CN102642721B - Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer - Google Patents
Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer Download PDFInfo
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Abstract
The invention discloses a reclaiming control method of a bucket-wheel reclaimer and the bucket-wheel reclaimer. The bucket-wheel reclaimer is provided with a first detecting device for detecting a distance between a bucket wheel and a material. The method comprises the steps of: detecting the distance between the bucket wheel and the material, calculating a horizontal reclaiming depth of the bucket wheel according to the distance between the bucket wheel and the material, a radius of the bucket wheel and an angle between the first detecting device and a horizontal plane, controlling a bucket-wheel reclaimer traveling mechanism to stop advancing when the horizontal reclaiming depth is more than or equal to a set reclaiming depth threshold value so as to precisely control the horizontal feed distance of the bucket wheel, guarantee the stability of the reclaimed material flow, prevent the overloading caused by the excessive reclaiming depth of the bucket wheel, avoid the failure and guarantee the application safety of the bucket-wheel reclaimer.
Description
Technical field
The present invention relates to industrial machinery control field, particularly relate to a kind of bucket wheel reclaimer feeding control method and bucket wheel reclaimer.
Background technology
Bucket wheel reclaimer is a kind of bulk material heap taking equipment of high efficiency continous way, primarily of formations such as bucket wheel, jib, luffing mechanism, swing type mechanism, running mechanism, gate seat, trailer, central hopper, lubricating system, electric systems.Bucket wheel reclaimer material extracting operation process is: jib wraparound turns center steering motion, bucket wheel rotates and cuts material, and material being discharged to on the jib belt conveyer of swing type mechanism center position motion, the central blanking bucket device unloading that last material process is arranged on turn table and gate seat is on floor conveyor.After the scope of operation feeding at stockpile Width completes, advanced by running mechanism horizontal direction, drive bucket wheel reclaimer to advance, carry out the feeding of the next scope of operation.
At present, bucket wheel reclaimer to coordinate with speed of revolutions control bucket wheel feeding flow by controlling bucket wheel machine cart feeding distance, namely, current detection module detects corresponding faint ac voltage signal from the line current of motor of bucket-wheel current return, and be transported to the rectifying and voltage-stabilizing amplification process that current/voltage signal conversion module carries out signal, the described voltage signal amplifying process through rectifying and voltage-stabilizing is imported into feeding automatic control module, feeding automatic control module is according to the change of voltage signal, control swing type mechanism and running mechanism action, and the electric current that the action of swing type mechanism and running mechanism can affect bucket-wheel mechanism changes.
Existing bucket wheel reclaimer controls cart feeding distance by artificially judging or setting the running mechanism machine operation time, accuracy rate is lower, and regulate running mechanism action by measuring motor voltage signal, after generation bucket wheel reclaimer transships, row relax of going forward side by side can be found, now, likely damage is caused to bucket wheel reclaimer.
Therefore, a kind of bucket wheel reclaimer feeding control program is needed badly to solve the problem.
Summary of the invention
The object of the present invention is to provide a kind of bucket wheel reclaimer feeding control method and bucket wheel reclaimer, in order to realize accurately controlling bucket wheel horizontal feed distance, prevention bucket wheel feeding crosses the overload taken an advanced study, and guarantees the safety that bucket wheel reclaimer uses.
For this reason, the present invention adopts following technical scheme:
The embodiment of the present invention provides a kind of bucket wheel reclaimer feeding control method, bucket wheel reclaimer is provided with the first detecting device for detecting bucket wheel and material distance, the method comprises: the distance detecting bucket wheel and material, and according to the angle of the distance of described bucket wheel and material, bucket wheel radius and described first detecting device and horizontal surface, calculate bucket wheel feeding horizontal depth, when described feeding horizontal depth is more than or equal to the feeding depth threshold of setting, controls bucket wheel reclaimer running mechanism and halt.
