CN103732831A - Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator - Google Patents
Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Download PDFInfo
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- CN103732831A CN103732831A CN201280022138.0A CN201280022138A CN103732831A CN 103732831 A CN103732831 A CN 103732831A CN 201280022138 A CN201280022138 A CN 201280022138A CN 103732831 A CN103732831 A CN 103732831A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract 2
- 239000000126 substance Substances 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 abstract description 8
- 238000007599 discharging Methods 0.000 abstract 3
- 238000000605 extraction Methods 0.000 abstract 1
- 239000000523 sample Substances 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- SEQDDYPDSLOBDC-UHFFFAOYSA-N Temazepam Chemical compound N=1C(O)C(=O)N(C)C2=CC=C(Cl)C=C2C=1C1=CC=CC=C1 SEQDDYPDSLOBDC-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/26—Safety or control devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/02—Conveying equipment mounted on a dredger
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
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- General Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Control Of Conveyors (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to a method for detecting and tracking the position of a mobile transferring device/loading device of a bucket-wheel excavator or bucket chain excavator (1), which bucket-wheel excavator or bucket chain excavator comprises an extraction device (2) having a pivotable superstructure having an inclinable cantilever (4), a track-drivable substructure (9), and a transferring device (12) having a loading cantilever (13) and renders conveyed material by means of a bench conveyor (17) with/without an intermediately arranged mobile transfer conveyor (37). An open-loop/closed-loop control device (20) specifies the pivot angle and the inclination of the loading cantilever of the transferring device according to the signals of the following sensors: a sensor (21) for detecting the current spatial coordinates (xB/vB/zB) of the bucket-wheel excavator or bucket chain excavator (1), a sensor (22) for detecting the current spatial coordinates (xS/yS/zS) of the discharging conveyor, a sensor (23) for detecting the current longitudinal inclination and transverse inclination of the loading cantilever (13), a sensor (24) for detecting the current pivot angle of the loading cantilever (13), a sensor (26) for detecting the current distance of the loading cantilever (13) above the discharging conveyor, a sensor (27) for detecting the current vertical positioning of the loading cantilever (13) above the discharging conveyor, and a sensor for monitoring cover filling in/at the transfer point of the loading cantilever (13).
Description
Technical field
The present invention relates to a kind of for identifying and follow the tracks of the method for position of transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator, this excavator comprises with the excavating equipment (Gewinnungsger t) with the swingable superstructure (Oberbau) of tiltable cantilever, the substructure of can crawler type travelling and with the transfer device that loads cantilever, and in centre, be connected with band conveyor (Bandwagen, sometimes also referred to as portable reclaiming conveyer) or by step conveyer belt apparatus (Strossenbandanlage) transmission transportation thing or by similar transmission position transmission, transport thing be not connected with band conveyor in centre in the situation that.
Background technology
Bucket-wheel excavator common structure comprise with tiltable cantilever (thering is the bucket wheel that is fixed on this place) swingable superstructure, the substructure of can crawler type travelling and transfer device or with the loading attachment that comprises the loading cantilever of carrier tape.Be in operation, superstructure swings back and forth in the substructure of can crawler type travelling in its working region.By the material by its acquisition in exploiting field operation (Blockbetrieb) (step exploiting field operation (Strossenblockbetrieb) or exploiting field, side operation (Seitenblockbetrieb)) or transported substance, for example coal or refuse (Abraum) are transported to movably step conveyer belt apparatus to this bucket-wheel excavator.
Caterpillar bucket chain excavator is equipped with the swing mechanism for superstructure.This bucket chain excavator can dig and deep-cut in pattern (im Hoch-und Tiefschnitt) work upper.Excavator superstructure is held bucket ladder perpendicular to travel direction, and the movable part of its underpart is hinged on superstructure place and is suspended on cantilever place by one or more bucket ladder capstan winches (Eimerleiterwinden).(sometimes also referred to as annular) bucket chain without end is advanced on bucket ladder.Bucket chain excavator is equipped with transfer device.
The design of transfer device is considered, the adjustable angle between the carrier tape at transfer device in plan view (Grundriss) and step conveyer belt axis (Strossenbandachse).Oscillating motion by transfer device can make the distance of the unloading of transfer device and movably step conveyer belt apparatus and excavator axis (the central axis of=substructure of can crawler type travelling) match.Movably step conveyer belt apparatus is parallel to the travel direction of the substructure of can crawler type travelling of excavator (bucket chain excavator or bucket-wheel excavator) and mobile according to driving speed (Abbaufortschritt).
