CN103732831B - For identifying and follow the tracks of the method for the position of the transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator - Google Patents
For identifying and follow the tracks of the method for the position of the transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator Download PDFInfo
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- CN103732831B CN103732831B CN201280022138.0A CN201280022138A CN103732831B CN 103732831 B CN103732831 B CN 103732831B CN 201280022138 A CN201280022138 A CN 201280022138A CN 103732831 B CN103732831 B CN 103732831B
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- measuring value
- value sensor
- cantilever
- conveyer belt
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- 238000012546 transfer Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000010355 oscillation Effects 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 239000000126 substance Substances 0.000 claims description 19
- 230000000694 effects Effects 0.000 abstract description 7
- 239000000523 sample Substances 0.000 description 10
- 239000000463 material Substances 0.000 description 7
- 239000003245 coal Substances 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 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
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention proposes a kind of method of position of transfer device/loading attachment of the position changeable for identifying and follow the tracks of bucket-wheel excavator or bucket chain excavator (1), described excavator comprises the excavating equipment (2) with the swingable superstructure with tiltable cantilever (4), can crawler type travel substructure (9) and with load cantilever (13) transfer device (12), and when centre is connected with band conveyor (37) or be not connected with band conveyor (37) in centre by step conveyer belt apparatus (17) transmission transport thing or by similar transmission position transmission transport thing.At this, adjustment/control device (20) specifies pendulum angle and the inclination of the loading cantilever (13) of described transfer device (12) according to the signal of following measuring value sensor: for detecting the current spatial coordinate (x of described bucket-wheel excavator or bucket chain excavator (1)
b/ y
b/ z
b) measuring value sensor (21), for having detected the current spatial coordinate (x of the conveyer belt apparatus of the effect of transporting
s/ y
s/ z
s) measuring value sensor (22), for the measuring value sensor (23) of the current fore-and-aft tilt and lateral inclination that detect described loading cantilever (13), for detecting the measuring value sensor (24) of the current oscillation angle of described loading cantilever (13), for detect described loading cantilever (13) play the effect of transporting conveyer belt apparatus above the measuring value sensor (26) of current distance, for detect described loading cantilever (13) play the effect of transporting conveyer belt apparatus above current vertical location measuring value sensor (27), for monitoring in the transmission position of described loading cantilever (13)/measuring value sensor of excessive filling at place.
Description
Technical field
The present invention relates to a kind of method of position of transfer device/loading attachment of the position changeable for identifying and follow the tracks of bucket-wheel excavator or bucket chain excavator, this excavator comprises the excavating equipment (Gewinnungsger t) with the swingable superstructure (Oberbau) with tiltable cantilever, can the substructure that travels of crawler type and with loading the transfer device of cantilever, and band conveyor (Bandwagen is connected with in centre, sometimes also referred to as portable reclaiming conveyer) or transport thing when centre is not connected with band conveyor by step conveyer belt apparatus (Strossenbandanlage) transmission transport thing or by the transmission of similar transmission position.
Background technology
Bucket-wheel excavator common structure comprise with tiltable cantilever (there is the bucket wheel being fixed on this place) swingable superstructure, can the substructure that travels of crawler type and transfer device or with the loading attachment of loading cantilever comprising carrier tape.Be in operation, superstructure can the substructure of crawler type traveling swing back and forth in its working region.The material obtained in exploiting field operation (Blockbetrieb) ((Strossenblockbetrieb) is run in step exploiting field or (Seitenblockbetrieb) is run in exploiting field, side) by it or transported substance such as coal or refuse (Abraum) are transported to moveable step conveyer belt apparatus by 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 (imHoch-undTiefschnitt) work in pattern upper.Excavator superstructure holds 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 winch (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 carrier tape at transfer device in plan view (Grundriss) and the adjustable angle between step conveyer belt axis (Strossenbandachse).The distance of the unloading of transfer device and moveable step conveyer belt apparatus and excavator axis (=can the central axis of substructure that travels of crawler type) can be made to match by the oscillating motion of transfer device.What moveable step conveyer belt apparatus was parallel to excavator (bucket chain excavator or bucket-wheel excavator) can the travel direction of substructure that travels of crawler type and mobile according to driving speed (Abbaufortschritt).
The middle band conveyor connected increases the operating radius of bucket-wheel excavator or bucket chain excavator when being used in excavation in particular.
Free-revving engine when loading is to handle the swing mechanism/jack machinism of the loading cantilever of the carrier tape comprising transfer device, also comprises handling loading chute (Verladeschurre) for carrying out step conveyer belt apparatus or band conveyor according to conveyer belt loading (Bandbeladung) specified and controlling material flow or conveying logistics.This object is realized by loading administrative staff (Verladew rter).
This loading administrative staff handle the swing mechanism/jack machinism for loading cantilever, and handle loading chute for carrying out conveyer belt loading according to the rules and controlling material flow.