The embodiment of the present invention provides a kind of bucket wheel reclaimer, comprise: comprise for feeding bucket wheel, for be elevated described bucket wheel jib, for controlling control setup that bucket wheel reclaimer traveling structure halts, for detecting the first detecting device of bucket wheel and material distance, and for detecting the second detection device of described jib luffing angle, described second detection device is installed on described jib, and described first detecting device is installed on described bucket wheel circle center position;
Described control setup is according to the angle of described bucket wheel and material distance, bucket wheel radius and described first detecting device and horizontal surface, calculate bucket wheel feeding horizontal depth, when described feeding horizontal depth is more than or equal to the feeding depth threshold of setting, controls bucket wheel reclaimer running mechanism and halt; Wherein, the angle of described first detecting device and horizontal surface is the initial angle sum of the jib luffing angle that detects of described second detection device and described first detecting device.
The above embodiment of the present invention, the first detecting device is utilized to detect the distance of bucket wheel and material, and according to the distance of bucket wheel and material, the angle calculation bucket wheel feeding horizontal depth of bucket wheel radius and the first detecting device and horizontal surface, when judging that bucket wheel feeding horizontal depth is more than or equal to default feeding depth threshold, control bucket wheel reclaimer running mechanism to halt, thus accurately can control bucket wheel horizontal feed distance, ensure the stability of feeding stream, prevention bucket wheel feeding crosses the overload taken an advanced study, avoid the generation of fault, ensure the safety that bucket wheel reclaimer uses.
Accompanying drawing explanation
The bucket wheel reclaimer structural representation that Fig. 1 provides for the embodiment of the present invention;
The bucket wheel reclaimer feeding control flow schematic diagram that Fig. 2 provides for the embodiment of the present invention;
The bucket wheel reclaimer reclaiming process schematic top plan view that Fig. 3 a provides for the embodiment of the present invention;
The bucket wheel reclaimer feeding longitudinal plane schematic diagram that Fig. 3 b provides for the embodiment of the present invention;
The first detecting device position view that Fig. 4 provides for the embodiment of the present invention;
The distance L1 of bucket wheel radius R, bucket wheel and material that Fig. 5 a, 5b provide for the embodiment of the present invention and the projection relation schematic diagram between the first detecting device and the angle beta of horizontal surface;
The schematic diagram of the second detection device detection jib luffing angle that Fig. 6 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the present invention, carry out clear, complete description to the technical scheme in the present invention, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
The embodiment of the present invention provides a kind of bucket wheel reclaimer, as shown in Figure 1, this bucket wheel reclaimer comprises structure: the first detecting device 11, second detection device 14, the 3rd detecting device 15, control setup 12, parameter input device 13, for the bucket-wheel mechanism 16 of feeding, for being elevated the luffing mechanism 20 of bucket wheel, arm belt mechanism 17, running mechanism 18 and swing type mechanism 19.
Control setup 12 can be realized by the combination of software or hardware or software and hardware, such as, realize by Programmable Logic Controller (Programmable Logic Controller, PLC).
First detecting device 11 is separately positioned on the both sides of bucket wheel reclaimer bucket wheel axis, for detecting the distance between bucket wheel and material in real time.In embodiments of the present invention, the first detecting device selects sensor, preferably, selects ultrasonic beam sensor.
Second detection device 14 is in order to detect jib luffing angle.
3rd detecting device 15 is for detecting the pivotal initial angle of jib and jib revolution termination point.
Parameter input device 13 is for inputting parameter preset and simultaneous display related test results information, and preferably, parameter input device comprises touch-screen.Operating personal can set cart feeding distance easily by touch-screen and be calculated the threshold value of the bucket feeding degree of depth by PLC according to degreeof turn, thus realizes the flexible control to feeding uninterrupted.
Control setup 12, for the distance of the bucket wheel that detects according to the first detecting device 11 and material, calculates bucket wheel feeding horizontal depth, and compared with the feeding depth threshold preset, controls bucket wheel reclaimer running mechanism and advance or stop.Control setup 12 also for controlling each mechanism of bucket wheel reclaimer, carries out material extracting operation.As shown in the figure, control setup 12 can control bucket-wheel mechanism 16 feeding, and transports material by arm belt mechanism 17; Control setup 12 can control running mechanism 18 and advance, and advances material extracting operation face; On same material extracting operation face, control setup 12 can control swing type mechanism 19 and turn round, in stockpile Width feeding; Control setup 12 can also control luffing mechanism 20 lifting or reduce jib, to stockpile layering feeding.
