 overturns.

In order to facilitate the stable hoisting of a plurality of activated carbon bags by two groups of lifting hooks, the distance between the two groups of lifting hooks is smaller than the distance between two hanging points, and the projection of each group of lifting hooks is vertical to the projection of the beam body; and the distance between the two lifting hooks positioned on the same side of the beam body and the width of the activated carbon bag satisfy the following relation:

W₂＝k₁×L；

W is shown in FIG. 5 (a)₁Is the distance between two suspension points, W₃The length of the beam body 9 is required to ensure that the beam body 9 does not turn when hoisting any number of activated carbon bags on the beam body 9, and W is required₃>W₁>W₂。

Because the beam body 9 is provided with 4 lifting hooks 11, the use requirements of lifting 1 bag, 2 bags, 3 bags and 4 bags of activated carbon bags can be met, and therefore, various lifting modes can be generated.

Fig. 6 is a schematic diagram of a hook group provided by the present invention for hoisting an activated carbon bag, see (a) (b) (c) in fig. 6, when a bag of activated carbon bag is hoisted on the hanger, the activated carbon bag is hung on a set of hooks, two slings of the activated carbon bag are respectively hung on two hooks of the set of hooks, and the other set of hooks is suspended without hanging the activated carbon bag.

Fig. 7 is the schematic diagram of two bags of activated carbon bags hoisted by the hook group provided by the embodiment of the present invention, see (a) (b) (c) in fig. 7, when two bags of activated carbon bags are hoisted on the hanger, each activated carbon bag is hung on a set of hooks, namely, two hooks 11 of the first set of hooks are respectively hung on two hanging straps of the same bag of activated carbon bag, and two hooks 11 of the second set of hooks are respectively hung on two hanging straps of the other bag of activated carbon bag, so that the center line of the two activated carbon bags is parallel to the hanger 9.

In this embodiment, a method of correspondingly controlling the movement of the operation assembly according to different ways of hoisting the activated carbon bags on the hook 11 is adopted, so as to move a plurality of activated carbon bags to the bag breaking knife set for bag breaking operation. In the automatic control process, whether the activated carbon bag 10 is hung on a certain lifting hook 11 or not and the hanging mode need to be judged according to weight detection, so that in order to obtain a weight value, in the embodiment, a corresponding weight sensor is arranged on each lifting hook 11, namely, four weight sensors are respectively connected with the loading controller.

Fig. 8 is a schematic view of a weight sensor according to an embodiment of the present invention. As an example of the arrangement of four weight sensors, fig. 8 (a) is a side view of a hook group provided with a weight sensor, and fig. 8 (b) is a plan view of the hook group provided with a weight sensor. The first group of lifting hooks comprises a first lifting hook and a second lifting hook, wherein a weight sensor c1 is arranged on the first lifting hook, and a weight sensor c2 is arranged on the second lifting hook; the second group of lifting hooks comprises a third lifting hook and a fourth lifting hook, wherein a weight sensor c3 is arranged on the third lifting hook, and a weight sensor c4 is arranged on the fourth lifting hook.

When having the activated carbon package when hoisting in a certain lifting hook 11, the weight value can be detected to corresponding weighing transducer, consequently, can judge that the hoist and mount have the activated carbon package on which lifting hook on the lifting hook group according to the weight value that weighing transducer detected, the hoist and mount mode of activated carbon package is which kind promptly to remove several activated carbon package to the position department that corresponds of broken bag knife tackle according to the current hoist and mount mode that determines, in order to carry out accurate broken bag operation.

When the hook group lifts one activated carbon bag, the values of the weight sensors c1 and c2 are added to the weight of the activated carbon bag; the values of the weight sensors c3 and c4 are both 0; or adding the values of the weight sensors c3 and c4 to the weight of one bag of activated carbon bag; the values of the weight sensors c1 and c2 are both 0.

When the hook group hoists two bags of activated carbon bags, the values of the weight sensors c1 and c2 are added to the weight of one bag of activated carbon bag; the values of the weight sensors c3, c4 are added to the weight of a bag of activated carbon.

The active carbon filling system that this embodiment provided, because dolly 6 is fixed on cart 5, dolly 6 does not produce relative movement with cart 5, consequently, when control driving subassembly hoist and mount active carbon package and unload, need not the motion of control dolly, only need control cart and active carbon package to suspend in midair highly can accomplish the active carbon and unload, and control process is more succinct, improves the filling efficiency of active carbon in the active carbon storehouse.

Because when filling the active carbon, need not to control the dolly and for the removal of cart, consequently, for the active carbon package of guaranteeing hoist and mount can be by the top of originated workshop accurately removing broken bag sword, the position that sets up that needs originated workshop produces certain relation with the position that sets up of broken bag sword.

Fig. 9 is a top view of an activated carbon loading system according to an embodiment of the present invention. As shown in fig. 9, the initial plant is used to place a large number of activated carbon bags, which are transported by vehicles to the initial plant for filling the activated carbon silo with the required activated carbon. Therefore, a specified unloading position is arranged in the initial workshop and is positioned below the track, so that the travelling crane assembly can conveniently hoist the activated carbon bag 10. The designated discharging position comprises a parking mark line and a parking center line and is used for limiting the parking position of the vehicle, so that the activated carbon bag loaded on the vehicle can be hoisted by a hoisting tool 9 in the travelling crane assembly and conveyed to the upper part of the bag breaking cutter 3 under the condition that the trolley 6 is not controlled to move relatively on the cart 5. The distance between the parking mark line and the discharging platform is L₂The setting may be performed according to the actual application, and the embodiment is not particularly limited.

The stop sign line of the designated unloading position is parallel to the length direction of the cart 5 and is vertical to the track 4, and the stop sign line is the tail stop position of the vehicle. The parking center line of the designated unloading position is perpendicular to the length direction of the cart 5 and is parallel to the track 4, the parking center line is used for limiting the relative position of the vehicle in the initial workshop, the vehicle center axis of the vehicle is aligned with the parking center line, so that the parking position of the vehicle under the track 4 can enable the activated carbon bag 10 loaded on the vehicle to be hoisted by a hoisting tool in the travelling crane assembly under the condition that the trolley 6 is not controlled to move relatively on the cart 5.