The middle band conveyor connecting is used in the operating radius that increases bucket-wheel excavator or bucket chain excavator while excavating in particular.
Free-revving engine when loading is to handle the swing mechanism/jack machinism of the loading cantilever of the carrier tape that comprises transfer device, also comprises handling loading chute (Verladeschurre) and loading (Bandbeladung) and control material flow or carry logistics for the conveyer belt that step conveyer belt apparatus or band conveyor are carried out according to the rules.By loading administrative staff (Verladew rter), realize this object.
This loading administrative staff handle for loading the swing mechanism/jack machinism of cantilever, and handle and load chute for carrying out according to the rules conveyer belt loading and controlling material flow.
Summary of the invention
Therefore the object of the invention is, provide a kind of for identifying and follow the tracks of the method for optimization of position of transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator.
Preamble in conjunction with claim 1, according to the present invention, this object realizes in the following manner, and adjusting/control device (being sometimes referred to as open/close control device) is stipulated pendulum angle and the inclination of the loading cantilever of transfer device according to the signal of following measuring value sensor:
For surveying the measuring value sensor of the current space coordinates of bucket-wheel excavator or bucket chain excavator,
For the measuring value sensor of the current space coordinates of the receiving belt of probe station stepwise conveyer belt apparatus or band conveyor,
For surveying, load the current fore-and-aft tilt of cantilever and the measuring value sensor of lateral inclination,
For surveying the measuring value sensor of the current pendulum angle that loads cantilever,
For surveying the measuring value sensor that loads the current distance of cantilever above the receiving belt above step conveyer belt apparatus or at band conveyor,
For surveying, load the measuring value sensor that the current vertical location of cantilever above the receiving belt above step conveyer belt apparatus or at band conveyor comprises surveying tape center,
Measuring value sensor for the excessive filling (ü bersch ü ttung) that monitors at the transmission position of loading cantilever/locate.
In particular, can utilize the advantage realizing according to the present invention to be, no longer need the loading administrative staff that add, because pass through swing mechanism/jack machinism that advised adjusting/control device is realized the loading cantilever of the carrier tape of handling the transfer device that has comprised the effect of transporting now, also comprise handling and load chute for the receiving belt of step conveyer belt apparatus or band conveyor being carried out to conveyer belt loading according to the rules, and realize and control material flow or carry logistics.In other words, by loading the automatic location (unattended) of cantilever, replace manual location for transported substance being delivered on the carrying device (step conveyer belt apparatus or with the band conveyor of receiving belt) of the effect of transporting.
Adjusting/control device is in the situation that notice that the band that the pollution of carrying device directly affects the receiving belt of step conveyer belt or band conveyor advances.In the situation that considering to be with transition, load transported substance.In transmitting position (transmission chute)/while locating to exist clogged up with material risk, signal is outputed to bucket-wheel excavator or bucket chain excavator and sentence to adjust and carry.
Typical applicable cases of the present invention is:
Band is useful on the bucket-wheel excavator of the loading cantilever being delivered on step conveyer belt apparatus,
Band is useful on the bucket chain excavator of the loading cantilever being delivered on step conveyer belt apparatus,
Band is useful on the bucket-wheel excavator of the loading cantilever on the band conveyor being delivered in the middle of being connected to,
Band is useful on the bucket-wheel excavator that is delivered to the charging appliance on step conveyer belt apparatus.
Provided in the dependent claims suitable design scheme of the present invention.
Accompanying drawing explanation
Below according to explaining the present invention at the embodiment shown in drawing.Wherein:
Fig. 1 shows the schematic diagram of the exploitation work that the step conveyer belt apparatus that utilizes bucket-wheel excavator or the bucket chain excavator of the transfer device/loading attachment comprise position changeable and comprise step conveyer belt carries out as critical piece, wherein, the transfer device of position changeable is implemented as with swing mechanism/jack machinism
Fig. 2 shows alternative form of implementation, therein, additionally between bucket-wheel excavator or bucket chain excavator and step conveyer belt apparatus, band conveyor is set.