Bucket wheel reclaimer feeding control method is described in detail below in conjunction with Fig. 2, Fig. 3 a, Fig. 3 b, Fig. 4, first, to the initialization of bucket wheel reclaimer feeding control setup 12, feeding depth threshold is set in control setup 12, power and/or the material variety of feeding depth threshold and bucket wheel reclaimer are relevant, can also set jib revolution initial angle and jib revolution termination point in control setup 12, jib turns round initial angle and jib revolution termination point is relevant to the distance of stockpile width, bucket wheel reclaimer orbit and stockpile.Because stock ground specification is normally fixing, these parameters of distance of stockpile width, bucket wheel reclaimer orbit and stockpile are also fixing usually, therefore, it is also fixing that jib revolution initial angle and jib turn round end angle angle value.
When S. A. feeding conditions being possessed, opened by bucket wheel reclaimer cart to stockpile initial position, selection mode is S. A., sequence starting arm belt mechanism 17 and bucket-wheel mechanism 16.
As shown in the figure, the method comprises the following steps:
Step 21, the 3rd detecting device 15 detects current arm support degreeof turn.
Concrete, shown in composition graphs 3a, 3b, bucket wheel reclaimer is in reclaiming process, swing type mechanism 19 drive jib can in stockpile outside (clockwise direction) or outside to inside (anticlockwise direction) both direction revolution, bucket-wheel mechanism 16 carries out feeding according to arrow indication is S-shaped.
Step 22, control setup 12 judges whether current arm support degreeof turn equals default jib revolution initial angle or jib revolution termination point, if current arm support degreeof turn equals default jib revolution initial angle, or equals jib revolution termination point, then perform step 23; Otherwise perform step 27.
Concrete, control setup 12 receives after the 3rd detecting device 15 detects current arm support degreeof turn, initial angle is turned round and jib turns round termination point to comparing respectively with the jib preset, if current arm support degreeof turn equals default jib revolution initial angle, then illustrate that jib arrives border inside stockpile, if current arm support degreeof turn equals jib revolution termination point, then illustrate that jib arrives stockpile outer boundaries.When jib arrives border or outer boundaries inside stockpile, perform step 23, calculate bucket wheel feeding horizontal depth L; Otherwise, illustrate that jib is in the material region between revolution initial angle termination point, perform step 27, continue to control jib revolution feeding.
Step 23, control setup 12 controls bucket wheel reclaimer running mechanism 18 and advances, and utilizes the first detecting device 11 to detect the distance L1 of bucket wheel and material.
Concrete, composition graphs 3a, Fig. 4, describe the position of the first detecting device that inventive embodiments provides in detail, as shown in the figure, first detecting device 11 comprises right ultrasonic transduter 111 and left ultrasonic transduter 112, right ultrasonic transduter 111 and left ultrasonic transduter 112 are arranged at the both sides of the axis of bucket wheel reclaimer bucket-wheel mechanism 16 respectively, and right ultrasonic transduter 111 and left ultrasonic transduter 112 can launch ultrasonic beam respectively, in order to detect the distance L1 of bucket wheel and material.Right ultrasonic transduter 111 and left ultrasonic transduter 112 detect the distance L1 of bucket wheel and material by launching ultrasonic beam.
Step 24, control setup 12, according to the angle beta of the distance L1 of the bucket wheel detected and material, bucket wheel radius R and the first detecting device and horizontal surface, calculates bucket wheel feeding horizontal depth L
As shown in Fig. 5 a and Fig. 5 b, the first detecting device 11 provided for the embodiment of the present invention detects the schematic diagram of bucket wheel and material distance L1, as shown in Figure 5 a, track shown in dotted line is the track of the previous feeding of bucket wheel, track shown in solid line is the track of this feeding of bucket wheel, and bucket wheel feeding horizontal depth L is bucket wheel horizontal feed distance.Bucket wheel feeding horizontal depth L obtains according to bucket wheel radius R and the distance L1 of bucket wheel and material and the trigonometric function relation between the first detecting device 11 and the angle beta of horizontal surface.