Two bags of activated carbon bags 10 loaded on the vehicle are placed in the direction perpendicular to the track 4, the two bags of activated carbon bags form a group, each group of activated carbon bags are arranged along the length direction of the vehicle, and the central connecting line of the two bags of activated carbon bags in each group is parallel to the cart 5 (the trolley 6). And the lifting appliance 9 in the travelling crane component is vertical to the track 4, and the lifting appliance 9 is parallel to the cart 5 (trolley 6), so that when the lifting appliance 9 is moved above the vehicle, the lifting hook 11 on the lifting appliance 9 can directly hang one or two bags of activated carbon bags, the horizontal position of the lifting hook 11 does not need to be adjusted, and only the vertical height needs to be adjusted. Because the central connecting lines of the cart 5, the hanger 9 and the hoisted activated carbon bags are parallel to each other and are perpendicular to the track 4, in order to enable the bag-breaking cutters 3 to break the bags of a plurality of activated carbon bags perpendicular to the track 4, the arrangement positions of the bag-breaking cutters 3 need to correspond to the hoisting mode of the activated carbon bags 10, namely the connecting lines of the plurality of bag-breaking cutters 3 are parallel to the length direction of the cart 5 and perpendicular to the track 4, and the bag-breaking central lines of the plurality of bag-breaking cutters 3 are parallel to the parking central line.

When the activated carbon is unloaded, a vehicle loaded with the activated carbon bags is parked at a designated unloading position in an initial workshop, the tail of the vehicle is aligned with a parking mark line, a vehicle middle shaft is aligned with the position of a parking center line, a travelling crane assembly moves to the position above the activated carbon bags loaded by the vehicle, two activated carbon bags are hung on a lifting hook 11 at one time, after the activated carbon bags are hung, the activated carbon bags are lifted to the height above the knife tip of a bag breaking knife 3 by using a winch 7, then a cart 5 horizontally moves along a rail 4 and moves to the position above the bag breaking knife 3, the activated carbon bags 10 are placed down by using the winch 7, and the bag breaking knife 3 pierces the bottom of the activated carbon bags to begin unloading.

In this embodiment, two bag-breaking knives are provided (d in fig. 9)₁、d₂) Distance P between two bag-breaking knives 3₂Distance W between two hook sets₂Equal, i.e. P₂＝W₂So that the two bag breaking knives 3 can be aligned with the activated carbon hoisted on each hook groupThe bottom center of the bag 10 for bag breaking operations. The central point between the two bag breaking knives 3 is a bag breaking point (point a in fig. 9), and the bag breaking point a is located on the bag breaking central line. The bag breaking point A is a reference for controlling the movement of the lifting appliance, and the movement position of the lifting appliance 9 is detected through the position detection device, so that the center of the lifting appliance 9 can be aligned with the bag breaking point, and the position of the lifting appliance is the termination position of the bag breaking operation during alignment. That is to say, when the central projection of the hanger 9 coincides with the bag breaking point a, the bag breaking knife 3 can break the activated carbon bag 10 lifted by the hanger 9, and the bag breaking point a is located at the bottom center of the activated carbon bag, so that the efficient bag breaking operation is realized.

At the start plant, in order to enable the hooks 11 on the spreader 9 to be aligned with the two bags of activated carbon bales 10, it is necessary that the center (point B in fig. 9) of the spreader 9 is projected to fall on the parking center line. The two bags of activated carbon bags are placed as a group on the vehicle, so that the two activated carbon bags are symmetrically positioned on two sides of a parking center line, and the central projection of the lifting appliance 9 is positioned in the center of the two bags of activated carbon bags 10.

Fig. 10 is a schematic view of an activated carbon filling system according to an embodiment of the present invention when a bag is broken. The trolley 6 is fixed on the cart 5, the lifting appliance 9 is lifted under the trolley 6, and the projection of the central point of the lifting appliance 9 is positioned on the parking central line at the initial workshop. Since the parking center line is not located directly below the rails, the parking center line does not coincide with the center lines of the first and

second rails

41 and 42. The trolley 6 is fixed on the cart 5 in a manner of being located between the first rail 41 and the second rail 42, so that the projection of the center point of the trolley 6 is also located on the parking center line. The intersection point O exists between the projection of the parking center line and the trolley 6, so that the intersection point O on the trolley 6 coincides with the parking center line, and the intersection point O on the trolley 6 coincides with the projection of the center point B of the lifting appliance 9. If in other embodiments the trolley 6 is mounted in such a way that the projection of the centre point coincides with the parking centre line, the centre point of the trolley 6 coincides with the projection of the centre point B of the spreader 9. And at the bag breaking position, see fig. 10, that is, when the lifting appliance 9 moves the activated carbon bag 10 above the bag breaking knife 3, the projection of the central point B of the lifting appliance 9 coincides with the bag breaking point a.

In this embodiment, the center line of the broken bag is the activated carbon binThe central line of the material opening. Due to the movement characteristics of the winch, when the height of the lifting appliance 9 in the vertical direction is adjusted, namely the activated carbon bag is put down to break the bag, the activated carbon bag can move along the length direction of the cart 5. Therefore, in order to ensure that the hoist puts down the lifting appliance so that the activated carbon bag can accurately fall on the tool nose of the bag breaking knife 3, the bag breaking center line and the parking center line are not in a superposition state, but an offset distance is generated between the bag breaking center line and the parking center line, such as L in fig. 9₁. Offset distance L₁Namely the relative displacement generated by the lifting appliance when the winch puts down the activated carbon packet, and the moving direction of the lifting appliance is along the length direction of the cart, namely from one rail to the other rail.

Fig. 11 is a schematic view of a relationship between a central line of a lifting appliance and a central line of a trolley in a bag hanging state and a bag breaking state of activated carbon according to an embodiment of the present invention. Referring to fig. 10 and 11, the centerline of the broken bag is the centerline of the activated carbon receiving port, and there is an offset distance L between the centerline of the parking lot and the centerline of the broken bag₁. Due to the existence of the offset distance, the steel wire rope of the activated carbon trolley is placed to the height of the hanging bag, namely, the center line of the lifting appliance 9 is superposed with the parking center line when the hanging bag state that the activated carbon bag is lifted on the hook in the initial workshop is shown in (a) in fig. 11; and the steel wire rope of the activated carbon trolley is put to the bag breaking height, namely when the bag breaking is carried out at the bag breaking knife as shown in (B) of fig. 11, the center line of the lifting appliance 9 coincides with the bag breaking center line, so that the projection of the center point B of the lifting appliance 9 coincides with the bag breaking point A.

In this embodiment, the determination of the offset distance is related to the preset height of the hanger in the bag breaking state and the bag hanging state, respectively, and the diameter of the winding drum of the winding machine and the diameter of the steel wire rope, and for this purpose, the offset distance L is determined₁Can be determined by the following formula:

in the formula, L₁To offset a distance, H₁The height is preset in unit mm for the lifting appliance in a bag breaking state; h₂The height is preset in unit mm for the hanger in a bag hanging state; d₁For hoisting machinesThe diameter of the winding drum of (1), unit mm; d₂Is the diameter of the steel wire rope in mm. The bag breaking state refers to a state that the lifting appliance moves the activated carbon bag to a position above the bag breaking knife to break the bag, and the bag hanging state refers to a state that the lifting appliance is used for hanging the activated carbon bag when the lifting appliance is located in an initial workshop.

