US20180119948A1 - Burner comprising a pre-combustion chamber - Google Patents
Burner comprising a pre-combustion chamber Download PDFInfo
- Publication number
- US20180119948A1 US20180119948A1 US15/570,068 US201615570068A US2018119948A1 US 20180119948 A1 US20180119948 A1 US 20180119948A1 US 201615570068 A US201615570068 A US 201615570068A US 2018119948 A1 US2018119948 A1 US 2018119948A1
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- Prior art keywords
- burner
- air
- fuel
- gas
- combustion
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
- F23D14/20—Non-premix gas burners, i.e. in which gaseous fuel is mixed with combustion air on arrival at the combustion zone
- F23D14/22—Non-premix gas burners, i.e. in which gaseous fuel is mixed with combustion air on arrival at the combustion zone with separate air and gas feed ducts, e.g. with ducts running parallel or crossing each other
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- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B7/00—Hydraulic cements
- C04B7/36—Manufacture of hydraulic cements in general
- C04B7/43—Heat treatment, e.g. precalcining, burning, melting; Cooling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23C—METHODS OR APPARATUS FOR COMBUSTION USING FLUID FUEL OR SOLID FUEL SUSPENDED IN A CARRIER GAS OR AIR
- F23C6/00—Combustion apparatus characterised by the combination of two or more combustion chambers or combustion zones, e.g. for staged combustion
- F23C6/04—Combustion apparatus characterised by the combination of two or more combustion chambers or combustion zones, e.g. for staged combustion in series connection
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
- F23D14/46—Details
- F23D14/60—Devices for simultaneous control of gas and combustion air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23L—SUPPLYING AIR OR NON-COMBUSTIBLE LIQUIDS OR GASES TO COMBUSTION APPARATUS IN GENERAL ; VALVES OR DAMPERS SPECIALLY ADAPTED FOR CONTROLLING AIR SUPPLY OR DRAUGHT IN COMBUSTION APPARATUS; INDUCING DRAUGHT IN COMBUSTION APPARATUS; TOPS FOR CHIMNEYS OR VENTILATING SHAFTS; TERMINALS FOR FLUES
- F23L9/00—Passages or apertures for delivering secondary air for completing combustion of fuel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N3/00—Regulating air supply or draught
- F23N3/007—Regulating air supply or draught using mechanical means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N5/00—Systems for controlling combustion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N5/00—Systems for controlling combustion
- F23N5/003—Systems for controlling combustion using detectors sensitive to combustion gas properties
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23C—METHODS OR APPARATUS FOR COMBUSTION USING FLUID FUEL OR SOLID FUEL SUSPENDED IN A CARRIER GAS OR AIR
- F23C2900/00—Special features of, or arrangements for combustion apparatus using fluid fuels or solid fuels suspended in air; Combustion processes therefor
- F23C2900/06041—Staged supply of oxidant
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D2214/00—Cooling
Definitions
- the invention relates to a gas burner for use in an oxygen-impoverished environment, the oxygen concentration of which is insufficient for supporting a complete combustion.
- a mixture consisting of calcareous stone and siliceous stone is crushed and subjected to a heat treatment in which the lime is formally freed of carbon dioxide (CO2) and converted into burnt lime (CaO).
- CO2 carbon dioxide
- CaO burnt lime
- the raw meal, deacidified as a result of the formal freeing of CO2, which consists of the originally non-deacidified calcareous stone and the siliceous stone which up to this point is still unaltered is sintered in the heat, forming different calcium silicate phases.
- An object upon which the invention is based is achieved by the burner having a central air supply pipe which is annularly encompassed by a gas supply pipe.
- the air supply pipe is of such dimensions that a substoichiometric combustion takes place in the burner itself
- the effect is prevented of the burner not behaving like a nozzle for generating thrust, in which a very significant degree of combustion energy is released in the combustion chamber, but of the fuel being conditioned as a result of the substoichiometric combustion so that the complete burnout takes place under the oxygen-impoverished conditions in the presence of carbon dioxide and hot meal.
- the natural gas as an example of the fuel
- the partially oxidized combustion residues burn out more easily under the conditions of the calcinator. Therefore, no delayed combustion, which takes place in the kiln cyclone or immediately downstream of the calcinator, is noticed.
- a ⁇ -value of 0.05 to 0.3 has been proved to be effective.