The specific embodiment
The schematic diagram that has shown the exploitation work that the step conveyer belt apparatus (step ribbon conveyer) that utilizes bucket-wheel excavator or the bucket chain excavator of the transfer device that comprises position changeable and comprise step conveyer belt (working the conveyer belt of the effect of transporting) carries out as critical piece in Fig. 1, wherein, the transfer device of this position changeable is implemented as with swing mechanism/jack machinism.
This bucket-wheel excavator or bucket chain excavator 1 have for delivery of thing for example coal or refuse excavating equipment 2 and for delivery of the transfer device 12 of the position changeable of thing as critical piece.
For example, for bucket-wheel excavator, this excavating equipment 2 comprises:
At the distolateral bucket wheel 5 for delivery of transported substance that is fixed on cantilever 4 places, it comprises that chute 6 (transported substance transfer device) is for transported substance is delivered to receiving belt from bucket wheel 5,
In Fig. 1, not only show the travel direction 10 of substructure 9 but also shown the swaying direction/pendulum angle 8 of cantilever 4 on exploiting field width (Blockbreite), wherein, exploiting field width or pendulum angle are determined working range, that is to say the excavation amount (Abtrag) of transported substance.
Load cantilever 13 (discharge conveyer), it comprises carrier tape and loading chute 14 (transmission chute),
For loading the swing mechanism/jack machinism 15 (being fixed on excavating equipment 2 places) of cantilever 13,
For transported substance is delivered to the reception chute 7 (transported substance transfer device) of transfer device 12 from the receiving belt of cantilever 4.
Loading attachment 12 (as already mentioned) has the chute 14 of loading (rotary chute, transported substance transfer device, transmission chute) for transported substance is delivered to step conveyer belt apparatus 17 from loading cantilever 13.In addition, shown step conveyer belt axis 18, it has formed carrying device or the step conveyer belt apparatus 17Dai center of the effect of transporting.
In Fig. 2, show alternative form of implementation, therein, additionally between bucket-wheel excavator or bucket chain excavator and step conveyer belt apparatus, be provided with band conveyor.Can find out with the bucket-wheel excavator or the bucket chain excavator 1 that are fixed on the loading cantilever 13 on swing mechanism/jack machinism 15, wherein, load chute 14 and transported substance is delivered to receiving belt 39 places of band conveyor 37.Band conveyor 37 moves by means of being with tracked substructure 38 to be preferably parallel to step conveyer belt apparatus 17, and transported substance is delivered to the step conveyer belt place of step conveyer belt apparatus 17 by transmitting chute 40.
For the position of automatically identification and the variable transfer device 12/ of tracing positional or for transported substance is transported on step conveyer belt apparatus 17 or the receiving belt 39 of band conveyor 37 on the location of loading cantilever 13, following measuring value sensor is important:
For surveying the current space coordinates x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bmeasuring value sensor 21,
The current space coordinates x that is used for step conveyer belt axis 18 receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2) of probe station stepwise conveyer belt apparatus 17
s/ y
s/ z
s measuring value sensor 22,
For surveying, load the current fore-and-aft tilt of cantilever 13 and the measuring value sensor 23 of lateral inclination,
For surveying the measuring value sensor 24 of the current pendulum angle that loads cantilever 13,
For surveying the measuring value sensor 25 of the present load of loading cantilever 13,
Be used for surveying and load cantilever 13 with respect to the measuring value sensor 26 of the current distance of roadbed (Planum) or the current distance above the receiving belt 39 (according in the form of implementation of Fig. 2) above the step conveyer belt (according to the form of implementation of Fig. 1) of step conveyer belt apparatus 17 or at band conveyor 37
For surveying, load the measuring value sensor 27 that cantilever 13 comprises surveying tape center in step conveyer belt (according to the form of implementation of Fig. 1) top or the current vertical location above the receiving belt 39 (according in the form of implementation of Fig. 2) at band conveyor 37 of step conveyer belt apparatus 17
For the measuring value sensor 28 of the present load state of the step conveyer belt receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2) of probe station stepwise conveyer belt apparatus 17,
Measuring value sensor 29 for the possible current tape skew (Bandschieflauf) of the step conveyer belt receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2) of probe station stepwise conveyer belt apparatus 17
For surveying the measuring value sensor 30 when anterior angle position that loads chute 14,
For surveying the measuring value sensor 31 when top rake that loads chute 14,
For surveying the measuring value sensor 32 (impact protector) of the object within the hunting range of loading cantilever 13,
For surveying in the receiving belt of cantilever 4 and loading the measuring value sensor 33 (crash protection) that current band between the carrier tape of cantilever 13 exceeds (Band ü berstieg),
For surveying, exceed or loading the measuring value sensor 34 (crash protection) that the current band between the carrier tape of cantilever 13 and the receiving belt 39 of band conveyor 37 (according in the form of implementation of Fig. 2) exceeds loading current band between the carrier tape of cantilever 13 and the step conveyer belt of step conveyer belt apparatus 17 (according to the form of implementation of Fig. 1).