In this embodiment, in order to improve the efficiency when filling activated carbon in the activated carbon bin, the vehicle loaded with the activated carbon bags is parked according to the stop sign line and the parking center line, so that the center connecting line of each group of activated carbon bags placed on the vehicle is parallel to the cart 5, the trolley 6 and the lifting appliance 9, the lifting appliance 9 is parallel to the center connecting lines of two activated carbon bags in the same group, and the distance between two groups of lifting hooks arranged on the lifting appliance 9 is greater than or equal to the distance between the center points of the two activated carbon bags. The lifting appliance 9 moves along the track through the cart, so that the lifting appliance 9 is parallel to the cart 5, the cart 5 is vertical to the track 4, and the lifting appliance 9 is vertical to the track 4. The two bag breaking knives 3 are arranged in a mode that the connecting line of the two bag breaking knives is perpendicular to the track 4, the bag breaking central lines of the two bag breaking knives 3 are parallel to the track 4, the connecting line of the two bag breaking knives 3 is parallel to the lifting appliance 9, and therefore the connecting line of the two bag breaking knives 3 is continuously parallel to the centers of the two activated carbon bags. As shown in fig. 10, when the lifting tool 9 is moved to above the bag breaking knives 3, the activated carbon bags 10 lifted by the lifting tool 9 can be aligned with the bag breaking knives 3, that is, the knife tip of each bag breaking knife 10 is aligned with the bottom center of one activated carbon bag 10, and the contact point D of the bag breaking knife in fig. 10₁And D₂. The hoist 7 is used for lowering the lifting appliance 9, so that the bag breaking knife 10 is contacted with the contact point D₁And D₂The bottom of the corresponding activated carbon bag is punctured to realize bag breaking operation, and then the activated carbon in the activated carbon bag is discharged into the activated carbon bin at the bottom of the bag breaking knife to realize filling of the activated carbon in the activated carbon bin.

Fig. 12 is a block diagram of an activated carbon loading system according to an embodiment of the present invention. In order to improve the working efficiency of the activated carbon filling system, in this embodiment, the automatic discharging process of the activated carbon filling system is realized by using the control system. To this end, as shown in fig. 12, the system includes a charging controller 200, a charging remote controller 300, a position detecting device 400, and a weight detecting device 600. The weight detecting device 600 includes four weight sensors c1, c2, c3, c4 provided at the hook group; the position detection device 400 is respectively arranged in the cart 5, the trolley 6 and the winch 7; the movement of the traveling components (the cart 5, the trolley 6 and the winch 7) is controlled by a crane movement control device 500, and the crane movement control device 500 is an electric control cabinet arranged when the traveling components leave a factory and is provided with an interface capable of communicating with the loading controller 200.

The charging controller 200 communicates with the upper control system 100 to control the flue gas purification process by the upper control system 100. The position detection device 400, the crane movement control device 500, the loading remote controller 300 and the weight detection device 600 are respectively connected with the loading controller 200; the position detection device 400 is used for detecting the position of the cart 5, the position of the lifting hook 11 positioned below the trolley, the extension degree of the winch 7 and the like; the weight detecting means 600 is provided on the hook block, and the weight of each activated carbon pack is detected by the corresponding weight detecting means 600. The position information detected by the position detecting device 400 and the weight value detected by the weight detecting device 600 are transmitted to the charging controller 200 to be subjected to a corresponding control operation by the charging controller 200 according to the received data.

The automatic active carbon discharging system provided by the embodiment can be in an automatic control state and can also be in a manual control state. When the control is performed manually, a worker operates the hook group through the loading remote controller 300 to hang the activated carbon packet 10, that is, the loading remote controller 300 is connected with the crane motion control device 500, the loading remote controller 300 directly sends a traveling operation instruction to the crane motion control device 500, and at this time, the motions of the cart 5, the winch 7 and the hook group are all controlled by the loading remote controller 300. During the unloading, the crane motion control device 500 controls the hook group to move above the activated carbon bags 10, so as to hang the activated carbon bags 10 on the corresponding hooks 11 and unload the empty activated carbon bags on the hooks 11.

When the system is required to be automatically controlled, a charging instruction is sent to the charging controller 200 through the charging remote controller 300; meanwhile, the position detection device 400 detects the operation position of the center point of the spreader, and in this embodiment, the operation position is represented by operation coordinates; the position detection device 400 sends the detected operating coordinates to the charging controller 200; and each weight sensor in the weight detecting device 600 detects a weight change value of the activated carbon packet 10 on the corresponding hook 11 and transmits the weight change value to the charge controller 200. The operation coordinates comprise bag breaking point coordinates, offset starting coordinates, bag breaking initial coordinates, bag breaking end point coordinates and the like.

The loading controller 200 determines the hoisting modes of the plurality of activated carbon bags 10 according to the loading instruction and each weight value, and sends a bag hanging instruction and a loading instruction to the crane motion control device according to the determined hoisting modes and the operation coordinates, so that the crane motion control device 500 controls the cart 5 to slide along the rail 4 and the winch 7 drives the lifting hook 11 on which the activated carbon bags are hoisted to move upwards or downwards, and bag breaking, unloading and unloading operations of the plurality of activated carbon bags are realized.

The activated carbon filling system provided by this embodiment can be automatically controlled by the loading controller 200, the loading remote controller 300, the position detection device 400 and the weight detection device 600 (four weight sensors c1, c2, c3 and c4) in the control system, the loading remote controller 300 sends a loading command to the loading controller 200, and at the same time, according to the loading command, acquires detection data of the position detection device 400 and the weight detection device 600, determines a hoisting manner of a plurality of activated carbon packets 10 according to the loading command and each weight value, and sends a traveling motion command to the crane motion control device 500 according to the determined hoisting manner, so as to automatically drive the cart 5 to move along the track 4, and the winch 7 drives the hook group to move, so that a plurality of activated carbon packets 10 are conveyed to the position right above the bag breaking knife 3, and then drives the hook group to descend, so that a plurality of activated carbon packets 10 vertically move downward until the bottoms of packaging bags are pierced by the bag breaking knife group, and carrying out unloading operation. The system that this embodiment provided can carry out the operation of unloading automatically, and work efficiency is high.

Fig. 13 is a flowchart of an activated carbon loading method according to an embodiment of the present invention. In order to more clearly illustrate the automatic control process and the obtained advantages of the activated carbon filling system provided by the present embodiment, the present embodiment further provides an activated carbon filling method, which is executed by the control system in the activated carbon filling system provided by the above embodiment, as shown in fig. 13, the method provided by the present embodiment includes the following steps:

and S1, when the vehicle loaded with the activated carbon bag reaches the designated unloading position, controlling the hook group to move to the position above the activated carbon bag and hang the activated carbon bag according to a bag hanging command sent by the loading remote controller.