Concrete, the relation between R, L, L1, β can be passed through formula (1)-(3) and represent:
b＝L1*sinβ； (1)；
b
2＝R
2-(d+L)
2； (2)；
d＝b*cosβ； (3)；
Formula (1)-(3) are out of shape, the computing formula of bucket wheel feeding horizontal depth L can be obtained:
Wherein, as shown in Figure 6, the angle beta=the first detecting device 11 initial angle θ+jib luffing angle α of the first detecting device 11 and horizontal surface.First detecting device 11 initial angle θ is for when jib level, and the angle of the first detecting device 11 and horizontal surface, preferably, the first detecting device 11 initial angle θ is 18 ~ 25 degree.When jib lifting, α is negative, and the angle between the first detecting device 11 and horizontal surface reduces; When jib declines, α is just, the angle between the first detecting device 11 and horizontal surface increases.
Therefore, the computing formula of bucket wheel feeding horizontal depth L is:
Concrete, the distance L1 of the current arm support degreeof turn, bucket wheel and the material that detect in above-mentioned steps and calculate the feeding horizontal depth L obtained and can be shown by touch-screen, handled easily personnel understand the working condition of bucket wheel reclaimer in time.
Step 25, control setup 12 judges whether the bucket wheel feeding horizontal depth L calculated is more than or equal to described default feeding depth threshold, if not, then perform step 23, control bucket wheel reclaimer running mechanism 18 and move on, and detect the distance L1 of bucket wheel and material, otherwise, perform step 26.
Step 26, control setup 12 controls bucket wheel reclaimer running mechanism 18 and halts.
Above-mentioned steps 23-26, by detecting the distance L1 of previous bucket wheel and material, calculate bucket wheel feeding horizontal depth L, when bucket wheel feeding horizontal depth L is less than threshold value, can control running mechanism 18 to move on, running mechanism 18 horizontal feed distance is bucket wheel feeding horizontal depth L.In running mechanism 18 advance process, the distance L1 of real-time detection bucket wheel and material, obtain bucket wheel feeding horizontal depth L (the horizontal feed distance of running mechanism 18), and whether real-time judge bucket wheel feeding horizontal depth L is more than or equal to feeding depth threshold, until when the bucket wheel feeding horizontal depth L calculated is more than or equal to this feeding depth threshold, controls running mechanism 18 and halt.
Step 27, control setup 12 controls swing type mechanism 19 and coordinates bucket-wheel mechanism 16 to carry out material extracting operation.
Concrete, when running mechanism 18 halts, illustrate that bucket wheel reclaimer has proceeded to next material extracting operation face, now can carry out material extracting operation on this material extracting operation face, that is, swing type mechanism 19 can be controlled and coordinate bucket wheel to carry out material extracting operation.
The above embodiment of the present invention, the first detecting device 11 is utilized to detect the distance L1 of bucket wheel and material, and according to the distance L1 of bucket wheel and material, bucket wheel radius R and the first detecting device 11 calculate bucket wheel feeding horizontal depth L with the angle beta of horizontal surface, when judging that bucket wheel feeding horizontal depth L is more than or equal to default feeding depth threshold, control bucket wheel reclaimer running mechanism 18 to halt, thus accurately can control bucket wheel horizontal feed distance, ensure the stability of feeding stream, prevention bucket wheel feeding crosses the overload taken an advanced study, avoid the generation of fault, ensure the safety that bucket wheel reclaimer uses.
Based on identical design, the embodiment of the present invention also provides a kind of bucket wheel reclaimer, as shown in Figure 1, this bucket wheel reclaimer comprises: for feeding bucket-wheel mechanism 16, for be elevated bucket wheel luffing mechanism 20 (jib), for controlling control setup 12 that traveling structure 18 halts, for detecting the first detecting device 11 of bucket wheel and material distance L1, and for detecting the second detection device 14 of jib luffing angle α, second detection device 14 is installed on jib, and this bucket wheel reclaimer also comprises the arm belt mechanism 17 for transmitting material.Wherein, first detecting device 11 can be installed on bucket wheel circle center position, first detecting device 11 also can be installed on other positions of bucket wheel reclaimer, the installation site of the first detecting device 11 is different, then the computing formula of bucket wheel feeding horizontal depth L is also different, and the embodiment of the present invention is installed on bucket wheel circle center position for the first detecting device 11 and is described.