- an control device preferably in the form of a throttle valve, which by an adjustment of the supplied air flow and fuel flow sets an air/fuel ratio ⁇ to a value of 0.05 to 0.3, wherein the control device preferably sets the desired ⁇ -value by means of a closed-loop control device with a control loop via a measured temperature in the combustion chamber and/or via a spectometrically measured gas concentration.
- an adjustable throttle valve limits the air supply into the burner.
- a once-only setting of the throttle valve leads to a permanent uniform ⁇ -value of 0.05 to 0.3.
- an existing closed-loop control device constantly adjusts the control device so that a desired uniform ⁇ -value of 0.05 to 0.3 is maintained.
- the temperature in the combustion chamber is measured in the process and/or the gas composition is determined via a spectometrically operating ⁇ -probe.
- the air supply is increased and vice versa. It is also possible to utilize both the measured temperature and the gas composition, measured via the spectometrically operating ⁇ -probe, with the aid of a computer model for controlling the air supply.
- an annularly disposed group of nozzles in the region of the mixing of fuel and air as oxidation means, is arranged, via which the fuel is mixed with the centrally injected air.
- Serving as oxidation means in the simplest case can be tertiary air which, as preheated air, supports the partial combustion of the fuel, in this case methane-rich natural gas, as an example.
- oxidation means in the form of oxygen-enriched air as oxidation means.
- Air enriched with ammonia or amines is also a possibility, for example, in order to control the nitrogen oxide concentration.
- the arrangement of nozzles enables the flame formation.
- the flame can be formed as a laminar flame or as a vortex flame in order to control the shape of the flame cone or also the flame length.
- a pilot burner For fuels which have an erratic ignition behavior, such as natural gas with fluctuating methane content, a pilot burner can be provided. To this end, it is provided that provision is made for at least one additional pilot burner which reliably ignites the mixture of fuel and oxidation means in the region of the combustion chamber.
- the pilot burner for its part, is operated with reliable fuels with uniform ignition tendency in order to ignite the significantly larger quantity of fuel in the burner and in order to maintain the combustion flame.
- the ignition can take place with suitable fuels, but also by means of an electric igniter which, for example, induces the ignition via continuous electric arcs, via electric arc pulses or via a hot wire.
- the inner walls of the burner have at least one air suction nozzle by means of which sucked-in ambient air flows into the burner in the region of the walls of said burner and as a result cools the inner walls of the burner.
- the FIGURE shows a vertical cross section through a burner according to the invention.
- Shown in the FIGURE is a vertical section through a combustion chamber 1 according to the invention in which the combustible gas 2 is mixed with an oxidation means 3 , preferably hot tertiary air from the clinker cooler or kiln flue gas with sufficient residual oxygen, and substoichiometrically combusted.
- the aim in nominal operation is an air/fuel ratio ⁇ of 0.05-0.3 which, depending on the fuel quantity which is required for the calcination process, can be adjusted by controlling the inflow rate of the oxidation means 3 by means of a throttle valve 10 .
- the reactive and combustible gas mixture forming in the combustion chamber 1 can then burn out in the calcinator interior space 9 with the main part of the tertiary air from the clinker cooler and the residual oxygen of the kiln flue gas.
- an injector 4 for the mixing of oxidation means 3 and combustible gas 2 use is made of an injector 4 in which, as a result of flow velocity of the combustible gas 2 , the oxidation means 3 is sucked into the reaction chamber.
- This injector 4 can be arranged according to the invention as an annular gap, a nozzle ring or even be swirled, i.e., set at a tangent to the longitudinal axis.
- the reaction can be initiated by means of a suitable pilot burner 5 , alternatively by means of an electric ignition device.
- a visual flame monitor 6 or even a thermoelement 11 can be used.
- the wall of the combustion chamber 1 and of the supply pipe 7 for the oxidation means 3 can be protected against high temperatures and reaction products by means of suitable fireproof materials 12 , 13 or even by means of a film consisting of sucked-in ambient air 14 .
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ceramic Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Materials Engineering (AREA)
- Structural Engineering (AREA)
- Organic Chemistry (AREA)
Abstract
Description
- This application claims the benefit of the German patent application No. 10 2015 005 416.3 filed on Apr. 25, 2016, the entire disclosures of which are incorporated herein by way of reference.
- The invention relates to a gas burner for use in an oxygen-impoverished environment, the oxygen concentration of which is insufficient for supporting a complete combustion.
