CN108639777A - A kind of bar shaped stock ground automatic material taking system - Google Patents
A kind of bar shaped stock ground automatic material taking system Download PDFInfo
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- CN108639777A CN108639777A CN201810179522.0A CN201810179522A CN108639777A CN 108639777 A CN108639777 A CN 108639777A CN 201810179522 A CN201810179522 A CN 201810179522A CN 108639777 A CN108639777 A CN 108639777A
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- heap
- control module
- feeding
- reclaimer
- stock ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The present invention relates to a kind of bar shaped stock ground automatic material taking systems, including reclaimer, control module and detection module, the reclaimer includes rack, material fetching mechanism and the walking mechanism being arranged in rack, the material fetching mechanism is connected with rack, the material fetching mechanism adjusts its pitch angle by luffing mechanism, the walking mechanism can be moved along the track being arranged in bar shaped stock ground, the detection module gives the data information transfer of detection to the control module, the control module is by the data information combination material extracting operation target instruction target word of acquisition, control result is obtained by controlling operation, the control module controls reclaimer according to control result and fulfils assignment target.The present invention can overcome low existing bulk cargo stock yard the degree of automation, operator's labor intensity height, the low defect low with utilization of area rate of operating efficiency on the basis of fully ensuring that stock ground utilization rate, the reclaiming capacity for playing reclaimer device and other functions.
Description
Technical field
The invention belongs to intelligent handling technique fields, and in particular to a kind of bar shaped stock ground automatic material taking system.
Background technology
It is all to be completed using heap reclaimer device, and domestic majority is looked forward to that the heap of bulk cargo, which is taken, in steel, bargh at present
The heap reclaimer device of industry is fulfiled assignment task using manual operation, and labor intensity is big, the working time is long, and bulk material pile take it is past
Toward that dusty can be caused to pollute, the physical and mental health of the operating personnel for working long hours causes prodigious damage.The prior art
In, usually continuous operation when due to bulk cargo stacking and taking operation, the labor intensity of operating staff in operating room is larger；While by
Inevitable during bulk material pile takes to generate airborne dust, there is also continuous shakings and noise in operation process for equipment, therefore grasp
Make personnel to work under dust, vibration and noise circumstance for a long time, easily causes occupational disease hazards health of human body.In manual operation mould
Under formula, each operation shift of each equipment is both needed to 1-2 operating personnel of outfit and operates, when number of devices is more, manpower
Cost is also higher, and equipment operation efficiency relies primarily on the experience of operating personnel, in recent years, severe due to operating environment,
The young operating personnel of profession recruit difficulty, and lay operators' operating efficiency is low.And when manual operation, due to personnel
The factors such as fatigue, the safety accidents such as easily collide, and causes equipment damage even personal injury, significant downtime is caused to lose.
More crucially manual operation when, the stockpiling randomness in stock ground is larger, and heap shape is irregular, reduce stock ground utilization rate and take
Expect that the position to the stacking of different cultivars material and quantity effectively track and manage efficiency simultaneously, are unfavorable for user and take
With.
To sum up, it is urgent to provide a kind of achievable high efficiency, the automatic intelligent of the operation of high accurancy and precision bar shaped stock ground from
Dynamic reclaimer system.
Invention content
The object of the present invention is to provide a kind of achievable high efficiency, the bar materials of the automatic intelligent of the operation of high accurancy and precision
Field automatic material taking system.
Above-mentioned purpose is to be achieved through the following technical solutions：A kind of bar shaped stock ground automatic material taking system, including reclaimer, control
Molding block and detection module, the reclaimer include rack, material fetching mechanism and the walking mechanism being arranged in rack, described to take
Material mechanism is connected with rack, and the material fetching mechanism adjusts its pitch angle by luffing mechanism, and the walking mechanism can be along setting
Track movement in bar shaped stock ground, the detection module include at least the heap shape for detecting material heap geography shape characteristic and detect
Sensor, the position-measurement device for detecting the position of reclaimer on the track, for detect material fetching mechanism relative to
The angular transducer of the angle of horizontal plane and for detecting taking for weight of material flow that material fetching mechanism is obtained from bar shaped stock ground
Expect that operation flowmeter, the control module move to target location according to material extracting operation target control reclaimer and carry out feeding work
The data information transfer of detection is given the control module, the control module to believe the data of acquisition by industry, the detection module
Breath combines material extracting operation target instruction target word, show that control result, the control module are controlled according to control result by controlling operation
The walking mechanism, luffing mechanism, material fetching mechanism carry out corresponding motion action and the target that fulfils assignment.
The present invention can be used for bar shaped unmanned material yard system material extracting operation, and large-scale bulk goods material heap field may be implemented and realize feeding comprehensively
Equipment at the scene without operation driver in the case of overall process automatic material taking operation.The present invention can fully ensure that stock ground utilization rate,
On the basis of the reclaiming capacity and the other functions that play reclaimer device, operates and monitor without operation driver in reclaimer device, in
It controls interior and does not also need the control operation that personnel carry out whole process, existing bulk cargo stock yard the degree of automation is low, grasps to overcome
Authors' labor intensity height, the low defect low with utilization of area rate of operating efficiency.