Following signal is transported to adjusting/control device 20:
The signal A of measuring value sensor 21,
The signal B of measuring value sensor 22,
The signal C of measuring value sensor 23,
The signal D of measuring value sensor 24,
The signal E of measuring value sensor 25,
The signal F of measuring value sensor 26,
The signal G of measuring value sensor 27,
The signal H of measuring value sensor 28,
The signal I of measuring value sensor 29,
The signal K of measuring value sensor 30,
The signal L of measuring value sensor 31,
The signal M of measuring value sensor 32,
The signal N of measuring value sensor 33, and
The signal O of measuring value sensor 34.This adjusting/control device 20 is processed these signals that are transferred, mutually combined in a predetermined manner and according to these signals and according to the theoretical value of the measuring value sensor for enumerating above default/parameter default 35 controls swing mechanism/jack machinism 15, load chute 14 and excavating equipment 2 if possible, see
For transfer device 12 control signal Q,
For what load chute 14, control signal R, and
For excavating equipment 2, control signal S.
At this adjusting/control device 20 according to the signal of following measuring value sensor to control pendulum angle and the inclination of loading cantilever 13 of the form regulation transfer device 12 of signal Q:
For surveying the current space coordinates x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bthe signal A of measuring value sensor 21,
Current space coordinates x for probe station stepwise conveyer belt apparatus 17 receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2)
s/ y
s/ z
sthe signal B of measuring value sensor 22,
For surveying the signal C that loads the current fore-and-aft tilt of cantilever 13 and the measuring value sensor 23 of lateral inclination,
For surveying the signal D of the measuring value sensor 24 of the current pendulum angle that loads cantilever 13,
Be used for surveying the signal F of the measuring value sensor 26 that loads the current distance of cantilever 13 above step conveyer belt apparatus 17 (according to the form of implementation of Fig. 1) top or the receiving belt 39 (according in the form of implementation of Fig. 2) at band conveyor 37
Be used for surveying the signal G that the current vertical location of loading cantilever 13 above step conveyer belt apparatus 17 (according to the form of implementation of Fig. 1) top or the receiving belt 39 (according in the form of implementation of Fig. 2) at band conveyor 37 comprises the measuring value sensor 27 at surveying tape center.
In addition pendulum angle and inclination that, adjusting/control device 20 loads chute 14 according to the signal of following measuring value sensor with the form regulation of signal R:
Signal H for the measuring value sensor 28 of the present load state of the step conveyer belt receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2) of probe station stepwise conveyer belt apparatus 17
Signal I for the measuring value sensor 29 of the possible current tape skew of the step conveyer belt receiving belt 39 (according to the form of implementation of Fig. 1) or band conveyor 37 (according in the form of implementation of Fig. 2) of probe station stepwise conveyer belt apparatus 17
For surveying the signal K of the measuring value sensor 30 when anterior angle position that loads chute 14,
For surveying the signal L of the measuring value sensor 31 when top rake that loads chute 14.
In order to regulate better/to control, additionally will be transported to adjusting/control device 20 for surveying the signal E of measuring value sensor 25 of the present load of the carrier tape that loads cantilever 13.Thus, identify possible clogged up with material (for example, due to wet material or transported substance) in loading chute 14 and as required output accordingly for excavating equipment 2 control signal S, for stopping bucket-wheel excavator or bucket chain excavator and avoiding excessively filling and load chute 14.