- For producing cement clinker, a mixture consisting of calcareous stone and siliceous stone is crushed and subjected to a heat treatment in which the lime is formally freed of carbon dioxide (CO2) and converted into burnt lime (CaO). In a further step, the raw meal, deacidified as a result of the formal freeing of CO2, which consists of the originally non-deacidified calcareous stone and the siliceous stone which up to this point is still unaltered, is sintered in the heat, forming different calcium silicate phases. When using gas as fuel for heating calcinators of a plant for producing cement clinker, the problem frequently arises that methane-rich gases as fuel burn only incompletely despite a sufficiently high ignition temperature in the combustion chamber of approximately 800° C. This on the one hand is attributable to the fact that the oxygen concentration of the kiln flue gases of a rotary kiln, which with regard to the gas flow direction is connected upstream to the calcinator, is lower than in atmospheric air. The absolute quantity of the available oxygen in order to maintain a complete combustion of the fuel for supporting the calcination is certainly sufficient, but the oxygen concentration is insufficient for a reliable combustion. On the other hand, this is attributable to the fact that the hot meal in the calcinator splits off carbon dioxide (CO2) and carbon dioxide inhibits the combustion process. The burnout of the gas-rich streamers in the calcinator is therefore frequently carried out initially in the kiln cyclone, which with regard to the gas flow direction is downstream of the calcinator, at the point where the solid phase and gas phase separate. This delayed combustion is undesirable, however, since it unnecessarily thermally loads the dip tube of the cyclone. Furthermore, the delayed combustion also reduces the thermal efficiency of the plant. Finally, the increased temperature in the kiln cyclone can lead to the cyclone becoming blocked which massively interrupts the operation of the plant and can be reversed only by cost-intensive shutdown and cleaning of the plant.
- It is therefore an object of the invention to provide a burner which overcomes the previously listed disadvantages.
- An object upon which the invention is based is achieved by the burner having a central air supply pipe which is annularly encompassed by a gas supply pipe.
- According to the invention, it is provided that some of the combustion air is already directly delivered with the fuel into the combustion chamber of the burner. In this case, the air supply pipe is of such dimensions that a substoichiometric combustion takes place in the burner itself In this way, the effect is prevented of the burner not behaving like a nozzle for generating thrust, in which a very significant degree of combustion energy is released in the combustion chamber, but of the fuel being conditioned as a result of the substoichiometric combustion so that the complete burnout takes place under the oxygen-impoverished conditions in the presence of carbon dioxide and hot meal. In the vicinity of the calcinator, there is sufficient oxygen available for a complete combustion to be able to take place. This burnout actually takes place, however, only when the conditioning in the burner, described here, takes place. Within the scope of this invention, it is assumed that the activation energy for igniting the fuel, especially that of methane-rich natural gas, initially requires a high oxygen surplus in the presence of high temperature.
- As a result of the conditioning, the natural gas, as an example of the fuel, is partially oxidized. After monitoring the combustion using the burner according to the invention, the partially oxidized combustion residues burn out more easily under the conditions of the calcinator. Therefore, no delayed combustion, which takes place in the kiln cyclone or immediately downstream of the calcinator, is noticed.
- Before pre-conditioning, a λ-value of 0.05 to 0.3 has been proved to be effective. In a preferred embodiment of the burner according to the invention, it is provided that provision is made for an control device, preferably in the form of a throttle valve, which by an adjustment of the supplied air flow and fuel flow sets an air/fuel ratio λ to a value of 0.05 to 0.3, wherein the control device preferably sets the desired λ-value by means of a closed-loop control device with a control loop via a measured temperature in the combustion chamber and/or via a spectometrically measured gas concentration.
- In a simple form of the invention, it is provided that an adjustable throttle valve limits the air supply into the burner. A once-only setting of the throttle valve leads to a permanent uniform λ-value of 0.05 to 0.3. According to a further embodiment of the invention, it is provided that an existing closed-loop control device constantly adjusts the control device so that a desired uniform λ-value of 0.05 to 0.3 is maintained. In the control loop, the temperature in the combustion chamber is measured in the process and/or the gas composition is determined via a spectometrically operating λ-probe. In order to maintain the desired λ-value of 0.05 to 0.3, in the event of a drop in the measured temperature or in the event of a reduction of the concentration of typical combustion products which is measured via the spectometrically operating λ-probe, the air supply is increased and vice versa. It is also possible to utilize both the measured temperature and the gas composition, measured via the spectometrically operating λ-probe, with the aid of a computer model for controlling the air supply.