The vehicle loaded with a plurality of groups of activated carbon bags is parked at an appointed unloading position according to a parking mark line and a parking center line, a worker operates a loading remote controller, a bag hanging command is sent to a loading controller 200 through the loading remote controller 300, the loading controller 200 sends a traveling motion command to a crane motion control device 500 according to the bag hanging command, the crane motion control device 500 controls a traveling component to move to an initial workshop, namely, a hook group is controlled to move to the upper part of the appointed unloading position, and the worker hangs the hanging strip of the activated carbon bag on a lifting hook 11.

If the unloading operation of one activated carbon bag is carried out, only the hanging strip of one activated carbon bag is hung on the same group of hooks, and the other group of hooks are suspended. If the two activated carbon bags are unloaded, two hanging strips of one activated carbon bag are hung on two hooks of the same group of hooks respectively, and two hanging strips of the other activated carbon bag are hung on two hooks of the other group of hooks respectively, so that the central connecting line of the two activated carbon bags hung on the hooks is parallel to the lifting appliance.

When the activated carbon filling system provided by the embodiment is used for setting the positions of all the components, the length direction of the designated discharging position is parallel to the track, the parking center line is parallel to the track, the parking mark line is respectively vertical to the parking center line and the track, and the plurality of groups of activated carbon bags loaded on the vehicle are arranged in the direction of the parking center line by taking two activated carbon bags as one group, so that the central connecting line of the two activated carbon bags in the same group is vertical to the track. And the lifting appliance 9 is arranged in a direction perpendicular to the track 4, so that the lifting appliance 9 is parallel to the central connecting line of the two activated carbon bags 10. Therefore, when the lifting appliance 9 is moved to the upper part of the vehicle, the worker can hang the lifting belt of the activated carbon bag on the hook 11 under the lifting appliance 9 without moving the activated carbon bag or adjusting the direction of the lifting appliance, and the bag hanging efficiency can be improved.

S2, receiving a charging instruction sent by a charging remote controller; and acquiring coordinates of bag breaking points, initial coordinates of the center of the lifting appliance corresponding to the lifting hook group with the activated carbon bags, a preset height of the lifting appliance in a bag breaking state, a preset height of the lifting appliance in a bag hanging state and equipment parameters according to the loading instruction.

After hanging a corresponding number of activated carbon bags on the hook group of the lifting appliance, sending a loading instruction to the loading controller 200 through the loading remote controller 300, wherein the loading instruction is used for controlling the travelling crane assembly to convey the activated carbon bags to the bag breaking knife for bag breaking operation so as to carry out the process of filling activated carbon in the activated carbon bin.

In order to efficiently and accurately control the traveling crane assembly to convey the activated carbon bags to the bag breaking knife and perform bag breaking operation, the operating coordinate of the lifting appliance from the initial loading position to the bag breaking knife needs to be determined, and therefore the loading controller 200 needs to acquire the coordinates of a bag breaking point, the initial coordinates of the center of the lifting appliance corresponding to the lifting hook group on which the activated carbon bags are lifted, the preset height of the lifting appliance in the bag breaking state, the preset height of the lifting appliance in the bag hanging state and equipment parameters according to a loading instruction.

The coordinates of the bag breaking points are the central positions of the connecting lines of the two bag breaking knives, and the equipment parameters refer to the diameter of a winding drum of the winding motor and the diameter of the steel wire rope. In this embodiment, the operation coordinates of the traveling crane assembly are all represented by the coordinates of the center point of the spreader 9. The initial coordinate of the center of the lifting appliance corresponding to the lifting hook group with the activated carbon packet is the corresponding position coordinate when the activated carbon packet is hung on the lifting hook on the lifting appliance according to the packet hanging instruction in the initial workshop; the preset height of the lifting appliance in the bag hanging state is the vertical distance between the center point of the lifting appliance and the intersection point on the trolley when the lifting appliance with the activated carbon is moved to the position above the bag breaking knife; the preset height of the lifting appliance in the bag breaking state refers to the vertical distance between the center point of the lifting appliance and the intersection point on the trolley when the lifting appliance with the activated carbon bags is lifted by the winch and is lowered to the bag breaking tool point. The two preset heights are the heights which are preferably set according to the actual use condition and used for moving the activated carbon bag and breaking the bag, and are stored in the charging controller.

The numerical values of the two preset heights are determined by a three-dimensional coordinate system established by taking the direction of the cart moving along the track and approaching the bag breaking cutter as the X-axis forward direction, the direction of the hook group moving from the track to the bag breaking cutter as the Y-axis forward direction, the direction of the hook group moving from the track to the bag breaking cutter as the Z-axis forward direction and the coordinate origin positioned on an intersection point (an intersection point formed by projection of the cart and the parking center line) on the cart. If the three-dimensional coordinate system is established by other reference objects, for example, the origin of coordinates is set on the rail under the condition that the X, Y, Z axis direction is not changed, then the two preset heights are both the vertical distance between the center point of the lifting appliance and the rail.

And S3, determining the offset distance between the parking center line of the designated unloading position and the bag breaking center line according to the preset height of the hanger in the bag breaking state, the preset height of the hanger in the bag hanging state and the equipment parameters.

The equipment parameters comprise the diameter of a winding drum of the winch and the diameter of a steel wire rope; in the process that the hoist is put down towards the position of the bag breaking knife, the putting-down distance is related to the diameter of a winding drum of the hoist and the diameter of a steel wire rope, the downward moving distance of the hoist controlled by the hoist can also influence the offset distance between the parking center line and the bag breaking center line, and the downward moving distance of the hoist controlled by the hoist is related to the preset height of the hoist in the bag breaking state and the preset height of the hoist in the bag hanging state.

Therefore, in the embodiment, the offset distance L between the parking center line of the designated discharging position and the bag breaking center line is determined according to the following formula₁；

In the formula, H₁The height is preset in unit mm for the lifting appliance in a bag breaking state; h₂The height is preset in unit mm for the hanger in a bag hanging state; d₁The diameter of a winding drum of the winding motor is unit mm; d₂Is the diameter of the steel wire rope in mm.

And S4, determining a bag breaking motion track according to the initial coordinate of the center of the lifting appliance, the preset height of the lifting appliance in a bag breaking state, the preset height of the lifting appliance in a bag hanging state, the coordinates of a bag breaking point and the offset distance.