Preferably, further technical solution is：The control module includes control system, the distribution of stock ground material heap and material
Heap shape display terminal and job parameter input and job state monitor terminal, the heap shape detection sensor will be with will detecting material heap
Shape characteristic data transfer is managed to control system, the material heap geography shape characteristic is distributed by stock ground material heap and material heap shape is aobvious
Show that terminal carries out real-time display, inputting relevant material extracting operation with job state monitor terminal by job parameter input refers to
It enables and the corresponding motion action of reclaimer progress is controlled by control system and completes material extracting operation.So set, easy to operation
Personnel input order remote control and monitor the operation process of the present invention.
Further technical solution is：The reclaimer is equipped with driving control system, and the control system includes setting
Reclaimer automatic job control unit in the central control unit and driving control system of central control room, the center
Control unit is communicated to connect with the reclaimer automatic job control unit.
Further technical solution is：The detection module further includes the radar wave material position being arranged in the rack
Meter, the radar wave level-sensing device is for measuring distance of the material heap below reclaimer away from rack.In this way, radar wave level-sensing device can be made
For heap shape detector failures when emergent sensor, ensure the present invention operating efficiency.
Further technical solution is：The reclaimer is scraper-type reclaimer, and the material fetching mechanism is scraping plate mechanism,
The both sides of the scraper-type reclaimer are equipped with walking mechanism, and the walking mechanism of the both sides of the scraper-type reclaimer is equipped with position
Measuring device is set, the heap shape detection sensor is arranged in the rack.
Further technical solution is：Pass through the work according to material extracting operation planned target and stock ground spatial positional information
It includes the material extracting operation of feeding weight, material kind, material heap regional location that industry parameter, which is inputted with the input of job state monitor terminal,
Director data, the material extracting operation director data sends control command and parameter to scraper reclaimer by control module, described
Scraper reclaimer receives order and is moved towards target location, and in motion process, the heap shape detection sensor detects scraper reclaimer
The geographical shape characteristic of lower section material heap is simultaneously sent to control module, and the Neosinocalamus affinis that the control module updates storage simultaneously passes through material
Field material heap distribution and material heap shape display terminal carry out real-time display, while position-measurement device sends the location information of detection
To control module, the location information of reception is calculated and compared the control module with the starting point coordinate determined, detects scraper plate
Whether reclaimer reaches predetermined start position；After position-measurement device detects that scraper reclaimer reaches predetermined start position,
Control module control walking mechanism continues movement and is travelled to predetermined final position, and the detection of heap shape detection sensor is pre- in driving process
Determine the newest heap shape of material heap between initial position and predetermined final position, be sent to control module, the control module update is deposited
The Neosinocalamus affinis of storage is simultaneously distributed and material heap shape display terminal carries out real-time display, while position-measurement device by stock ground material heap
The location information of detection is sent to control module, the control module by the location information of reception and the terminating coordinates that determine into
Row, which calculates, to be compared, and whether detection scraper reclaimer reaches predetermined final position；When position-measurement device detects scraper reclaimer
After reaching predetermined final position, control module controls scraper reclaimer backward going and returns to predetermined start position；Scraper reclaimer
After reaching predetermined start position, control module calculates scraping plate mechanism according to updated material heap terrain data and material extracting operation amount
Feeding angle and scraping plate mechanism reclaiming process under this feeding angle corresponding feeding walking starting and feeding stop bit
It sets, the control module moves according to result of calculation control luffing mechanism and scraping plate mechanism is driven to move, the angular transducer
The information of the scraping plate mechanism of detection and the angle of horizontal plane is sent to control module, the control module is by the scrapper conveyor of reception
The information of the angle of structure and horizontal plane and the feeding angle of scraping plate mechanism are calculated and compared until scraping plate mechanism reaches scheduled
Feeding angle；Control module controls scraping plate mechanism operation and carries out feeding, while controlling walking mechanism under current feeding angle
Feeding initial position is walked to feeding final position, and material extracting operation flowmeter described in reclaiming process is by the mass flow number of detection
According to control module is sent to, the mass flow data of reception are compared by the control module with the flow of setting, and are adjusted
The speed of service of walking mechanism ensures the actual flow of feeding close to setting flow, and update institute is by area in reclaiming process of walking
The material heap shape in domain, after reaching the feeding final position of this feeding angle, control module is detected according to material extracting operation flowmeter
Data judge whether the operation total amount for reaching feeding, be then to terminate material extracting operation, no, then control module is according to updated
Material heap terrain data and unfinished material extracting operation amount calculate the feeding angle and scraping plate mechanism feeding of scraping plate mechanism again
Corresponding feeding walking starting and feeding final position under this feeding angle in the process, and reclaimer is controlled according to result of calculation
Movement is until completing material extracting operation amount and terminating material extracting operation.
The unmanned control automatic material taking operation function in bar shaped stock ground can be achieved in the present invention, is simply joined in central control room
After number setting, the scraper reclaimer plan of fulfiling assignment is automatically controlled by control module, it is dry to be not required to artificial remote manual operation halfway
In advance, it while realizing that stock ground material heap is distributed the real-time display with material heap shape in the full operation process of feeding, and takes implement
Real-time status monitoring.