Summary of the invention
Therefore the object of the invention is, provide a kind of method of optimization of position of transfer device/loading attachment of the position changeable for identifying and follow the tracks of bucket-wheel excavator or bucket chain excavator.
In conjunction with the preamble of claim 1, realize in the following manner according to this object of the present invention, namely adjustment/control device (being sometimes referred to as open/close control device) specifies pendulum angle and the inclination of the loading cantilever of transfer device according to the signal of following measuring value sensor:
For detecting the measuring value sensor of the current spatial coordinate of bucket-wheel excavator or bucket chain excavator,
For the measuring value sensor of the current spatial coordinate of the receiving belt of probe station stepwise conveyer belt apparatus or band conveyor,
The current fore-and-aft tilt of cantilever and the measuring value sensor of lateral inclination is loaded for detecting,
For detecting the measuring value sensor of the current oscillation angle of loading cantilever,
For detecting the measuring value sensor loading the current distance of cantilever above step conveyer belt apparatus or above the receiving belt of band conveyor,
For detecting the measuring value sensor loading the current vertical location of cantilever above step conveyer belt apparatus or above the receiving belt of band conveyor and comprise surveying tape center,
For monitoring in the transmission position of loading cantilever/measuring value sensor of excessive filling (ü bersch ü ttung) at place.
In particular, the advantage realized according to the present invention can be utilized to be, no longer need the loading administrative staff added, because pass through now advised adjustment/control device to realize handling the swing mechanism/jack machinism having comprised the loading cantilever of the carrier tape of the transfer device of the effect of transporting, also comprise handling and load chute for the conveyer belt loading carried out the receiving belt of step conveyer belt apparatus or band conveyor according to regulation, and realize controlling material flow or conveying logistics.In other words, the automatic location (unattended) by loading cantilever replaces manual location for being delivered to by transported substance on the carrying device (step conveyer belt apparatus or the band conveyor with receiving belt) of the effect of transporting.
Adjustment/control device directly affects the receiving belt of step conveyer belt or band conveyor band when noting the pollution of carrying device is advanced.Transported substance is loaded when considering band transition.When transmitting in position (transmission chute)/place there is clogged up with material risk time, signal is outputted to bucket-wheel excavator or adjustment conveying sentenced by bucket chain excavator.
Typical applicable cases of the present invention is:
With the bucket-wheel excavator for being delivered to the loading cantilever on step conveyer belt apparatus,
With the bucket chain excavator for being delivered to the loading cantilever on step conveyer belt apparatus,
With the bucket-wheel excavator for being delivered to the loading cantilever be connected on middle band conveyor,
With the bucket-wheel excavator for being delivered to the charging appliance on step conveyer belt apparatus.
Give suitable design scheme of the present invention in the dependent claims.
Accompanying drawing explanation
The present invention is explained below according to the embodiment shown in drawing.Wherein:
Fig. 1 shows the schematic diagram of the exploitation work utilizing the step conveyer belt apparatus comprising the bucket-wheel excavator of the transfer device/loading attachment of position changeable or bucket chain excavator and comprise step conveyer belt to carry 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, additionally arranges band conveyor at bucket-wheel excavator or between bucket chain excavator and step conveyer belt apparatus wherein.
Detailed description of the invention
Show the schematic diagram of the exploitation work utilizing the step conveyer belt apparatus (step ribbon conveyer) comprising the bucket-wheel excavator of the transfer device of position changeable or bucket chain excavator and comprise step conveyer belt (working the conveyer belt of the effect of transporting) to carry out as critical piece in FIG, 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 the excavating equipment 2 for transported substance such as coal or refuse and the transfer device 12 for the position changeable of transported substance as critical piece.
Such as bucket-wheel excavator, this excavating equipment 2 comprises:
Swingable superstructure 3, it is with the tiltable cantilever 4 comprising receiving belt fixed thereon,
Be fixed on the bucket wheel 5 for carrying transported substance at cantilever 4 place in side, it comprises chute 6 (transported substance transfer device) and is delivered to receiving belt for by transported substance from bucket wheel 5,
Substructure 9 with tracked wheeled.
Not only show the travel direction 10 of substructure 9 in FIG and show the swaying direction/pendulum angle 8 of cantilever 4 on exploiting field width (Blockbreite), wherein, exploiting field width or pendulum angle determination working range, that is the excavation amount (Abtrag) of transported substance.
Transfer device 12 comprises:
Load cantilever 13 (discharge conveyer), it comprises carrier tape and loads chute 14 (transmission chute),
For loading the swing mechanism/jack machinism 15 (being fixed on excavating equipment 2 place) of cantilever 13,
For transported substance to be 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 loading chute 14 (rotary chute, transported substance transfer device, transmission chute) and is delivered to step conveyer belt apparatus 17 for by transported substance from loading cantilever 13.In addition, show step conveyer belt axis 18, it has formed the carrying device of the effect of transporting or the band center of step conveyer belt apparatus 17.