For fear of the collision (crash protection) loading between cantilever 13 and step conveyer belt apparatus 17, additionally will be transported to adjusting/control device 20 for surveying at the signal O that loads current band between the carrier tape of cantilever 13 and the step conveyer belt of step conveyer belt apparatus 17 (according to the form of implementation of Fig. 1) and exceed or loading the measuring value sensor 34 that the current band between the carrier tape of cantilever 13 or the receiving belt 39 of band conveyor 37 (according in the form of implementation of Fig. 2) exceeds.
For fear of loading for example collision between equipment or personnel of cantilever 13 and object, additionally will be transported to adjusting/control device 20 (crash protection) for surveying the signal M of the measuring value sensor 32 of the object within the hunting range of loading cantilever 13.
In generation, control signal R and Q and also when producing signal S, consider if possible this signal O, M.
Generally speaking, pass through advised adjusting/control obtain parts to be used high can mastery and obtain in particular the high of function (" unattended ") of expectation can mastery.By this adjusting/control realized with ambient influnence for example strong solar irradiation, heavy rain, snow, the independence of mist, frost.In addition realized (dampfend) coal of gasification or the insensitivity of transported substance.Obtained in the location of conveyer belt seamed edge and measurement and the band high precision aspect detection of travelling.In addition, equipment protection and personal protection under all service conditions, have been guaranteed.
List of reference characters
1 bucket-wheel excavator or bucket chain excavator
The excavating equipment of 2 bucket-wheel excavators or bucket chain excavator
3 swingable superstructures
4 tiltable cantilevers comprise receiving belt
5 bucket wheels
6 chutes
7 load the reception chute of cantilever 13
Swaying direction/the pendulum angle of 8 cantilevers 4 on the width of exploiting field
9 are with tracked substructure
The travel direction of 10 substructures 9
11?-
The transfer device of the position changeable of 12 bucket-wheel excavators or bucket chain excavator
13 load cantilever (discharge conveyer) comprises carrier tape
The loading chute of 14 transfer devices (rotary chute, conveying chute)
15 for loading the swing mechanism/jack machinism of cantilever
16?-
17 step conveyer belt apparatus (step tape transport device) comprise step conveyer belt
18 step conveyer belt axis=step conveyer belt apparatus 17Dai centers
19?–
20 adjustings/control device
21 for surveying the current space coordinates x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bmeasuring value sensor → signal A
The 22 current space coordinates x for probe station stepwise conveyer belt axis receiving belts 39 18 or band conveyor 37
s/ y
s/ z
smeasuring value sensor → signal B
23 load the current fore-and-aft tilt of cantilever 13 and measuring value sensor → signal C of lateral inclination for surveying
24 for surveying measuring value sensor → signal D of the current pendulum angle that loads cantilever 13
25 for surveying measuring value sensor → signal E of the present load of loading cantilever 13
26 load cantilever 13 with respect to measuring value sensor → signal F of current distance or the current distance above the receiving belt 39 above the step conveyer belt of step conveyer belt apparatus 17 or at band conveyor 37 of roadbed for surveying
27 load for surveying measuring value sensor → signal G that the current vertical location of cantilever 13 above the receiving belt 39 above the step conveyer belt of step conveyer belt apparatus 17 or at band conveyor 37 comprises surveying tape center
Measuring value sensor → signal H of the present load state of the receiving belt 39 28 step conveyer belts for probe station stepwise conveyer belt apparatus 17 or band conveyor 37
Measuring value sensor → signal I of the possible current tape skew of the receiving belt 39 29 step conveyer belts for probe station stepwise conveyer belt apparatus 17 or band conveyor 37
30 for surveying the measuring value sensor → signal K when anterior angle position that loads chute 14
31 for surveying the measuring value sensor → signal L when top rake that loads chute 14
32 for surveying measuring value sensor 32 (the crash protection) → signal M of the object within the hunting range of loading cantilever 13
33 measuring value sensor (the crash protection) → signal N that exceed for the current band of surveying between the receiving belt of cantilever 4 and the carrier tape of loading cantilever 13