Further technical solution is：Reclaimer originates under scheduled feeding angle from feeding during material extracting operation
After the completion of position is walked to feeding final position, control module judges whether to reach according to the data that material extracting operation flowmeter detects
The workload of feeding is then to terminate material extracting operation, no, then judges whether the current angular of scraping plate mechanism is in operation interval
Minimum angle is then to terminate material extracting operation, no, then control module is according to updated material heap terrain data and unfinished
Material extracting operation amount calculate again scraping plate mechanism feeding angle and scraping plate mechanism reclaiming process in it is corresponding under this feeding angle
Feeding walking starting and feeding final position, and reclaimer movement is controlled until completing material extracting operation amount simultaneously according to result of calculation
Terminate material extracting operation.
Further technical solution is：The luffing mechanism is scraping plate lifting draft gear, the scraping plate lifting traction
Device puts the pitch angle that scraping plate lifting haulage cable adjusts scraping plate mechanism by volume.
Further technical solution is：The control module is by the material heap geography topographic data of reception with DEM figurate number
It is stored in data server according to format, and topographic data can be managed in complete feed place and be shown by being converted into 2D or 3D heap shapes, institute
It states 2D or 3D heap shapes and shows that including at least the name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape in complete feed field cuts open
Face figure information.So set, complete feed field material statistical information can in real time be recorded by this system, and looked by control module
Complete feed field material statistical information is ask, realizes the function of making an inventory of goods in a warehouse of complete feed field.
Further technical solution is：Stock ground uses the method for gridding by the region division in effective stockpiling area to connect
Continuous grid surface, the vertex of each grid cell has a three dimensional space coordinate value (x, y, z) on curved surface, and described three
Dimension space coordinate value a certain static three dimensions point using in stock ground represents material heap table as co-ordinate zero point, wherein x and y coordinates are referred to
The positional value of surface grids vertex in the horizontal direction, z values represent the height on material heap surface mesh vertex, i.e. material heap surface specified point
Height value, the size of grid can be adjusted according to the requirement of display precision.
So set, in scheduled coordinate system, the abscissa and ordinate that provide material heap any point can calculate
The height value of material heap surface specified point, to obtain whole shape characteristic data that surface can be obtained in material heap, then control module
Relevant control operation is carried out to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection sensing
Device can be the measurement and modeling including 3D laser scanners.
Further technical solution is：Stock ground heap shape and material heap distribution display use plane display mode, stock ground grid
The horizontal position on vertex is shown using numerical value, is highly shown using color ruler, and color ruler uses gradual manner.Such as color is redder
Color represents that height is higher, and green portion height is less than RED sector, and entire height gauge uses gradual manner, and black portions then indicate
The height of the mesh point is less than or equal to the zero plane value in stock ground Z-direction (short transverse).
Further technical solution is：Complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shapes are shown
In, the computation model of the heap annular volume of the material heap isIn formula, m and n are stock ground DEM landform
Grid number under data format, wherein m is the stock ground line number under DEM terrain data formats, and n is under DEM terrain data formats
Stock ground columns, hijFor the corresponding grid height value under the i-th row j row, V is the heap annular volume of material heap.
Further technical solution is：The control module obtains complete feed place reason topographic data by computing module
2D or 3D heap shapes including the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view information
It has been shown that, and each material heap progress name of material in show to 2D or 3D heap shapes according to the information to prestore in the control module
Mark.
Further technical solution is：The discharge port of the scraper-type reclaimer is equipped with outfeed belt conveyor structure, institute
It is ribbon conveyer to state conveying body, and the discharging point of the belt of the ribbon conveyer is equipped with impact idler and side carrying roller,
The side carrying roller turns forward along belt-conveying direction to be arranged in predetermined angular.The setting of impact idler can effectively slow down material and fall
Impact of the material process to belt ensures the stability of transport, and another outer roller will be arranged in the manner described above to generate phase with belt
To sliding speed, can effectively promote belt to return back to the center of ribbon conveyer, so limited can avoid belt deviation.
Further technical solution is：The discharge port of the scraper-type reclaimer is equipped with guide component, the discharge port
Material between ribbon conveyer is transported by the guide component, and the ribbon conveyer is equipped with deviation-resisting device for belts,
The deviation-resisting device for belts include for drive guide component to move and change guide component discharging point and belt it is opposite
The driving device of position and for measure its own arrive belt side distance detecting element, the detecting element, driving dress
It sets and is electrically connected with the control module, the control module stores the initial distance data between detecting element and belt side, institute
It states detecting element and its range data between belt side of detection is passed into control module, the control module is by reception
Range data is compared with the detecting element to prestore with the initial distance data between belt side, and is controlled according to comparison result
Driving device drives the movement of guide component to change itself and horizontal direction angle.So set, when detecting that sideslip occurs for belt,
Driving guide component movement is controlled the driving device by control module and changes its discharging point on belt, since discharging point changes
Cause belt bearing capacity change, discharging point is made to be in the center of belt, realizes the correction to belt deviation, effectively improve life
Efficiency is produced, the generation of production accident is reduced.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
Description of the drawings
The attached drawing for constituting the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Fig. 1 is a kind of structural schematic diagram of automatic material taking system involved by one embodiment of the present invention；
Fig. 2 is the material taking machine control system schematic diagram involved by one embodiment of the present invention；
Fig. 3 is that the reclaimer material extracting operation involved by one embodiment of the present invention controls process schematic；
Fig. 4 is the composition schematic diagram of the central control room involved by one embodiment of the present invention；
Fig. 5 is the schematic diagram of the material heap shaped grid representation of a surface method involved by one embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the reclaimer involved by one embodiment of the present invention；
Fig. 7 be in Fig. 6 of the present invention involved by comb machine K to structural schematic diagram.