After the offset distance is determined, the movement track of the crane movement control device for driving the travelling crane assembly to break the bag from the unloading designated position to the bag breaking knife can be determined. The bag breaking motion trail comprises a corresponding sling center initial coordinate when the sling is hung with the activated carbon bag at the unloading designated position, a corresponding offset initial coordinate when the sling is driven to a position near the upper part of the bag breaking knife by the crane motion control device, and a trail formed by a corresponding bag breaking initial coordinate when the sling hung with the activated carbon bag is put down to the bag breaking knife point by the winch and a corresponding bag breaking end coordinate when the bag breaking knife cuts the activated carbon bag and enters the activated carbon bag.

Fig. 14 is a schematic view of a bag breaking movement track provided by an embodiment of the present invention. As shown in fig. 14, to specifically describe the process of determining the bag-breaking motion trajectory accurately, in this embodiment, each position coordinate is determined by establishing a three-dimensional coordinate system to determine the bag-breaking motion trajectory, and the method includes:

s41, establishing a coordinate system by taking the direction of the cart moving along the track and approaching the bag breaking knife as an X-axis positive direction, the direction of the cart moving from the first track to the second track as a Y-axis positive direction, the direction of the hook group moving from the track to the bag breaking knife as a Z-axis positive direction and the origin of coordinates on the intersection point of the cart; and, determining bag breaking point coordinates (x)₀，y₀，z₀) And initial coordinates (x) of spreader center₁，0，z₁)。

In order to obtain the coordinates of each position in the three-dimensional coordinate system, the position of the intersection O on the cart at the start workshop is used as the origin of coordinates in the present embodiment. The track 4 comprises a first track 41 and a second track 42, and the direction of the cart moving from the starting workshop to the bag breaking knife on the track 4 is the X-axis positive direction; the extending direction of the cart 5 is taken as the Y-axis positive direction, namely the direction from the first track to the second track is taken as the Y-axis positive direction; the direction from the track to the bag breaking knife from top to bottom is the positive direction of the Z axis.

Because the position of the bag breaking knife and the discharging designated position are preset, the coordinate system can be determined after being establishedThe coordinates of the bag breaking point are (x)₀，y₀，z₀). Because the projections of the center of the lifting appliance and the intersection point O on the trolley are superposed, the y-axis coordinate of the center of the lifting appliance is 0 at the initial position, and the initial coordinate of the center of the lifting appliance is determined to be (x)₁，0，z₁)。z₁Is the vertical distance between the centre of the spreader at the start plant and the point of intersection O on the trolley.

S42, according to coordinates (x) of bag breaking point₀，y₀，z₀) And the preset height H of the lifting appliance in the bag hanging state₂Determining the offset start coordinate (x)₀，0，H₂) (ii) a The position corresponding to the offset initial coordinate refers to a position where the lifting appliance is moved to the position above the bag breaking knives, and the central point of the lifting appliance is located on the connecting line of the two bag breaking knives.

In the process of moving the activated carbon bag from the initial workshop to the position above the bag breaking knife, the preset height of the lifting appliance in the bag hanging state is the vertical distance between the central point B of the lifting appliance and the intersection point O on the trolley when the lifting appliance 9 with the activated carbon is moved to the position above the bag breaking knife 3. At this time, the center point B of the sling is located on the connecting line between the two bag breaking knives and is not overlapped with the bag breaking point a, which is caused by the offset distance between the parking center line and the bag breaking center line. Therefore, the cart 5 slides on the track 4 to move the activated carbon bag to the bag breaking knife only near the position above the bag breaking knife, the coordinate of the central point X axis of the sling at the position is the same as the coordinate of the X axis of the bag breaking point, the Y axis does not generate relative movement between the two tracks due to the offset distance, and the Y axis of the central point of the sling at the position is still 0, therefore, the preset height H of the sling in a bag hanging state is used for realizing the purpose₂Determining the offset start coordinate as (x)₀，0，H₂)。

S43, according to the offset distance L₁Preset height H of sling in broken bag state₁And offset the start coordinate (x)₀，0，H₂) Determining initial coordinates (x) of bag breaking₀，L₁，H₁) (ii) a Wherein, the position corresponding to the initial coordinate of the bag breaking refers to that the lifting appliance is moved above the bag breaking knife, and the projection of the center of the lifting appliance is heavy with the bag breaking pointPosition of confluence, L₁＝y₀。

When the activated carbon bag is moved to a position near the upper part of the bag breaking knife, the step of controlling the lifting appliance to descend to the position of the bag breaking knife can be executed, in order to ensure that the projection of the central point B of the lifting appliance is superposed with the projection of the bag breaking point A after the lifting appliance descends, the lifting appliance is controlled to descend according to the offset distance so that the projection of the central point is positioned at the bag breaking point.

The position of the activated carbon bag, which is descended to the bag breaking knife point, is the initial bag breaking position, and the bag breaking knife point is contacted with the bottom of the activated carbon bag. In order to ensure that the knife tip of the broken bag contacts with the bottom of the activated carbon bag after the activated carbon bag is descended, in this embodiment, the height H of the hanger is preset according to the bag-broken state₁To control, i.e. the lifting appliance 9 is vertically arranged according to the preset height H of the lifting appliance in a bag breaking state₁The descent proceeds.

It can be seen that the initial coordinate of bag breaking is determined by adjusting the positions in the directions of the Y axis and the Z axis simultaneously, namely, the initial coordinate of bag breaking is (x) according to the offset distance and the preset height of the lifting appliance in the bag breaking state₀，L₁，H₁). In the adjusting process, the Y-axis coordinate of the central point of the lifting appliance refers to the distance between the central point of the lifting appliance and the bag breaking point projected on the connecting line of the two bag breaking knives, the distance is the offset distance, namely the Y-axis coordinate is adjusted from 0 to L₁The same as the Y-axis coordinate of the bag breaking point, therefore, it can be regarded as L₁＝y₀。

S44, according to the bag breaking initial coordinate (x)₀，L₁，H₁) And a predetermined height d₀Determining the coordinates (x) of the bag breaking end point₀，L₁，H₁+d₀) (ii) a Wherein, the preset height refers to the length of the bag breaking knife entering the bottom of the activated carbon bag.

When the bag breaking tool nose contacts with the bottom of the activated carbon bag, bag breaking operation can be performed, and in order to ensure optimal bag breaking, the activated carbon can be smoothly discharged, and the bag breaking tool needs to enter the activated carbon bag along the bottom of the activated carbon bag to cut the activated carbon bag. For this purpose, in this embodiment, the length of the bag breaking knife entering the bottom of the activated carbon bag is set to d₀That is, after the activated carbon bag is lowered to contact the bag breaking knife, the activated carbon bag is lowered by a predetermined height d₀To ensure that the bag breaking knife enters the bottom of the activated carbon bag, and the coordinate of the bag breaking end point is (x)₀，L₁，H₁+d₀)。

S45, determining the bag breaking motion track as that the lifting appliances corresponding to the lifting hook group with the activated carbon bags are lifted in sequence along the initial coordinate (x) of the center of the lifting appliance₁，0，H₂) Offset starting coordinate (x)₀，0，H₂) Initial coordinates of bag breaking (x)₀，L₁，H₁) And bag breaking end point coordinate (x)₀，L₁，H₁+d₀) The formed trajectory is moved.