34 exceed or are loading measuring value sensor 34 → signal O that the current band between the carrier tape of cantilever 13 and the receiving belt 39 of band conveyor 37 exceeds loading current band between the carrier tape of cantilever 13 and the step conveyer belt of step conveyer belt apparatus 17 for surveying
Preset/parameter of 35 theoretical values is default
36?-
37 band conveyors
38 are with tracked substructure
39 receiving belts
40 carry chute
Claims (6)
1. one kind for identification with follow the tracks of bucket-wheel excavator or the method for the position of the transfer device/loading attachment of the position changeable of bucket chain excavator (1), described bucket-wheel excavator or bucket chain excavator comprise with the excavating equipment (2) with the swingable superstructure of tiltable cantilever (4), the substructure (9) of can crawler type travelling and with the transfer device (12) that loads cantilever (13), and by step conveyer belt apparatus (17) transmission transportation thing or by similar transmission position transmission, transport thing in the situation that of being connected with band conveyor (37) or not being connected with band conveyor (37) in centre in centre, it is characterized in that, pendulum angle and inclination that adjusting/control device (20) is stipulated the loading cantilever (13) of described transfer device (12) according to the signal of following measuring value sensor:
Be used for surveying the current space coordinates (x of described bucket-wheel excavator or bucket chain excavator (1)
b/ y
b/ z
b) measuring value sensor (21),
Be used for surveying the current space coordinates (x of the receiving belt (39) of described step conveyer belt apparatus (17) or described band conveyor (37)
s/ y
s/ z
s) measuring value sensor (22),
Be used for surveying the current fore-and-aft tilt of described loading cantilever (13) and the measuring value sensor (23) of lateral inclination,
Be used for surveying the measuring value sensor (24) of the current pendulum angle of described loading cantilever (13),
Be used for surveying the measuring value sensor (26) of the current distance of described loading cantilever (13) above described step conveyer belt apparatus (17) top or the receiving belt (39) in described band conveyor (37),
Be used for surveying the measuring value sensor (27) that the current vertical location of described loading cantilever (13) above described step conveyer belt apparatus (17) top or the receiving belt (39) in described band conveyor (37) comprises surveying tape center
For monitoring the measuring value sensor of the excessive filling at transmission position at described loading cantilever (13)/locate.
2. method according to claim 1, wherein, described loading cantilever (13) is transported to transported substance by loading chute (14) that described step conveyer belt apparatus (17) is located or the receiving belt (39) of described band conveyor (37) is located, it is characterized in that pendulum angle and inclination that described adjusting/control device (20) is stipulated described loading chute (14) according to the signal of following measuring value sensor:
Be used for surveying the measuring value sensor (28) of present load state of the receiving belt (39) step conveyer belt or described band conveyor (37) of described step conveyer belt apparatus (17),
Be used for surveying the measuring value sensor (29) of possible current tape skew of the receiving belt (39) step conveyer belt or described band conveyor (37) of described step conveyer belt apparatus (17),
Be used for surveying the measuring value sensor (30) when anterior angle position of described loading chute (14),
Be used for surveying the measuring value sensor when top rake of described loading chute (14).
3. method according to claim 1 and 2, is characterized in that, additionally will be transported to described adjusting/control device (20) for surveying the signal of measuring value sensor (25) of present load of the carrier tape of described loading cantilever (13).
4. according to the method described in any one of the preceding claims, it is characterized in that, the signal of the measuring value sensor (33) additionally the current band for surveying between the receiving belt of described cantilever (4) and the carrier tape of described loading cantilever (13) being exceeded is transported to described adjusting/control device (20).
5. according to the method described in any one of the preceding claims, it is characterized in that, the signal of the measuring value sensor (34) additionally the current band for surveying between the carrier tape of described loading cantilever (13) and the receiving belt (39) of the step conveyer belt of described step conveyer belt apparatus (17) or described band conveyor (37) being exceeded is transported to described adjusting/control device (20).