- In a simpler, very robust embodiment, it suffices if provision is made for a simple flame monitor which determines the absence of conditioning in the form of a partial combustion/oxidation and if, in the event of the absence of combustion being detected, the simple closed-loop control device increases the air supply, and vice versa. Compared with the continuously operating closed-loop control device with continuous values of temperature and combustion gas concentration, the closed-loop control device with a flame monitor works on a two-point basis, with the states “flame sufficient” and “flame insufficient (no longer sufficient)”.
- In a further embodiment of the invention, it is provided that in the region of the mixing of fuel and air as oxidation means, an annularly disposed group of nozzles, forming a spiral vortex or a laminar flow, is arranged, via which the fuel is mixed with the centrally injected air. Serving as oxidation means in the simplest case can be tertiary air which, as preheated air, supports the partial combustion of the fuel, in this case methane-rich natural gas, as an example. Depending on methane concentration in the natural gas, which is frequently accompanied by further poorly combustible gases, such as nitrogen (N2) as being very difficult to combust, and carbon disulfide (H2S) as being poorly combustible with regard to the desired thermal output, it can be provided to provide an oxidation means in the form of oxygen-enriched air as oxidation means. Air enriched with ammonia or amines is also a possibility, for example, in order to control the nitrogen oxide concentration. The arrangement of nozzles enables the flame formation. The flame can be formed as a laminar flame or as a vortex flame in order to control the shape of the flame cone or also the flame length.
- For fuels which have an erratic ignition behavior, such as natural gas with fluctuating methane content, a pilot burner can be provided. To this end, it is provided that provision is made for at least one additional pilot burner which reliably ignites the mixture of fuel and oxidation means in the region of the combustion chamber. The pilot burner, for its part, is operated with reliable fuels with uniform ignition tendency in order to ignite the significantly larger quantity of fuel in the burner and in order to maintain the combustion flame. The ignition can take place with suitable fuels, but also by means of an electric igniter which, for example, induces the ignition via continuous electric arcs, via electric arc pulses or via a hot wire.
- Since the ignition already takes place in the burner, it is necessary to cool the burner itself so as not to burn and prematurely age the walls of the burner. To this end, it is provided that the inner walls of the burner have at least one air suction nozzle by means of which sucked-in ambient air flows into the burner in the region of the walls of said burner and as a result cools the inner walls of the burner.
- The invention is explained in more detail with reference to the following figure. In the drawing:
- The FIGURE shows a vertical cross section through a burner according to the invention.
- Shown in the FIGURE is a vertical section through a combustion chamber 1 according to the invention in which the combustible gas 2 is mixed with an oxidation means 3, preferably hot tertiary air from the clinker cooler or kiln flue gas with sufficient residual oxygen, and substoichiometrically combusted. In this case, the aim in nominal operation is an air/fuel ratio λ of 0.05-0.3 which, depending on the fuel quantity which is required for the calcination process, can be adjusted by controlling the inflow rate of the oxidation means 3 by means of a
throttle valve 10. The reactive and combustible gas mixture forming in the combustion chamber 1 can then burn out in the calcinator interior space 9 with the main part of the tertiary air from the clinker cooler and the residual oxygen of the kiln flue gas. - For the mixing of oxidation means 3 and combustible gas 2 use is made of an
injector 4 in which, as a result of flow velocity of the combustible gas 2, the oxidation means 3 is sucked into the reaction chamber. Thisinjector 4 can be arranged according to the invention as an annular gap, a nozzle ring or even be swirled, i.e., set at a tangent to the longitudinal axis. - If the temperature of the oxidation means 3 should not be sufficient for a reliable ignition, the reaction can be initiated by means of a suitable pilot burner 5, alternatively by means of an electric ignition device. For monitoring the reaction, a
visual flame monitor 6 or even athermoelement 11 can be used. - The wall of the combustion chamber 1 and of the supply pipe 7 for the oxidation means 3 can be protected against high temperatures and reaction products by means of suitable
12, 13 or even by means of a film consisting of sucked-infireproof materials ambient air 14. - As is apparent from the foregoing specification, the invention is susceptible of being embodied with various alterations and modifications which may differ particularly from those that have been described in the preceding specification and description. It should be understood that I wish to embody within the scope of the patent warranted hereon all such modifications as reasonably and properly come within the scope of my contribution to the art.