After determining the coordinates of each key position of the travelling crane assembly from the initial workshop to the bag breaking knife during conveying of the activated carbon bag, the central point of the lifting appliance corresponds to the initial coordinates of the center of the lifting appliance when the activated carbon bag is hung on the lifting appliance at the unloading designated position, the lifting appliance is driven by the crane motion control device to the corresponding offset initial coordinates above the bag breaking knife, the lifting appliance with the activated carbon bag is put down by the winch to the bag breaking initial coordinates corresponding to the knife edge of the bag breaking knife, and the track formed by the movement of the bag breaking end point coordinates corresponding to the bag breaking knife for cutting the activated carbon bag and entering the activated carbon bag is the bag breaking motion track, which is the schematic diagram shown in fig. 14.

In this embodiment, when determining the coordinate of each control point, regarding the coordinate value in the Z-axis direction, the height of the activated carbon bag needs to be considered, that is, the distance between the bottom of the activated carbon bag and the center point of the lifting appliance when the activated carbon bag is lifted by the lifting hook, and this distance can be approximately represented by the sum of the height of the bag body of the activated carbon bag and the height of the lifting belt. For example, at a bag-breaking knife, the offset start coordinate is (x)₀，0，H₂) The coordinate is the coordinate (x) passing through the center point of the detected sling₀，0，z₂) It is shown that if the sum of the height of the bag body of the activated carbon bag and the height of the hanging strip is about L₃Then the preset height H of the hanger in the bag hanging state₂＝z₂+L₃At this time, the offset start coordinate may be expressed as (x)₀，0，z₂+L₃). If the bag breaking is carried out, the bag breaking end point coordinate (x)₀，L₁，H₁+d₀) If the coordinate of the center point of the lifting appliance is (x)₀，L₁，z₃) And then the preset height H of the hanger in the bag breaking state₁＝z₃+L₃At this time, the bag breaking end point coordinate (x)₀，L₁，z₃+L₃+d₀)。

And S5, sending the bag breaking motion track to a crane motion control device, controlling the hook group to move to the bag breaking knife according to the bag breaking motion track by the crane motion control device, enabling the projection of the center of the lifting appliance to coincide with the bag breaking point, and carrying out bag breaking operation on the activated carbon bag hoisted by the hook group by using the bag breaking knife.

After the loading controller determines the bag breaking motion track, the loading controller can send the loading controller to the crane motion control device, the loading controller drives the lifting hook group to move to the bag breaking knife according to the bag breaking motion track, namely, the lifting appliance is controlled to move along the bag breaking motion track according to the central point position, when the loading controller moves to the bag breaking knife, the central projection of the lifting appliance coincides with the bag breaking point, and at the moment, the bag breaking operation can be carried out on the activated carbon bag by utilizing the bag breaking point.

In order to guarantee the stability of active carbon package at the removal in-process, guarantee to carry out the efficient operation of unloading, in this embodiment, by crane motion control device control lifting hook group according to the process that broken bag movement track removed bag sword department, include:

and S51, generating a first moving instruction by the crane motion control device according to the bag breaking motion track.

And S52, controlling the lifting hook group to move to the bag breaking initial coordinate along the lifting appliance center initial coordinate and the offset initial coordinate in sequence according to the first moving instruction, and then stopping, so that the projection of the lifting appliance center is superposed with the bag breaking point.

The crane motion control device generates a first moving instruction after receiving the bag breaking motion track sent by the loading controller, and the first moving instruction is used for controlling the lifting hook group to move along the bag breaking motion track.

Because the lifting hook group is in the removal in-process, the weight of active carbon package is great, can rock because of inertia, and in order to guarantee when broken bag, broken bag sword can aim at the bottom center of active carbon package, need follow hoist center initial coordinate, skew initial coordinate in proper order to broken bag initial coordinate according to first movement instruction control lifting hook group and stop, and broken bag knife tip contacts with the bottom of active carbon package this moment, and the projection and the coincidence of broken bag point at hoist center.

And S53, delaying the first time length and generating a second movement instruction.

In order to ensure that the activated carbon bag can be subjected to bag breaking operation in a stable state, after the crane movement control device drives the hook group to be positioned at the bag breaking initial coordinate, waiting for a first time period T₁And then carrying out subsequent bag breaking operation.

In this embodiment, the first duration T₁The first time period may be set to be 1 to 10 seconds, and the larger the size of the activated carbon pack 10 is, the larger the generated inertial force is, and thus the larger the value of the first time period is set.

While waiting for a first time period T₁And then, the activated carbon packet tends to be in a stable state, and the crane motion control device generates a second moving instruction for driving the hook group to execute subsequent bag breaking operation.

And S54, controlling the lifting hook group to descend to the bag breaking end point coordinate from the bag breaking initial coordinate according to the second moving instruction, and carrying out bag breaking operation on the activated carbon bag lifted by the lifting hook group by using the bag breaking knife.

And controlling the winch to reversely rotate according to the second movement instruction, so that the lifting appliance moves downwards, the lifting hook group descends to a bag breaking end point coordinate from a bag breaking initial coordinate, the bag breaking knife enters along the bottom of the activated carbon bag, and the activated carbon bag is scratched, so that the bag breaking operation is performed on the activated carbon bag lifted by the lifting hook group by using the bag breaking knife.

And S6, after the bag breaking operation is finished, controlling the lifting appliance to do ascending motion by the crane motion control device, and calculating the initial unloading flow of the broken activated carbon bag.

After the bag breaking knife set cuts the bottoms of the activated carbon bags 10, the broken activated carbon bags 10 need to be lifted up again in order to facilitate the natural outflow of the activated carbon. However, due to the fact that errors easily exist in the operation process, the situation that the bottom of the activated carbon bag is not scratched can occur, the activated carbon cannot leak, and the charging efficiency of the activated carbon bin is affected. Therefore, in order to improve the working efficiency, it is necessary to determine whether the current bag breaking operation is successful, the flow rate of the activated carbon initially leaked from the bottom of the packaging bag is obtained in this embodiment, the bag breaking success is indicated only when the initial discharge flow rate meets the condition, and then the subsequent activated carbon bin charging operation is performed.

Specifically, in this embodiment, the initial discharge flow of the broken activated carbon bag is calculated according to the following steps:

and S61, after the lifting hook group descends to the bag breaking end point coordinate for bag breaking operation, delaying the second time length and generating an ascending instruction.