In figure：
0 material heap, 11 rack, 12 scraping plate lifting haulage cable
13 scraping plate lifting draft gear, 14 walking mechanism, 15 outfeed belt conveyor structure
16 driving control system, 17 reclaimer automatic job control unit, 18 heap shape detection sensor
19 radar wave level-sensing device, 20 angular transducer, 21 material extracting operation flowmeter
22 position-measurement device, 24 scraping plate mechanism, 25 grid vertex
26 27 major ingredient broach of comb rack, 28 conveyer chain
29 transmission shaft, 30 rotation broach
Specific implementation mode
Present invention will now be described in detail with reference to the accompanying drawings., and the description of this part is only exemplary and explanatory, is not answered
There is any restriction effect to protection scope of the present invention.In addition, description of the those skilled in the art according to this document, it can be right
Feature in this document in embodiment and in different embodiments carries out the corresponding combination.
The embodiment of the present invention is as follows, referring to Figures 1 and 2, a kind of bar shaped stock ground automatic material taking system, including reclaimer, control
Molding block and detection module, the reclaimer include rack 11, material fetching mechanism and the walking mechanism 14 being arranged in rack 11,
The material fetching mechanism is connected with rack 11, and the material fetching mechanism adjusts its pitch angle, the walking mechanism by luffing mechanism
14 can move along the track being arranged in bar shaped stock ground, and the detection module includes at least special for detecting the geographical pattern of material heap 1
The heap shape detection sensor 18 of sign, the position-measurement device 22 for detecting the position of reclaimer on the track, for examining
It surveys the angular transducer 20 of the angle of material fetching mechanism with respect to the horizontal plane and is obtained from bar shaped stock ground for detecting material fetching mechanism
Weight of material flow material extracting operation flowmeter 21, the control module moves to according to material extracting operation target control reclaimer
Target location simultaneously carries out material extracting operation, and the detection module gives the data information transfer of detection to the control module, the control
Molding block obtains control result, the control by the data information combination material extracting operation target instruction target word of acquisition, by controlling operation
Module controls the walking mechanism 14, luffing mechanism, the corresponding motion action of material fetching mechanism progress according to control result and completes
Operative goals.
The present invention can be used for bar shaped unmanned material yard system material extracting operation, and large-scale bulk goods material heap 1 may be implemented, and realization takes comprehensively
Overall process automatic material taking operation in the case of expecting equipment at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground
On the basis of rate, the reclaiming capacity for playing reclaimer device and other functions, operates and monitors without operation driver in reclaimer device,
Personnel are not needed in Central Control Room and carry out whole control operation yet, to overcome existing bulk cargo stock yard the degree of automation it is low,
Operator's labor intensity height, the low defect low with utilization of area rate of operating efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1 and Fig. 4, the control module includes control
System, the distribution of stock ground material heap 1 and 1 shape display terminal of material heap and job parameter input and job state monitor terminal, the heap
Shape detection sensor 18 will detect the geographical shape characteristic data transfer of material heap 1 to control system, the geographical shape characteristic of the material heap 1
Real-time display is carried out by the distribution of stock ground material heap 1 and 1 shape display terminal of material heap, passes through job parameter input and operation shape
State monitor terminal, which inputs relevant material extracting operation instruction and controls reclaimer by control system, carries out corresponding motion action simultaneously
Complete material extracting operation.So set, personnel easy to operation input order remote control and monitor the operation process of the present invention.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1 and Fig. 2, the reclaimer is equipped with transmission and controls
System 16 processed, the control system include in the central control unit and driving control system 16 of centrally disposed control room
Reclaimer automatic job control unit 17, the central control unit and 17 communication link of reclaimer automatic job control unit
It connects.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the detection module further includes that setting exists
Radar wave level-sensing device 19 in the rack 11, the radar wave level-sensing device 19 are used to measure the material heap 1 below reclaimer away from machine
The distance of frame 11.In this way, emergent sensor when radar wave level-sensing device 19 can be used as heap shape detector failures, ensures the present invention's
Operating efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1 and Fig. 2, the reclaimer takes for scraper-type
Material machine, the material fetching mechanism are scraping plate mechanism 24, and the both sides of the scraper-type reclaimer are equipped with row at (being divided into high side and ground side)
Mechanism 14 is walked, the walking mechanism 14 of the both sides of the scraper-type reclaimer is equipped with position-measurement device 22, the heap shape detection
Sensor 18 is arranged in the rack 11.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3, according to material extracting operation planned target and material
Field spatial positional information includes feeding weight, material product by job parameter input and the input of job state monitor terminal
The material extracting operation director data of kind, 1 regional location of material heap, the material extracting operation director data pass through control module and send control life