Control setup 12 is according to bucket wheel and material distance L1, bucket wheel radius R and the first detecting device 11 angle with horizontal surface, calculate bucket wheel feeding horizontal depth L, when feeding horizontal depth is more than or equal to the feeding depth threshold of setting, controls running mechanism 18 and halt; Wherein, the first detecting device 11 and the angle beta of horizontal surface are the initial angle θ sum of the jib luffing angle α that detects of second detection device 14 and the first detecting device 11.
Concrete, control setup 12 obtains bucket wheel feeding horizontal depth L according to the trigonometric function relation between the distance L1 of bucket wheel radius R and bucket wheel and material and the angle (θ+α) of the first detecting device 11 and horizontal surface, wherein, described bucket wheel feeding horizontal depth L is bucket wheel horizontal feed distance.
Concrete, bucket wheel feeding horizontal depth L calculates according to aforesaid formula (5) and obtains.
Bucket wheel reclaimer is also provided with the 3rd detecting device 15 for detecting arm support rotation angle.If control setup 12 judges that the current arm support degreeof turn that the 3rd detecting device 15 detects equals default jib revolution initial angle or jib revolution termination point, then control the distance that the first detecting device 11 detects bucket wheel and material.
When jib level, the first detecting device 11 is initial angle with the angle of horizontal surface, and initial angle is 18 ~ 25 degree.
Power and/or the material variety of feeding depth threshold and bucket wheel reclaimer are relevant.
First detecting device 11 is preferably ultrasonic transduter.
Second detection device 14 is preferably angular transducer.
It will be appreciated by those skilled in the art that the module in the device in embodiment can carry out being distributed in the device of embodiment according to embodiment description, also can carry out respective change and be arranged in the one or more devices being different from the present embodiment.The module of above-described embodiment can merge into a module, also can split into multiple submodule further.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add required general hardware platform by software and realize, and can certainly pass through hardware, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium, comprising some instructions in order to make a station terminal equipment (can be mobile phone, Personal Computer, server, or the network equipment etc.) perform method described in each embodiment of the present invention.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (8)
1. a bucket wheel reclaimer feeding control method, it is characterized in that, bucket wheel reclaimer is provided with the first detecting device for detecting bucket wheel and material distance, the method comprises: the distance detecting bucket wheel axle center and material, and according to the angle of the distance of described bucket wheel axle center and material, bucket wheel radius and described first detecting device and horizontal surface, calculate bucket wheel feeding horizontal depth, when described feeding horizontal depth is more than or equal to the feeding depth threshold of setting, controls bucket wheel reclaimer running mechanism and halt;
Wherein, described bucket wheel feeding horizontal depth obtains according to bucket wheel radius and the distance of bucket wheel axle center and material and the trigonometric function relation between the first detecting device and the angle of horizontal surface;
Wherein, described bucket wheel reclaimer is provided with the second detection device for detecting jib luffing angle, and the angle of described first detecting device and horizontal surface is the initial angle sum of the jib luffing angle that detects of described second detection device and described first detecting device;
Wherein, described bucket wheel feeding horizontal depth is bucket wheel horizontal feed distance;
Described bucket wheel feeding horizontal depth is obtained by following formula:
Wherein, L is bucket wheel feeding horizontal depth; R is bucket wheel radius; L1 is the distance of bucket wheel axle center and material; θ is the first detecting device initial angle; α is the jib luffing angle that second detection device detects; (θ+α) is the angle of the first detecting device and horizontal surface.
2. bucket wheel reclaimer feeding control method as claimed in claim 1, is characterized in that,
Described bucket wheel feeding horizontal depth is bucket wheel horizontal feed distance.
3. bucket wheel reclaimer feeding control method as claimed in claim 1, it is characterized in that, bucket wheel reclaimer is provided with the 3rd detecting device for detecting arm support rotation angle, and the distance of described detection bucket wheel axle center and material, comprising:
If the current arm support degreeof turn that described 3rd detecting device detects equals default jib revolution initial angle or jib revolution termination point, detect the distance of bucket wheel axle center and material.