After the plurality of activated carbon bags 10 are descended to contact with the corresponding bag breaking knife 3, in order to ensure that the bag breaking knife 3 cuts the bottom of the activated carbon bags 10, waiting for a period of time, namely, the bag breaking knife 3 is inserted into the bottom of the activated carbon bags 10 and then is kept in a stop state, and waiting for a second time T₂. In this embodiment, the second duration T₂The time can be set to 1-3 seconds, and specific values can be determined according to the size and thickness of the packaging bag of the activated carbon bag 10, which is not specifically limited in this embodiment.

After waiting for the second time period, the bag breaking operation is finished, at this time, the crane movement control device generates a lifting instruction to control the lifting hook group to lift, so that the activated carbon in the broken activated carbon bag can flow out.

S62, controlling the lifting appliance to ascend to a discharging point coordinate and then stop according to the ascending instruction; the position corresponding to the discharge point coordinate is the position of the activated carbon bag for starting discharging.

In order to perform efficient unloading operation, in this embodiment, the unloading point is set as the unloading position, that is, the crane motion control device controls the lifting tool to lift to the coordinate position of the unloading point according to the lifting instruction, and then stops, where the unloading is performed.

The discharging point can be set at a position 200mm higher than the bag breaking knife, and the embodiment is not particularly limited and can be determined according to the practical application environment.

And S63, calculating the initial discharging flow of the broken activated carbon bag when the activated carbon bag is discharged at the discharging point coordinate.

The discharge flow changes along with the change of time, and when the bag is broken and the activated carbon is full, the corresponding flow is maximum; as the activated carbon gradually grows at the plum, the flow rate gradually decreases, and therefore, in this embodiment, whether the bag breaking operation is successful is determined by the initial discharge flow rate. The method for calculating the initial unloading flow is the prior art scheme, and is not described herein again.

And S7, judging whether the initial unloading flow is larger than the preset unloading flow, if so, delaying the preset unloading time, and controlling the lifting hook group to return the unloaded empty activated carbon packet to the position corresponding to the initial coordinate of the center of the lifting appliance according to the bag breaking motion track.

When the bag breaking is successful and the activated carbon is full, the corresponding initial unloading flow is maximum, so that the unloading flow after the normal bag breaking operation is preset, the initial unloading flow corresponding to the current unloading is compared with the preset unloading flow, and if the initial unloading flow corresponding to the current unloading is larger than the preset unloading flow, the current bag breaking operation is successful. The preset discharge flow is stored in the charge controller in advance.

Because the method provided by this embodiment can simultaneously achieve the unloading operation of multiple activated carbon bags, the success of the current bag breaking operation can be demonstrated only when the initial unloading flow rate corresponding to each activated carbon bag is greater than the preset unloading flow rate value.

If the initial discharge flow is less than or equal to the preset discharge flow, the method further comprises:

and S71, if the initial discharging flow is less than or equal to the preset discharging flow, generating a first descending instruction.

And S72, controlling the lifting hook group to descend to the bag breaking initial coordinate according to the first descending command, and generating a second descending command.

And S73, controlling the lifting hook group to descend to the bag breaking end point coordinate according to the second descending instruction, and carrying out second bag breaking operation on the activated carbon bag by using the bag breaking knife.

If the initial unloading flow of at least one broken activated carbon bag is smaller than or equal to the preset unloading flow value, it is indicated that the current bag breaking operation is abnormal, so that all the activated carbon in the activated carbon bag cannot naturally flow out, and therefore, the bag breaking operation needs to be performed again at this moment to ensure that all the activated carbon in the activated carbon bag normally flows out. Because the current situation belongs to the system abnormality, the charging controller 200 gives out an audible and visual alarm, transmits an alarm signal to the superior control system 100, and stores the abnormal situation.

After the initial unloading flow of one activated carbon bag is judged to be less than or equal to the preset unloading flow, the crane motion control device generates a first descending instruction, and controls the lifting hook group to descend to the bag breaking initial coordinate again, so that the bag breaking tool nose is contacted with the bottom of the activated carbon bag. And after delaying for the first time, generating a second descending instruction to ensure that the activated carbon bag is punctured by the bag breaking cutter in a stable state, descending the hook group to a bag breaking end point coordinate, and carrying out second bag breaking operation on the activated carbon bag by the bag breaking cutter until the detected initial unloading flow corresponding to all the activated carbon bags is larger than the preset unloading flow value.

Through the above process, whether the activated carbon bag is completely scratched or not is judged, so that the bag breaking operation at every time can be ensured to be accurate, the activated carbon in the activated carbon bag can smoothly flow out, and the unloading efficiency is improved.

After the bag breaking operation is finished, the activated carbon in the activated carbon bag can be filled into the activated carbon bin below the bag breaking knife. In this embodiment, the preset unloading time is set to ensure that all the activated carbon in the activated carbon bag is filled into the activated carbon bin after the preset unloading time.

In this embodiment, the preset unloading time length is determined according to the following formula:

T₃＝k×(g₁/s)；

in the formula, T₃For presetting the discharge time, g₁The initial weight of the activated carbon bag is used as s, the initial unloading flow of the activated carbon bag after bag breaking is used as s, and the value range of k is 1-1.3.

After the unloading process is finished, each activated carbon bag is an empty bag, and the activated carbon filling of the activated carbon bin of the next round needs to be carried out. Therefore, the plurality of empty activated carbon bags are controlled to return to the stacking platform, namely, the lifting hook group is controlled to return the plurality of unloaded empty activated carbon bags to the position corresponding to the initial coordinate of the center of the lifting appliance according to the bag breaking motion track.

Under normal conditions, after the preset unloading time, all the activated carbon in the activated carbon bag can be unloaded into the activated carbon bin. However, in a special case, after waiting for a preset unloading time, the unloading operation is still not completed, and activated carbon still remains in the activated carbon bag.

In order to ensure that the activated carbon can be completely filled into the activated carbon bin, the method provided by this embodiment further includes, after the time delay preset discharging time period:

s801, acquiring the current weight of the activated carbon bag detected by the weight sensor;

s802, if the current weight of the activated carbon bag is smaller than the set weight value, controlling the lifting hook group to return the unloaded empty activated carbon bag to a position corresponding to the initial coordinate of the center of the lifting appliance according to the bag breaking motion track.

And after waiting for the preset unloading time, the loading controller acquires the current weight of the activated carbon bag, and compares the current weight with a set weight value to judge whether the unloading operation of the activated carbon bag is finished. The current weight of the activated carbon packet can be determined from the measurement of the weighing detection device.

In this embodiment, the set weight value may be set to the weight of the empty packaging bag of the activated carbon pack. When the weight of each broken activated carbon bag is reduced to the weight of the empty packaging bag, the unloading process is completed, and at the moment, the activated carbon filling of the activated carbon bin of the next round needs to be carried out. Therefore, the empty activated carbon packet needs to be controlled to return to the stacking platform, namely, the lifting hook group is controlled to return the unloaded empty activated carbon packet to the position corresponding to the initial coordinate of the center of the lifting appliance according to the bag breaking motion track.