It enabling and parameter is to scraper reclaimer, the scraper reclaimer receives order and is moved towards target location, in motion process, the heap shape
Detection sensor 18 detects the geographical shape characteristic of material heap 1 below scraper reclaimer and is sent to control module, the control mould
1 model of material heap that block updates storage simultaneously carries out real-time display by the distribution of stock ground material heap 1 and 1 shape display terminal of material heap, simultaneously
The location information of detection is sent to control module by position-measurement device 22, and the control module is by the location information of reception and really
Fixed starting point coordinate is calculated and compared, and whether detection scraper reclaimer reaches predetermined start position；When position-measurement device 22
After detecting that scraper reclaimer reaches predetermined start position, control module control walking mechanism 14 continues movement to predetermined stop bit
Set traveling, it is newest to detect material heap 1 between predetermined start position and predetermined final position for heap shape detection sensor 18 in driving process
Heap shape, be sent to control module, 1 model of material heap that the control module updates storage simultaneously pass through stock ground material heap 1 distribution and material
1 shape display terminal of heap carries out real-time display, while the location information of detection is sent to control module by position-measurement device 22,
The location information of reception is calculated and compared the control module with the terminating coordinates determined, and whether detection scraper reclaimer arrives
Up to predetermined final position；After position-measurement device 22 detects that scraper reclaimer reaches predetermined final position, control module control
Scraper reclaimer backward going processed returns to predetermined start position；After scraper reclaimer reaches predetermined start position, control module root
The feeding angle and scraping plate mechanism 24 of scraping plate mechanism 24 are calculated according to 1 terrain data of updated material heap and material extracting operation amount
In reclaiming process under this feeding angle corresponding feeding walking starting and feeding final position, the control module is according to calculating
Output control luffing mechanism move and drive scraping plate mechanism 24 move, the angular transducer 20 by the scraping plate mechanism 24 of detection with
The information of the angle of horizontal plane is sent to control module, and the control module is by the angle of the scraping plate mechanism 24 and horizontal plane of reception
The feeding angle of information and scraping plate mechanism 24 be calculated and compared until scraping plate mechanism 24 reaches scheduled feeding angle；Control
Module controls the operation of scraping plate mechanism 24 and carries out feeding, while controlling feeding start bit of the walking mechanism 14 under current feeding angle
It sets to feeding final position and walks, the mass flow data of detection are sent to by material extracting operation flowmeter described in reclaiming process 21
Control module, the mass flow data of reception are compared by the control module with the flow of setting, and adjust walking mechanism
14 speed of service ensures the actual flow of feeding close to setting flow, updated in reclaiming process of walking by region material
1 shape of heap, after reaching the feeding final position of this feeding angle, number that control module is detected according to material extracting operation flowmeter 21
It is then to terminate material extracting operation it is judged that whether reaching the operation total amount of feeding, no, then control module is according to updated material heap 1
Terrain data and unfinished material extracting operation amount calculate 24 feeding of feeding angle and scraping plate mechanism of scraping plate mechanism 24 again
Corresponding feeding walking starting and feeding final position under this feeding angle in the process, and reclaimer is controlled according to result of calculation
Movement is until completing material extracting operation amount and terminating material extracting operation.
The unmanned control automatic material taking operation function in bar shaped stock ground can be achieved in the present invention, is simply joined in central control room
After number setting, the scraper reclaimer plan of fulfiling assignment is automatically controlled by control module, it is dry to be not required to artificial remote manual operation halfway
In advance, while realizing that the real-time display and material extracting operation of the distribution of stock ground material heap 1 and 1 shape of material heap are set in the full operation process of feeding
Standby real-time status monitoring.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3, reclaimer is pre- during material extracting operation
After the completion of walking from feeding initial position to feeding final position under fixed feeding angle, control module is according to material extracting operation flow
The data of 21 detection of meter judge whether the operation total amount for reaching feeding, are then to terminate material extracting operation, no, then judge scraping plate mechanism
Whether 24 current angular is minimum angle in operation interval, is then to terminate material extracting operation, no, then control module is according to more
1 terrain data of material heap and unfinished material extracting operation amount after new calculate the feeding angle of scraping plate mechanism 24 again, and scrape
In 24 reclaiming process of trigger structure under this feeding angle corresponding feeding walking starting and feeding final position, and tied according to calculating
Fruit control reclaimer movement is until completing material extracting operation amount and terminating material extracting operation.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1 and 3, the luffing mechanism is scraping plate lifting
Draft gear 13, the scraping plate lifting draft gear 13 put scraping plate lifting haulage cable 12 by volume and adjust scraping plate mechanism 24
Pitch angle.