4. a bucket wheel reclaimer, it is characterized in that, comprise for feeding bucket wheel, for be elevated described bucket wheel jib, for controlling control setup that bucket wheel reclaimer traveling structure halts, for detecting the first detecting device of bucket wheel and material distance, and for detecting the second detection device of jib luffing angle, described second detection device is installed on described jib, and described first detecting device is installed on described bucket wheel circle center position;
Described control setup is according to the angle of described bucket wheel and material distance, bucket wheel radius and described first detecting device and horizontal surface, calculate bucket wheel feeding horizontal depth, when described feeding horizontal depth is more than or equal to the feeding depth threshold of setting, controls bucket wheel reclaimer running mechanism and halt; Wherein, the angle of described first detecting device and horizontal surface is the initial angle sum of the jib luffing angle that detects of described second detection device and described first detecting device;
Wherein, described control setup obtains described bucket wheel feeding horizontal depth according to bucket wheel radius and the distance of bucket wheel axle center and material and the trigonometric function relation between the first detecting device and the angle of horizontal surface;
Wherein, described bucket wheel feeding horizontal depth is obtained by following formula:
Wherein, L is bucket wheel feeding horizontal depth; R is bucket wheel radius; L1 is the distance of bucket wheel axle center and material; θ is the first detecting device initial angle; α is the jib luffing angle that second detection device detects; (θ+α) is the angle of the first detecting device and horizontal surface.
5. a kind of bucket wheel reclaimer as claimed in claim 4, is characterized in that, described bucket wheel feeding horizontal depth is bucket wheel horizontal feed distance.
6. a kind of bucket wheel reclaimer as claimed in claim 4, is characterized in that, bucket wheel reclaimer is provided with the 3rd detecting device for detecting arm support rotation angle;
If control setup judges that the current arm support degreeof turn that described 3rd detecting device detects equals default jib revolution initial angle or jib revolution termination point, then control the distance that the first detecting device detects bucket wheel axle center and material.
7. a kind of bucket wheel reclaimer as claimed in claim 4, is characterized in that, when jib level, the angle of described first detecting device and horizontal surface is initial angle, and described initial angle is 18 ~ 25 degree.
8. a kind of bucket wheel reclaimer as described in any one of claim 4-7, is characterized in that, described first detecting device is ultrasonic transduter; Described second detection device is angular transducer.
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| CN201210112107.6A CN102642721B (en) | 2012-04-17 | 2012-04-17 | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer |
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| CN104071583A (en) * | 2014-06-24 | 2014-10-01 | 大唐桂冠合山发电有限公司 | Anti-collision device for bucket wheel driving platform of bucket wheel machine |
| CN105892395A (en) * | 2016-05-31 | 2016-08-24 | 中交航局安装工程有限公司 | System and method for controlling instant material taking quantity of bucket wheel machine |
| CN106966185A (en) * | 2017-04-14 | 2017-07-21 | 中国神华能源股份有限公司 | For the method for core pile, system, reclaimer and stacker |
| CN108128638B (en) * | 2017-12-13 | 2021-12-07 | 泰富重工制造有限公司 | Automatic material taking method of material taking system |
| CN108147147B (en) * | 2017-12-13 | 2022-04-01 | 泰富重工制造有限公司 | Automatic intelligent material piling and taking system |
| CN108033279B (en) * | 2017-12-13 | 2021-12-07 | 泰富重工制造有限公司 | Automatic material stacking and taking system |
| CN108045973B (en) * | 2017-12-13 | 2022-02-01 | 泰富智能科技有限公司 | Automatic stacking method of stacking system |
| CN111302084B (en) * | 2020-03-11 | 2021-08-03 | 华能国际电力股份有限公司大连电厂 | Constant-flow material taking control system and method for bucket wheel type material taking machine |
| CN111792396B (en) * | 2020-07-17 | 2021-12-28 | 湖南长天自控工程有限公司 | Material taking system and method for circular stock ground |
| CN112158586A (en) * | 2020-09-25 | 2021-01-01 | 苏州寰宇新博环保设备工程有限公司 | Article gripping method, article gripping system, gripping control method, and gripping device |
| CN114180354A (en) * | 2021-12-07 | 2022-03-15 | 中交一航局安装工程有限公司 | System and method for judging arrival of automatic bucket-wheel reclaimer |
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