6. according to the method described in any one of the preceding claims, it is characterized in that, additionally will be transported to described adjusting/control device (20) for surveying the signal of the measuring value sensor (32) of the object within the hunting range of described loading cantilever (13).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011100890A DE102011100890A1 (en) | 2011-05-07 | 2011-05-07 | Method for detecting and tracking the position of a portable transfer device / loading device of a bucket wheel excavator or bucket dredger |
| DE102011100890.3 | 2011-05-07 | ||
| PCT/EP2012/058202 WO2012152674A1 (en) | 2011-05-07 | 2012-05-04 | Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103732831A true CN103732831A (en) | 2014-04-16 |
| CN103732831B CN103732831B (en) | 2015-12-02 |
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| US (1) | US20140067194A1 (en) |
| EP (1) | EP2707547B1 (en) |
| CN (1) | CN103732831B (en) |
| AU (1) | AU2012252544B2 (en) |
| BR (1) | BR112013028622A2 (en) |
| CA (1) | CA2833999A1 (en) |
| CL (1) | CL2013003170A1 (en) |
| DE (1) | DE102011100890A1 (en) |
| HR (1) | HRP20150753T1 (en) |
| HU (1) | HUE026594T2 (en) |
| PE (1) | PE20141751A1 (en) |
| PL (1) | PL2707547T3 (en) |
| RS (1) | RS54115B1 (en) |
| RU (1) | RU2556095C1 (en) |
| WO (1) | WO2012152674A1 (en) |
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| CN108388109A (en) * | 2017-02-03 | 2018-08-10 | 淡水河谷公司 | Recycling machine control system and method |
| CN113661137A (en) * | 2019-04-03 | 2021-11-16 | 蒂森克虏伯工业解决方案股份公司 | Method and device for the automated operation of a conveyor system, in particular for use in surface mining |
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| CN104763430B (en) * | 2015-03-27 | 2017-06-16 | 华电重工股份有限公司 | The centering method and system of opencast mining equipment |
| US10504760B2 (en) * | 2017-06-28 | 2019-12-10 | Taiwan Semiconductor Manufacturing Company Ltd. | System for a semiconductor fabrication facility and method for operating the same |
| DE102018109498A1 (en) * | 2018-02-23 | 2019-08-29 | Liebherr-Components Biberach Gmbh | Bucket wheel excavator and method for controlling a bucket wheel excavator |
| AU2019204572B2 (en) | 2019-01-14 | 2022-02-10 | Joy Global Underground Mining Llc | Systems and methods for automated control of a beam stageloader bootend |
| DE102019200773A1 (en) | 2019-01-23 | 2020-07-23 | Thyssenkrupp Ag | Open pit arrangement and method for operating an open pit arrangement |
| CN112785644B (en) * | 2019-11-08 | 2022-03-18 | 大唐环境产业集团股份有限公司 | Bucket wheel machine cart walking positioning method based on image processing |
| CN113003149B (en) * | 2021-02-24 | 2022-08-05 | 中冶南方工程技术有限公司 | Control method for automatic material taking of cantilever type bucket-wheel stacker-reclaimer |
| US11939748B2 (en) | 2021-03-29 | 2024-03-26 | Joy Global Surface Mining Inc | Virtual track model for a mining machine |
| US11987961B2 (en) | 2021-03-29 | 2024-05-21 | Joy Global Surface Mining Inc | Virtual field-based track protection for a mining machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108388109A (en) * | 2017-02-03 | 2018-08-10 | 淡水河谷公司 | Recycling machine control system and method |
| CN108388109B (en) * | 2017-02-03 | 2021-04-13 | 淡水河谷公司 | Recovery machine control system and method |
| CN113661137A (en) * | 2019-04-03 | 2021-11-16 | 蒂森克虏伯工业解决方案股份公司 | Method and device for the automated operation of a conveyor system, in particular for use in surface mining |
Also Published As
| Publication number | Publication date |
|---|---|
| HRP20150753T1 (en) | 2015-09-11 |
| AU2012252544B2 (en) | 2015-09-03 |
| EP2707547B1 (en) | 2015-04-08 |
| CL2013003170A1 (en) | 2014-05-16 |
| AU2012252544A1 (en) | 2013-11-28 |
| WO2012152674A1 (en) | 2012-11-15 |
| HUE026594T2 (en) | 2016-06-28 |
| RS54115B1 (en) | 2015-12-31 |
| BR112013028622A2 (en) | 2017-01-24 |
| US20140067194A1 (en) | 2014-03-06 |
| EP2707547A1 (en) | 2014-03-19 |
| CN103732831B (en) | 2015-12-02 |
| PE20141751A1 (en) | 2014-11-19 |
| CA2833999A1 (en) | 2012-11-15 |
| DE102011100890A1 (en) | 2012-11-08 |
| PL2707547T3 (en) | 2015-09-30 |
| RU2556095C1 (en) | 2015-07-10 |
| RU2013154104A (en) | 2015-06-20 |
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