On the basis of above-described embodiment, in another embodiment of the present invention, the control module is geographical by the material heap 1 of reception
Topographic data is stored in DEM terrain data formats in data server, and can topographic data be managed in complete feed place and be passed through conversion
It is shown for 2D or 3D heap shapes, 2D the or 3D heaps shape shows name of material, the heap body including at least each material heap 1 in complete feed field
Product, heap shape angle of repose, heap shape sectional view information.So set, complete feed field material statistics can in real time be recorded by this system
Information, and complete feed field material statistical information is inquired by control module, realize the function of making an inventory of goods in a warehouse of complete feed field.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 5, stock ground will be had using the method for gridding
The region division in stockpiling area is imitated as continuous grid surface, the vertex of each grid cell has a three-dimensional space on curved surface
Between coordinate value (x, y, z), the three dimensional space coordinate value using in stock ground a certain static three dimensions point as refer to co-ordinate zero point,
Wherein x and y coordinates represent the positional value of 1 surface mesh vertex 25 of material heap in the horizontal direction, and z values represent 1 surface mesh of material heap
The height on vertex 25, the i.e. height value of 1 surface specified point of material heap, the size of grid can be adjusted according to the requirement of display precision
It is whole.
So set, in scheduled coordinate system, the abscissa and ordinate that provide 1 any point of material heap can calculate
Then the height value of 1 surface specified point of material heap controls mould to obtain whole shape characteristic data that surface can be obtained in material heap 1
Block carries out relevant control operation to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection passes
Sensor 18 can be the measurement and modeling including 3D laser scanners.
On the basis of above-described embodiment, in another embodiment of the present invention, stock ground heap shape and the distribution display of material heap 1 use plane
The horizontal position of display mode, stock ground grid vertex 25 is shown using numerical value, is highly shown using color ruler, and color ruler is using gradually
Change mode.Such as the more red representative height of color is higher, green portion height is less than RED sector, and entire height gauge uses gradual change
Mode, black portions then indicate that the height of the mesh point is less than or equal to the zero plane value in stock ground Z-direction (short transverse).
On the basis of above-described embodiment, in another embodiment of the present invention, complete feed place reason topographic data is converted into 2D or 3D
In the calculating process that heap shape is shown, the computation model of the heap annular volume of the material heap 1 isIn formula,
M and n is the grid number under the DEM terrain data formats of stock ground, wherein m is the stock ground line number under DEM terrain data formats, and n is
Stock ground columns under DEM terrain data formats, hijFor the corresponding grid height value under the i-th row j row, V is the heap shape of material heap 1
Volume.
On the basis of above-described embodiment, in another embodiment of the present invention, pattern number is managed in complete feed place by the control module
Include that the name of material of each material heap 1 in complete feed field, heap annular volume, heap shape angle of repose, heap shape are cutd open according to by computing module acquisition
2D the or 3D heap shapes of face figure information show, and each in being shown to 2D or 3D heap shapes according to the information to prestore in the control module
Material heap 1 carries out the mark of name of material.
On the basis of above-described embodiment, in another embodiment of the present invention, the discharge port of the scraper-type reclaimer is equipped with out
Expect that belt conveyor 15, the conveying body are ribbon conveyer, the discharging point of the belt of the ribbon conveyer is set
There are impact idler and side carrying roller, the side carrying roller turns forward along belt-conveying direction to be arranged in predetermined angular.Impact idler
Impact of the material blanking operation to belt can effectively be slowed down by being arranged, and ensure the stability of transport, another outer roller is according to above-mentioned side
Formula setting will generate opposite sliding speed with belt, can effectively promote belt to return back to the center of ribbon conveyer, such as
This limited can be avoided belt deviation.
On the basis of above-described embodiment, in another embodiment of the present invention, the discharge port of the scraper-type reclaimer, which is equipped with, leads
Expect that component, the material between the discharge port and ribbon conveyer are transported by the guide component, the ribbon conveyer is set
It includes for driving guide component to move and changing falling for guide component to have deviation-resisting device for belts, the deviation-resisting device for belts
The driving device of shots and the relative position of belt and for measuring its own detecting element for arriving belt side distance, it is described
Detecting element, driving device and the control module are electrically connected, and the control module stores between detecting element and belt side
Initial distance data, its range data between belt side of detection is passed to control module by the detecting element, described
The range data of reception is compared with the detecting element to prestore with the initial distance data between belt side by control module, and
It is controlled the driving device according to comparison result and the movement of guide component is driven to change itself and horizontal direction angle.So set, when detection
When sideslip occurs to belt, driving guide component movement is controlled the driving device by control module and changes its blanking on belt
Point makes discharging point be in the center of belt, realizes to belt deviation since discharging point variation causes belt bearing capacity change
Correction, effectively improve production efficiency, reduce the generation of production accident.It is preferred that the detecting element is photoelectric sensor or displacement
Sensor.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 6 and Fig. 7, the reclaimer includes comb rack
26 and the major ingredient rake and comb claw that are arranged on the comb rack 26, the reclaimer further includes that the driving major ingredient scraping is dynamic
Comb the driving device of material and the transmission mechanism for driving comb claw rotation comb material.
The feeding device of present invention comb machine in feeding is distributed in major ingredient rake towards when moving back and forth at material heap 1
The material on feeding face is stirred with the broach on comb claw, is allowed to fall on the bottom in feeding face, the feeding successively run
Device is transported, until will be transferred out on material transportation to material conveying device.The present invention is suitable for viscous material different areas of activity,
And to viscosity, strong material has good fluffing action, solves using traditional structure claw in the field of the operation of the stronger material of viscosity
Conjunction is due to the problems such as unsmooth and resulting work capacity of stream reduces, and excavating resistance increases.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 6 and Fig. 7, the comb claw includes several groups
The transmission shaft 29 and rotation broach 30, the transmission shaft 29 of cooperation comb material are connected with rotation broach 30, and the transmission mechanism includes
The motor that conveyer chain 28 and the driving conveyer chain 28 being surrounded on comb rack 26 move, the motor driving conveyer chain 28, which drives, to be passed
Moving axis 29 rotates, to drive the rotation broach 30 to rotate comb material along transmission shaft 29.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 6 and Fig. 7, the major ingredient rake includes several masters
Expect that broach 27, the major ingredient broach 27 are at least evenly distributed on the comb charge level of the comb rack 26, the driving device Packet driven
The reciprocating motion of major ingredient broach 27 carries out comb material.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of bar shaped stock ground automatic material taking system, including reclaimer, control module and detection module, the reclaimer include machine
Frame, material fetching mechanism and the walking mechanism being arranged in rack, the material fetching mechanism are connected with rack, and the material fetching mechanism passes through
Luffing mechanism adjusts its pitch angle, and the walking mechanism can be moved along the track being arranged in bar shaped stock ground, which is characterized in that
The detection module is included at least for detecting the heap shape detection sensor of material heap geography shape characteristic, existing for detecting reclaimer
The position-measurement device of position on the track, the angular transducer for detecting the angle of material fetching mechanism with respect to the horizontal plane
And the material extracting operation flowmeter for detecting the weight of material flow that material fetching mechanism is obtained from bar shaped stock ground, the control module
Target location is moved to according to material extracting operation target control reclaimer and carries out material extracting operation, and the detection module is by the number of detection
It is believed that breath passes to the control module, the control module passes through the data information combination material extracting operation target instruction target word of acquisition
It crosses control operation and show that control result, the control module control the walking mechanism, luffing mechanism, feeding according to control result
Mechanism carries out corresponding motion action and the target that fulfils assignment.
2. bar shaped stock ground automatic material taking system according to claim 1, which is characterized in that the control module includes control
System, the distribution of stock ground material heap and material heap shape display terminal and job parameter input and job state monitor terminal, the heap shape
Detection sensor will detect material heap geography shape characteristic data transfer to control system, and the material heap geography shape characteristic passes through material
Field material heap distribution and material heap shape display terminal carry out real-time display, are inputted with job state monitoring eventually by the job parameter
End inputs relevant material extracting operation instruction and controls the corresponding motion action of reclaimer progress by control system and complete feeding
Operation.
3. bar shaped stock ground automatic material taking system according to claim 2, which is characterized in that the detection module further includes setting
The radar wave level-sensing device in the rack is set, the radar wave level-sensing device is used to measure the material heap below reclaimer away from rack
Distance.
4. bar shaped stock ground automatic material taking system according to claim 2, which is characterized in that the reclaimer takes for scraper-type
Material machine, the material fetching mechanism are scraping plate mechanism, and the both sides of the scraper-type reclaimer are equipped with walking mechanism, and the scraper-type takes
The walking mechanism of the both sides of material machine is equipped with position-measurement device, and the heap shape detection sensor is arranged in the rack.
5. bar shaped stock ground automatic material taking system according to claim 4, which is characterized in that according to material extracting operation planned target
It includes feeding weight, material to be inputted with job state monitor terminal by job parameter input with stock ground spatial positional information
The material extracting operation director data of kind, material heap regional location, the material extracting operation director data are sent by control module and are controlled
To scraper reclaimer, the scraper reclaimer receives order and is moved towards target location for order and parameter, in motion process, the heap
The geographical shape characteristic of shape detection sensor detection scraper reclaimer lower section material heap is simultaneously sent to control module, the control module
The Neosinocalamus affinis that updates storage simultaneously is distributed and material heap shape display terminal carries out real-time display by stock ground material heap, while position is surveyed
The location information of detection is sent to control module by amount device, and the control module is by the location information of reception and the starting point that determines
Coordinate is calculated and compared, and whether detection scraper reclaimer reaches predetermined start position；When position-measurement device detects scraper plate
After reclaimer reaches predetermined start position, control module control walking mechanism continues movement and is travelled to predetermined final position, traveling
The newest heap shape of material heap between heap shape detection sensor detection predetermined start position and predetermined final position in the process, is sent to control
Molding block, Neosinocalamus affinis that the control module updates storage simultaneously are distributed and material heap shape display terminal is carried out by stock ground material heap
Real-time display, while the location information of detection is sent to control module by position-measurement device, the control module is by reception
Location information is calculated and compared with the terminating coordinates determined, and whether detection scraper reclaimer reaches predetermined final position；Work as position
It sets after measuring device detects that scraper reclaimer reaches predetermined final position, control module control scraper reclaimer backward going returns
Go back to predetermined start position；After scraper reclaimer reaches predetermined start position, control module is according to updated material heap terrain data
And it is corresponding under this feeding angle in the feeding angle and scraping plate mechanism reclaiming process of material extracting operation amount calculating scraping plate mechanism
Feeding walking starting and feeding final position, the control module luffing mechanism is controlled according to result of calculation and moves and drives and scrape
The information of the scraping plate mechanism of detection and the angle of horizontal plane is sent to control module by plate mechanism kinematic, the angular transducer,
The control module calculates the feeding angle of the information and scraping plate mechanism of the scraping plate mechanism of reception and the angle of horizontal plane
Compare until scraping plate mechanism reaches scheduled feeding angle；Control module controls scraping plate mechanism operation and carries out feeding, controls simultaneously
Feeding initial position of the walking mechanism under current feeding angle is walked to feeding final position, and feeding described in reclaiming process is made
The mass flow data of detection are sent to control module by industry flowmeter, the control module by the mass flow data of reception with
The flow of setting is compared, and adjusts the speed of service of walking mechanism, ensures that the actual flow of feeding close to setting flow, is gone
Walk in reclaiming process material heap shape of the update institute by region, after reaching the feeding final position of this feeding angle, control mould
The operation total amount that root tuber judges whether to reach feeding according to the data that material extracting operation flowmeter detects is then to terminate material extracting operation,
No, then control module calculates scraping plate mechanism again according to updated material heap terrain data and unfinished material extracting operation amount
Corresponding feeding walking originates and feeding stop bit under this feeding angle in feeding angle and scraping plate mechanism reclaiming process
It sets, and reclaimer movement is controlled until completing material extracting operation amount and terminating material extracting operation according to result of calculation.
6. bar shaped stock ground automatic material taking system according to claim 5, which is characterized in that reclaimer during material extracting operation
After the completion of walking from feeding initial position to feeding final position under scheduled feeding angle, control module is according to material extracting operation
The data of flowmeter detection judge whether the operation total amount for reaching feeding, are then to terminate material extracting operation, no, then judge scrapper conveyor
Whether the current angular of structure is minimum angle in operation interval, is then to terminate material extracting operation, no, then control module is according to more
Material heap terrain data and unfinished material extracting operation amount after new calculate the feeding angle and scrapper conveyor of scraping plate mechanism again
In structure reclaiming process under this feeding angle corresponding feeding walking starting and feeding final position, and controlled according to result of calculation
Reclaimer movement is until completing material extracting operation amount and terminating material extracting operation.
7. the bar shaped stock ground automatic material taking system according to claim 2~6 any one, which is characterized in that the pitching
Mechanism is scraping plate lifting draft gear, and the scraping plate lifting draft gear puts scraping plate lifting haulage cable by volume and adjusts scraper plate
The pitch angle of mechanism.
8. bar shaped stock ground automatic material taking system according to claim 7, which is characterized in that the control module is by reception
Material heap geography topographic data is stored in DEM terrain data formats in data server, and can topographic data be managed in complete feed place
It is shown by being converted into 2D or 3D heap shapes, 2D the or 3D heaps shape shows the material name including at least each material heap in complete feed field
Title, heap annular volume, heap shape angle of repose, heap shape sectional view information.
9. bar shaped stock ground automatic material taking system according to claim 8, which is characterized in that the method that stock ground uses gridding
It is continuous grid surface by the region division in effective stockpiling area, the vertex of each grid cell has one three on curved surface
Dimension space coordinate value (x, y, z), the three dimensional space coordinate value using in stock ground a certain static three dimensions point as refer to coordinate
Zero, wherein x and y coordinates represent the positional value of material heap surface mesh vertex in the horizontal direction, and z values represent material heap surface mesh
The size of the height on vertex, the i.e. height value of material heap surface specified point, grid can be adjusted according to the requirement of display precision.
10. bar shaped stock ground automatic material taking system according to claim 9, which is characterized in that stock ground heap shape and material heap distribution
Display uses plane display mode, and the horizontal position of stock ground grid vertex is shown using numerical value, is highly shown using color ruler, face
Color ruler uses gradual manner.
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| CN201810179522.0A CN108639777B (en) | 2018-03-05 | 2018-03-05 | Automatic material taking system for bar-shaped stock ground |
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| CN201810179522.0A CN108639777B (en) | 2018-03-05 | 2018-03-05 | Automatic material taking system for bar-shaped stock ground |
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| CN111470334A (en) * | 2020-04-16 | 2020-07-31 | 无锡中科电气设备有限公司 | Angle control method and device for semi-portal scraper reclaimer and storage medium |
| CN111470333A (en) * | 2020-04-16 | 2020-07-31 | 无锡中科电气设备有限公司 | Material pile scanning method and device of semi-portal scraper reclaimer and storage medium |
| CN113506058A (en) * | 2021-06-28 | 2021-10-15 | 邯郸钢铁集团有限责任公司 | Online automatic material distribution calculation method for output materials of stock yard |
| CN114933178A (en) * | 2022-05-31 | 2022-08-23 | 华电重工股份有限公司 | Material taking control method and control system for stable flow of scraper reclaimer |
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| CN114933178A (en) * | 2022-05-31 | 2022-08-23 | 华电重工股份有限公司 | Material taking control method and control system for stable flow of scraper reclaimer |
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