Claims (5)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015005416.3 | 2015-04-29 | ||
| DE102015005416.3A DE102015005416B4 (en) | 2015-04-29 | 2015-04-29 | Method for operating a calciner with a gas burner |
| PCT/EP2016/059193 WO2016173991A1 (en) | 2015-04-29 | 2016-04-25 | Burner comprising a pre-combustion chamber |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2016/059193 A-371-Of-International WO2016173991A1 (en) | 2015-04-29 | 2016-04-25 | Burner comprising a pre-combustion chamber |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US17/188,147 Division US20210180788A1 (en) | 2015-04-29 | 2021-03-01 | Burner comprising a pre-combustion chamber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| US20180119948A1 true US20180119948A1 (en) | 2018-05-03 |
Family
ID=55860834
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US15/570,068 Abandoned US20180119948A1 (en) | 2015-04-29 | 2016-04-25 | Burner comprising a pre-combustion chamber |
| US17/188,147 Pending US20210180788A1 (en) | 2015-04-29 | 2021-03-01 | Burner comprising a pre-combustion chamber |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US17/188,147 Pending US20210180788A1 (en) | 2015-04-29 | 2021-03-01 | Burner comprising a pre-combustion chamber |
Country Status (7)
| Country | Link |
|---|---|
| US (2) | US20180119948A1 (en) |
| EP (1) | EP3289285B1 (en) |
| CN (2) | CN111550781B (en) |
| DE (1) | DE102015005416B4 (en) |
| DK (1) | DK3289285T3 (en) |
| PT (1) | PT3289285T (en) |
| WO (1) | WO2016173991A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115419893A (en) * | 2022-08-11 | 2022-12-02 | 陕西卡福纽恩新能源科技有限公司 | Utilize multistage ammonia gas combustor of MILD burning |
| CN116898296A (en) * | 2023-09-13 | 2023-10-20 | 广东万和电气有限公司 | Small-fire windproof oven and ignition method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112902147B (en) * | 2021-02-07 | 2022-03-01 | 哈尔滨工业大学 | Pre-combustion chamber combustion device for co-combustion of low-volatile solid fuel |
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- 2015-04-29 DE DE102015005416.3A patent/DE102015005416B4/en active Active
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2016
- 2016-04-25 CN CN202010428491.5A patent/CN111550781B/en active Active
- 2016-04-25 CN CN201680017069.2A patent/CN107429910A/en active Pending
- 2016-04-25 DK DK16719372.1T patent/DK3289285T3/en active
- 2016-04-25 US US15/570,068 patent/US20180119948A1/en not_active Abandoned
- 2016-04-25 PT PT167193721T patent/PT3289285T/en unknown
- 2016-04-25 WO PCT/EP2016/059193 patent/WO2016173991A1/en not_active Ceased
- 2016-04-25 EP EP16719372.1A patent/EP3289285B1/en active Active
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2021
- 2021-03-01 US US17/188,147 patent/US20210180788A1/en active Pending
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| US5567143A (en) * | 1995-07-07 | 1996-10-22 | Servidio; Patrick F. | Flue draft malfunction detector and shut-off control for oil burner furnaces |
| US20030108834A1 (en) * | 2001-12-07 | 2003-06-12 | Pelton John Franklin | Gas lance system for molten metal furnace |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115419893A (en) * | 2022-08-11 | 2022-12-02 | 陕西卡福纽恩新能源科技有限公司 | Utilize multistage ammonia gas combustor of MILD burning |
| CN116898296A (en) * | 2023-09-13 | 2023-10-20 | 广东万和电气有限公司 | Small-fire windproof oven and ignition method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3289285A1 (en) | 2018-03-07 |
| CN111550781B (en) | 2021-12-14 |
| DK3289285T3 (en) | 2020-03-02 |
| WO2016173991A1 (en) | 2016-11-03 |
| PT3289285T (en) | 2020-03-05 |
| US20210180788A1 (en) | 2021-06-17 |
| DE102015005416A1 (en) | 2016-11-03 |
| EP3289285B1 (en) | 2019-11-27 |
| CN107429910A (en) | 2017-12-01 |
| DE102015005416B4 (en) | 2023-11-30 |
| CN111550781A (en) | 2020-08-18 |
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