However, if after waiting for the preset unloading time, the weight of a certain activated carbon packet is still larger than the set weight value, that is, the weight of an empty packaging bag of the activated carbon packet is larger than the weight of the activated carbon packet, which indicates that the activated carbon in the certain activated carbon packet is not yet unloaded, the operation of returning to the unloading of the activated carbon packet needs to be executed again until the activated carbon does not exist in the activated carbon packet.

For this reason, the control method provided in this embodiment further includes: if the current weight of the activated carbon bag is larger than or equal to the set weight value, delaying the fourth time, and controlling the lifting hook group to return the unloaded empty activated carbon bag to the position corresponding to the initial coordinate of the center of the lifting appliance according to the bag breaking motion track when the current weight of the activated carbon bag is smaller than the set weight value.

In the present embodiment, the fourth time period T₄Can be according to the formula T₄＝k₂×(G_j/S_j) To determine in which G_jIs the current weight of the activated carbon packet, k₂Is a coefficient, the value range is 1-1.3, S_jThe current discharge flow of the broken activated carbon bag is adopted.

The charging controller 200 acquires the detection value of the weight detection device 600 (four weight sensors) in real time, and determines the weight and the discharge flow rate of each activated carbon packet at a time after waiting for a preset discharge time period, thereby accurately determining the necessary time T required for emptying the activated carbon packet₄. The method provided by the embodiment can return to the initial workshop immediately after all the activated carbon in all the activated carbon bags 10 are emptied so as to carry out the next filling operation, and the working efficiency is higher.

On the basis of the activated carbon filling method provided by the above embodiment, another embodiment of the present invention may further include other methods: that is, after the activated carbon bags are hung on the hook group in step S1, the hanging manner of the activated carbon bags on the hook group can be determined according to the measurement value of each weighing sensor. For example, if the sum of the measured values of the two load cells on the same group of hooks is equal to the weight of the activated carbon bag, and the measured values of the two load cells on the other group of hooks are both 0, the activated carbon bag is currently hung in a way that only one activated carbon bag is hung on the hanger, and the activated carbon bag is only hung on the same group of hooks, and the other group of hooks is hung in the air. If the sum of the measured values of the two weighing sensors on the same group of lifting hooks is the same as the weight of the activated carbon bag, and the sum of the measured values of the two weighing sensors on the other group of lifting hooks is also the same as the weight of the activated carbon bag, the current lifting mode of the activated carbon bag is that the lifting appliance is lifted with two activated carbon bags, one of the activated carbon bags is hung on the first group of lifting hooks, and the other activated carbon bag is hung on the second group of lifting hooks.

In the method provided by this embodiment, if the hoisting manner of the activated carbon bag is only one, in steps S6 and S7, only the initial unloading flow rate of one activated carbon bag needs to be calculated, and only the current weight of one activated carbon bag needs to be calculated in the subsequent determination, and the completion of the unloading of the activated carbon bag can be determined when the initial unloading flow rate of the activated carbon meets the condition or the current weight meets the condition.

If the number of the activated carbon bags is two, in steps S6 and S7, the initial unloading flow rate of each activated carbon bag needs to be calculated, the current weight of each activated carbon bag needs to be calculated in subsequent judgment, and the completion of the unloading of the activated carbon bag can be determined only when the initial unloading flow rate of each activated carbon meets the condition or each current weight meets the condition. The specific operation processes of other steps in this embodiment may refer to the descriptions of the foregoing embodiments, and are not described herein again.

As can be seen from the above embodiment, in the activated carbon loading system provided by the embodiment of the present invention, the discharging hopper 2 of the system is arranged on the discharging platform 1, the center of the receiving port of the discharging hopper is provided with a plurality of bag breaking knives, the track 4 is positioned above the discharging platform 1, the cart 5 slides along the track 4, the trolley 6 is fixed on the cart 5, the cart is internally provided with the winch 7, the lower part of the winch 7 suspends the beam body 9 by two steel wire ropes 8, the beam body is symmetrically provided with two groups of lifting hooks along the central line of the beam body, the crane motion control device controls the lifting hook group to move to the bag breaking knives according to the bag breaking motion track, bag breaking operation is carried out on a plurality of activated carbon bags hoisted by the hook group, and a bag breaking motion track is determined according to the initial coordinate of the center of the sling, the preset height of the sling in a bag breaking state, the preset height of the sling in a bag hanging state, the coordinates of bag breaking points and the offset distance; and after the bags are broken, filling the activated carbon in the plurality of activated carbon bags 10 into the activated carbon bin together, and when the initial unloading flow of each broken activated carbon bag is detected to be larger than the preset unloading flow, returning each unloaded empty activated carbon bag to the initial coordinate position of the center of the lifting appliance, so as to finish the process of simultaneously filling the activated carbon bins with a plurality of bags of activated carbon at one time. It can be seen that, in the system and method provided in this embodiment, the loading process of the activated carbon bin is controlled by the loading controller 200, and the crane motion control device 500 automatically controls the operation of the hook group according to the loading instruction sent by the loading remote controller 300, so as to achieve the simultaneous unloading process of multiple activated carbon bags, and the unloading process is automatically achieved, so that the working efficiency is higher.

The above-described embodiments of the present invention do not limit the scope of the present invention.

Claims

1. An activated carbon loading system, comprising: the automatic bag breaking device comprises a loading controller, a loading remote controller, a crane motion control device, a position detection device, a discharging platform, a discharging hopper arranged on the discharging platform, a plurality of bag breaking cutters positioned in the center of a receiving port of the discharging hopper, a track positioned above the discharging platform, a cart sliding along the track, and a trolley fixed on the cart; the cart is connected with the crane motion control device;

2. The system of claim 1, further comprising: and the weight sensor is used for detecting the weight value of the activated carbon packet on the corresponding lifting hook and sending the corresponding weight value to the charging controller.

3. The system of claim 1, wherein, in the bag hanging state, the center point projection of the sling coincides with the parking centerline; and when the bag is broken, the projection of the central point of the lifting appliance coincides with the projection of the bag breaking point.

4. The system according to claim 1, wherein two bag breaking knives are provided, the distance between the two bag breaking knives is equal to the distance between the two hook groups, the center point between the two bag breaking knives is a bag breaking point, and the bag breaking point is located on the bag breaking center line.

5. The system of claim 1, wherein a distance between two of the hook groups is less than a distance between two of the suspension points, and wherein the distance between two of the hook groups and a width of the activated carbon packet satisfy the following relationship:

W₂＝k₁×L；

6. The system of claim 1, wherein the offset distance is: