CN102502281A - Stacker as well as control method and device thereof - Google Patents
Stacker as well as control method and device thereof Download PDFInfo
- Publication number
- CN102502281A CN102502281A CN2011103379459A CN201110337945A CN102502281A CN 102502281 A CN102502281 A CN 102502281A CN 2011103379459 A CN2011103379459 A CN 2011103379459A CN 201110337945 A CN201110337945 A CN 201110337945A CN 102502281 A CN102502281 A CN 102502281A
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- stocker
- reclaimer
- control
- point
- windrow
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a stacker as well as a control method and device thereof, which are used for solving the problems that stacking through semiautomatic operation cannot be realized when various materials are stacked in a single stock ground arranged by a stroke collision block, and a driver manually controls the stacker to reciprocate in the prior art. The method comprises the following steps of: recording the current position point of the stacker when receiving a position recording instruction; then, recording the position point where the stacker reaches after running for a certain distance along a preset direction when receiving the position recording instruction again; and controlling the stacker to automatic reciprocate and stack according to the two recorded position points. Due to the adoption of the technical scheme of the invention, the labor intensity of the driver is lower under the condition that various materials are stacked in one stock ground, and higher control precision for the stacker can be achieved.
Description
Technical field
The present invention relates to technical field of engineering machinery, relate to a kind of stocker and control method thereof and device especially.
Background technology
Mixed-windrowed locomotive is a kind of construction machinery and equipment commonly used, and common and reclaimer is used, and realizes stacking and the transportation of material in the stock ground.Fig. 1 is the scheme drawing that a kind of stock ground of the prior art is arranged.As shown in Figure 1, the travel switch collision block of 11 to 19 expression mixed-windrowed locomotives has formed two stock grounds by these collision blocks layouts, wherein is stacked with 1A, two stockpiles of 1B respectively.Wherein 11,19 is mixed-windrowed locomotive end position collision block, and 12,18 is the spacing collision block of mixed-windrowed locomotive, and 14,16 for becoming the starting point collision block, and 13,17 is the fixed endpoint collision block, and 15 is the mid point collision block between 1A, two stockpiles of 1B.
Becoming round operation the between starting point 14 and the fixed endpoint 13 (or becoming starting point 16 and fixed endpoint 17) during the automatic windrow of stocker; When material high detection jib certain altitude that rises automatically when detecting signal; When the jib height is high more, mixed-windrowed locomotive is sensed and is become after the starting point mixed-windrowed locomotive to continue traveling also far away more up to the distance that stops.
According to prior art; Under the mode of operation of automatic windrow; Mixed-windrowed locomotive can only be to move between above-mentioned change starting point and the fixed endpoint in intrinsic scope, thus in the scope of each stockpile shown in Figure 1, can only stack a kind of material, lower for the degree of utilization in stock ground.To this; Common way of the prior art is in the scope of each stockpile shown in Figure 1, to choose a plurality of littler scopes by chaufeur; The control stocker is reciprocal windrow in each littler scope; Braking before at every turn returning needs to be realized by driver's operation; Need to confirm trip distance according to the height of jib to realize being similar to the controllable function of sensing after becoming starting point near reclaimer one side,, make the labour intensity of chaufeur big and not good in addition to the control accuracy of each reciprocal stroke length to satisfy the technological requirement of getting heap, getting material by the tractor driver.
In the prior art, when stacking multiple material in the single stock ground of being arranged by the stroke collision block, the labour intensity of chaufeur is big and not good to the control accuracy of each reciprocal stroke length.For this problem, effective solution is not proposed as yet at present.
Summary of the invention
Main purpose of the present invention provides a kind of stocker and control method and device; Solving in the prior art when stacking multiple material in the single stock ground of being arranged by the stroke collision block, the labour intensity of chaufeur is big and to the not good problem of control accuracy of each reciprocal stroke length.
To achieve these goals, according to an aspect of the present invention, a kind of method of controlling stocker is provided.
The method of control stocker of the present invention comprises: when receiving the current location point of location records when instruction record stocker, when receiving said location records instruction once more, write down said stocker then and move the location point that is arrived after the segment distance by preset direction; Control said stocker according to round operation of two said locations point of record and windrow.
According to a further aspect in the invention, a kind of device of controlling stocker is provided.
The device of control stocker of the present invention comprises: receiving-recording equipment; Be used for when receiving the current location point of location records when instruction record stocker, when receiving said location records instruction once more, write down said stocker then and move the location point that is arrived after the segment distance by preset direction; Control convenience is used to control said stocker according to round operation of two said locations point of record and windrow.
According to another aspect of the invention, a kind of stocker is provided, this stocker comprises the device of control stocker of the present invention.
According to technical scheme of the present invention; In the stock ground, write down two locations point and control stocker back and forth movement between these two locations point, and can write down many group locations point, every group of two locations point; The control stocker is back and forth movement between two locations point of each group respectively; Realized thus making a stock ground stack multiple material and every kind of material being carried out automatic windrow, and alleviated the labour intensity of chaufeur, and high control precision has been arranged.
Description of drawings
Figure of description is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the scheme drawing that a kind of stock ground of the prior art is arranged;
Fig. 2 is the key step scheme drawing according to the method for the control mixed-windrowed locomotive of the embodiment of the invention;
Fig. 3 is the scheme drawing according to a plurality of stock grounds section of the division of the embodiment of the invention;
Fig. 4 is the scheme drawing according to the element of the device of the control stocker of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
In the present embodiment; Mixed-windrowed locomotive writes down two locations point under the control of chaufeur; One of them is as becoming starting point, and Fig. 2 is the key step scheme drawing according to the method for the control mixed-windrowed locomotive of the embodiment of the invention, and this method can be realized by the controller of mixed-windrowed locomotive.Below explain for step shown in Figure 2.
Step S21: receiving position recording instruction.Thereby the button that this location records instruction is for example pushed on the control panel by the relevant equipment of the driver's operation of mixed-windrowed locomotive sends.
Step S23: the current location point of record mixed-windrowed locomotive.The recording mode of location point can be chosen flexibly, for example adopts the distance of a fixture in laser measurement mixed-windrowed locomotive and the stock ground, utilizes this distance to identify the position of mixed-windrowed locomotive.Also can adopt and count near switching pulse; Thereby near the wheel of mixed-windrowed locomotive or other and mechanism that mixed-windrowed locomotive rotates synchronously, install and make number near the switch counting be directly proportional near switch to adopt this counting to identify the position of mixed-windrowed locomotive with the miles of relative movement of mixed-windrowed locomotive; For example the current location of mixed-windrowed locomotive can adopt current existing count value to identify; Counting changed after mixed-windrowed locomotive moved a segment distance, and the change value can be used for identifying the new location of mixed-windrowed locomotive.
After mixed-windrowed locomotive moves a segment distance by preset direction, execution in step S25.This preset direction is that chaufeur expects that with getting direction is definite according to the position of reclaimer; Being used for specifying the information of this preset direction can be to be kept at controller in advance, also can before mixed-windrowed locomotive is by above-mentioned preset direction operation, use devices such as action button or handle to send to controller by chaufeur.Above-mentioned reclaimer is the reclaimer with the mixed-windrowed locomotive cooperating.
Step S25: receiving position recording instruction.This location records instruction is sent by chaufeur equally.
Step S27: the control mixed-windrowed locomotive comes and goes operation and windrow according to two locations point of record.
In this step; Can be with above-mentioned two locations point that write down respectively as being similar to fixed endpoint of the prior art and becoming starting point; With wherein apart from the nearest location point of reclaimer as becoming starting point, another location point is as fixed endpoint, thereby satisfies the technological requirement that heap is got material.
Particularly; In this step for the control of mixed-windrowed locomotive; Mainly comprise following two steps: steps A; The control mixed-windrowed locomotive is to direction motion and windrow near reclaimer, from then stocker being braked through delaying time according to the current height of mixed-windrowed locomotive jib apart from the moment of the nearest location point of reclaimer; And step B, the control mixed-windrowed locomotive is to direction motion and windrow away from reclaimer, from then mixed-windrowed locomotive being braked through delaying time by preset duration apart from the moment of reclaimer said location point farthest.
Distance between two above-mentioned locations point can be less than the length in stock ground; That is to say that these two locations point have calibrated a scope in the stock ground; Mixed-windrowed locomotive is crank motion in this scope, i.e. execution in step B after the execution in step A, execution in step A and step B successively again then.After execution of step A; Can provide service direction by chaufeur; Execution in step B then; Also can be to judge automatically by controller, this moment controller according to the position relation of the current position of mixed-windrowed locomotive and two locations point of record (be controller confirm mixed-windrowed locomotive more near the location point nearest apart from reclaimer, rather than apart from reclaimer location point farthest) confirm next need control mixed-windrowed locomotive and move to direction away from reclaimer.Similarly, after execution of step B, if judge service direction automatically by controller, then controller confirm mixed-windrowed locomotive more near be apart from reclaimer location point farthest, rather than the location point nearest apart from reclaimer.Automatically judge that by controller the benefit of mixed-windrowed locomotive service direction is to alleviate its work load without driver's operation.
Preferred operation scheme below in conjunction with mixed-windrowed locomotive remakes specific descriptions to its working process.
Chaufeur is got to automatic windrow mode with the mode select switch; Under automatic windrow mode; Controller is expected direction judgement mixed-windrowed locomotive direction according to the reclaimer position with getting, and the mixed-windrowed locomotive direction of moving first that chaufeur is provided is chosen as the direction that mixed-windrowed locomotive need move, and starts defeated material belt; Defeated material belt operation a period of time is for example after 6 seconds; Detect that mixed-windrowed locomotive starts by the direction of selecting first automatically behind the supplied materials signal of ground, chaufeur clicked the windrow scope and set button this moment, this moment controller with mixed-windrowed locomotive traveling position probing to data deposit a word the inside; And the data that may be locked in this word in this automatic operational process can't be revised; Guarantee the correctness and the safety of control, and controller write down first location point of automatic windrow, when mixed-windrowed locomotive runs to another end points of this windrow; Press windrow scope setting button once more and (can the distance travelled detected data of mixed-windrowed locomotive be deposited another word the inside equally; And be locked in this automatic operational process the data of this word and can't revise), note second location point of automatic windrow, remove the effect that moves the mixed-windrowed locomotive direction switch first simultaneously.Then the detected position data of mixed-windrowed locomotive and two good position datas of record are compared; Controller is judged the service direction of mixed-windrowed locomotive automatically; Beginning mixed-windrowed locomotive thus will move between two locations point that configure automatically; Even automatically operation stops the back restart routine, only otherwise artificially remove the data logging of two locations point, stocker is the windrow automatically in the scope the inside of setting still; Accomplish the artificial windrow scope setting recording data of removing up to this stockpile windrow.Get to mixed-windrowed locomotive service direction change-over swith first zero-bit and press the S. A. stop button and just can record data be removed.Carry out next section windrow like need, get final product by top operation again.
Can find out from above description; If once batching is 1,000 ten thousand tons; According to stock ground width and height needs with 100 meters long stock grounds; And whole stock ground length is 400 meters; This time between original change starting point and fixed endpoint automatically operation can't carry out, and the record through windrow scope set point data just can carry out automatic windrow (as: A stockpile section) to 100 meters scopes that the windrow scope is set in the stock ground conditions permit, the windrow section can be selected the stock ground section arbitrarily according to actual conditions.
Under the situation that realizes any selection stock ground section, can mark a plurality of stock grounds section in a stock ground, wherein each stock ground section can be stacked different material.Explain below in conjunction with Fig. 3.Fig. 3 is the scheme drawing according to a plurality of stock grounds section of the division of the embodiment of the invention.
As shown in Figure 3, suppose the stock ground is divided into P, Q, R, four stockpiles of S that the two ends, stock ground are represented with 3a and 3h respectively, are respectively arranged with end position collision block 31,32, and the spacing collision block 33,34 of mixed-windrowed locomotive.When if reclaimer rests between P stockpile and the Q stockpile; Getting the material technological requirement according to heap must set 3b, 3c, 3e, four points of 3g and be " change starting point "; 3a, 3d, 3f, four points of 3h are " fixed endpoint "; When if reclaimer rests between Q stockpile and the R stockpile, heap is got and is expected that technological requirement 3b, 3d, 3e, four points of 3g are " change starting point ", and 3a, 3c, 3f, four points of 3h are " fixed endpoint "; Q stockpile original " becoming starting point 3c " has become " fixedly starting point 3c " thus; Q stockpile original " fixed endpoint 3d " has become " become end points 3d ", and promptly multistage windrow technology is like this by illustrating four stockpile P, Q, R, S according to the position of reclaimer and get the material direction and set " change starting point " and " fixed endpoint " perhaps " change end points " and " fixedly starting point "; And can divide more multistage with the stock ground according to same principle; Get material technology so that satisfy the heap in any multistage stock ground, solved the original just drawback moved of windrow automatically of multiple stockpile batching of carrying out in the independent stock ground that configures, improved the degree of utilization in stock ground.
Fig. 4 is the scheme drawing according to the element of the device of the control stocker of the embodiment of the invention.As shown in Figure 4, the device 40 of the control stocker in the present embodiment mainly comprises receiving-recording equipment 41 and control convenience 42.Wherein receiving-recording equipment 41 is used for the current location point of record stocker when receiving the location records instruction, and the record stocker moves the location point that is arrived after the segment distance by preset direction when receiving the location records instruction once more then; Control convenience 42 is used to control stocker according to round operation of two locations point of record and windrow.
The device 40 of control stocker can also comprise direction reception facilities (not shown), is used to receive the information that is used to specify preset direction, and this preset direction is that basis expects that with getting direction is definite with the reclaimer position of stocker cooperating.
More than mixed-windrowed locomotive has been described the technical scheme of present embodiment as an example, this technical scheme can be applied in the stocker of other types.Stocker in the present embodiment comprises the device of the control stocker in the present embodiment.
Technical scheme according to present embodiment; In the stock ground, write down two locations point and control stocker back and forth movement between these two locations point, and can write down many group locations point, every group of two locations point; The control stocker is back and forth movement between two locations point of each group respectively; Realized thus making a stock ground stack multiple material and every kind of material being carried out automatic windrow, and alleviated the labour intensity of chaufeur, and high control precision has been arranged.
Obviously, it is apparent to those skilled in the art that above-mentioned each equipment of the present invention or each step can realize with the general calculation device; They can concentrate on the single computer device; Perhaps be distributed on the network that a plurality of computer device forms, alternatively, they can be realized with the executable program code of computer device; Thereby; Can they be stored in the memory storage and carry out, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by computer device.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a method of controlling stocker is characterized in that, comprising:
When receiving the current location point of location records when instruction record stocker, when receiving said location records instruction once more, write down the location point that said stocker arrives after moving a segment distance by preset direction then;
Control said stocker according to round operation of two said locations point of record and windrow.
2. method according to claim 1; It is characterized in that; Before said stocker is by said preset direction operation; Said method also comprises: receive the information that is used to specify said preset direction, said preset direction is that basis expects that with getting direction is definite with the position of the reclaimer of said stocker cooperating.
3. method according to claim 1 and 2 is characterized in that, controls said stocker according to round operation of two said locations point of record and windrow, comprises and alternately carries out following steps A and step B:
Steps A: control said stocker to direction motion and windrow, from delaying time then to said stocker braking according to the current height of said stocker jib through the moment apart from the nearest said location point of said reclaimer near said reclaimer;
Step B: control said stocker to direction motion and windrow, from delaying time then to said stocker braking by preset duration through the moment apart from said reclaimer said location point farthest away from said reclaimer.
4. method according to claim 3 is characterized in that,
Between the steps A of successively carrying out and step B, also comprise: next need control said stocker according to the current position of said stocker with the position relation affirmation of two locations point of record and move to direction away from said reclaimer;
Between the step B and steps A that successively carry out, also comprise: confirm next need control said stocker according to the current position of said stocker with the position relation of two locations point of record and move to direction near said reclaimer.
5. according to each described method in the claim 1 to 4, it is characterized in that said stocker is a mixed-windrowed locomotive.
6. a device of controlling stocker is characterized in that, comprising:
Receiving-recording equipment is used for when receiving the current location point of location records when instruction record stocker, when receiving said location records instruction once more, writes down said stocker then and moves the location point that is arrived after the segment distance by preset direction;
Control convenience is used to control said stocker according to round operation of two said locations point of record and windrow.
7. device according to claim 6 is characterized in that, also comprises the direction reception facilities, is used to receive the information that is used to specify said preset direction, and said preset direction is that basis expects that with getting direction is definite with the reclaimer position of said stocker cooperating.
8. according to claim 6 or 7 described devices, it is characterized in that said control convenience also is used for alternately carrying out following steps A and step B:
Steps A: control said stocker to direction motion and windrow, from delaying time then to said stocker braking according to the current height of said stocker jib through the moment apart from the nearest said location point of said reclaimer near said reclaimer;
Step B: control said stocker to direction motion and windrow, from delaying time then to said stocker braking by preset duration through the moment apart from said reclaimer said location point farthest away from said reclaimer.
9. device according to claim 8 is characterized in that, said control convenience also is used for:
Between the steps A of successively carrying out and step B, next need control said stocker according to the current position of said stocker with the position relation affirmation of two locations point of record and move to direction away from said reclaimer;
Between the step B and steps A that successively carry out, confirm next need control said stocker according to the current position of said stocker with the position relation of two locations point of record and move to direction near said reclaimer.
10. a stocker is characterized in that, comprises the device of each described control stocker in the claim 5 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110337945.9A CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
| PCT/CN2012/081979 WO2013063990A1 (en) | 2011-10-31 | 2012-09-26 | Stacker and control method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110337945.9A CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102502281A true CN102502281A (en) | 2012-06-20 |
| CN102502281B CN102502281B (en) | 2014-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110337945.9A Active CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
Country Status (2)
| Country | Link |
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| CN (1) | CN102502281B (en) |
| WO (1) | WO2013063990A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013063990A1 (en) * | 2011-10-31 | 2013-05-10 | 中联重科股份有限公司 | Stacker and control method and device thereof |
| CN103303652A (en) * | 2013-05-31 | 2013-09-18 | 嘉兴市一建机械制造有限公司 | Stacker |
| CN105197616A (en) * | 2015-11-04 | 2015-12-30 | 北方重工集团有限公司 | Reversible mobile crown block stockpiling device for coal storage yard |
| CN113581871A (en) * | 2021-08-24 | 2021-11-02 | 陕钢集团汉中钢铁有限责任公司 | Gradual change type blending ore stacking method |
| CN114476706A (en) * | 2021-12-08 | 2022-05-13 | 中交水运规划设计院有限公司 | Coal blending method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013063990A1 (en) * | 2011-10-31 | 2013-05-10 | 中联重科股份有限公司 | Stacker and control method and device thereof |
| CN103303652A (en) * | 2013-05-31 | 2013-09-18 | 嘉兴市一建机械制造有限公司 | Stacker |
| CN105197616A (en) * | 2015-11-04 | 2015-12-30 | 北方重工集团有限公司 | Reversible mobile crown block stockpiling device for coal storage yard |
| CN113581871A (en) * | 2021-08-24 | 2021-11-02 | 陕钢集团汉中钢铁有限责任公司 | Gradual change type blending ore stacking method |
| CN114476706A (en) * | 2021-12-08 | 2022-05-13 | 中交水运规划设计院有限公司 | Coal blending method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102502281B (en) | 2014-10-01 |
| WO2013063990A1 (en) | 2013-05-10 |
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Effective date of registration: 20170621 Address after: 410000 Hunan province Changsha hi tech Development Zone, Lin Yulu No. 288 Patentee after: Changsha ZOOMLION Environmental Industry Co., Ltd. Address before: Yuelu District City, Hunan province 410205 Changsha Changsha high tech Industrial Development Zone No. 57 Yuan Lu Valley Patentee before: Zoomlion Material Handling Equipment Co., Ltd. |