Show alternative form of implementation in fig. 2, be additionally provided with band conveyor at bucket-wheel excavator or between bucket chain excavator and step conveyer belt apparatus wherein.The bucket-wheel excavator with the loading cantilever 13 be fixed on swing mechanism/jack machinism 15 or bucket chain excavator 1 can be found out, wherein, load receiving belt 39 place that transported substance is delivered to band conveyor 37 by chute 14.Band conveyor 37 is preferably parallel to step conveyer belt apparatus 17 by means of the tracked substructure 38 of band and moves, and transported substance is delivered to the step conveyer belt place of step conveyer belt apparatus 17 by transmission chute 40.
For automatically identify and the variable transfer device 12/ of tracing positional position or for transported substance is transported on step conveyer belt apparatus 17 or band conveyor 37 receiving belt 39 on the location of loading cantilever 13, following measuring value sensor is important:
For detecting the current spatial coordinate x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bmeasuring value sensor 21,
For probe station stepwise conveyer belt apparatus 17 step conveyer belt axis 18 (according in the form of implementation of Fig. 1) or the current spatial coordinate x of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
s/ y
s/ z
smeasuring value sensor 22,
The current fore-and-aft tilt of cantilever 13 and the measuring value sensor 23 of lateral inclination is loaded for detecting,
For detecting the measuring value sensor 24 of the current oscillation angle of loading cantilever 13,
For detecting the measuring value sensor 25 of the present load of loading cantilever 13,
For detecting the measuring value sensor 26 loading the current distance of cantilever 13 relative to roadbed (Planum) or the step conveyer belt at step conveyer belt apparatus 17 (according in the form of implementation of Fig. 1) top or the current distance in receiving belt 39 (according in the form of implementation of Fig. 2) top of band conveyor 37
The measuring value sensor 27 at surveying tape center is comprised for detecting the current vertical location of loading step conveyer belt (according in the form of implementation of Fig. 1) top of cantilever 13 at step conveyer belt apparatus 17 or receiving belt 39 (according in the form of implementation of Fig. 2) top at band conveyor 37
For probe station stepwise conveyer belt apparatus 17 step conveyer belt (according in the form of implementation of Fig. 1) or the measuring value sensor 28 of current loading condition of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
For probe station stepwise conveyer belt apparatus 17 step conveyer belt (according in the form of implementation of Fig. 1) or the measuring value sensor 29 of possible current tape skew (Bandschieflauf) of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
For detecting the measuring value sensor 30 of the current angle position loading chute 14,
For detecting the measuring value sensor 31 of the current tilt loading chute 14,
For detecting the measuring value sensor 32 (impact protector) of the object within the hunting range of loading cantilever 13,
The measuring value sensor 33 (crash protection) of (Band ü berstieg) is exceeded for the current band detected between the receiving belt and the carrier tape loading cantilever 13 of cantilever 4,
The measuring value sensor 34 (crash protection) that the current band between the carrier tape of cantilever 13 and the step conveyer belt (according in the form of implementation of Fig. 1) of step conveyer belt apparatus 17 exceeds or current band between the carrier tape loading cantilever 13 and the receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37 exceeds is being loaded for detecting.
Following signal is transported to adjustment/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 adjustment/control device 20 processes these signals be transferred, be combined with each other in a predetermined manner and according to these signals and according to the theoretical value being used for the above measuring value sensor enumerated preset/parameter presets 35 manipulation swing mechanism/jack machinisms 15, loads chute 14 and excavating equipment 2 if possible, see
For the manipulation signal Q of transfer device 12,
For loading the manipulation signal R of chute 14, and
For the manipulation signal S of excavating equipment 2.
Specify pendulum angle and the inclination of the loading cantilever 13 of transfer device 12 with the form manipulating signal Q according to the signal of following measuring value sensor at this adjustment/control device 20:
For detecting the current spatial coordinate x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bthe signal A of measuring value sensor 21,
For probe station stepwise conveyer belt apparatus 17 (according in the form of implementation of Fig. 1) or the current spatial coordinate x of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
s/ y
s/ z
sthe signal B of measuring value sensor 22,
For detecting the signal C loading the current fore-and-aft tilt of cantilever 13 and the measuring value sensor 23 of lateral inclination,
For detecting the signal D of the measuring value sensor 24 of the current oscillation angle of loading cantilever 13,
For detecting the signal F of the measuring value sensor 26 loading the current distance of cantilever 13 above step conveyer belt apparatus 17 (according in the form of implementation of Fig. 1) or in receiving belt 39 (according in the form of implementation of Fig. 2) top of band conveyor 37
Cantilever 13 is loaded at step conveyer belt apparatus 17 (according in the form of implementation of Fig. 1) top or the signal G comprising the measuring value sensor 27 at surveying tape center in the current vertical location of receiving belt 39 (according in the form of implementation of Fig. 2) top of band conveyor 37 for detecting.
In addition, adjustment/control device 20 specifies pendulum angle and the inclination of loading chute 14 according to the signal of following measuring value sensor with the form of signal R:
For probe station stepwise conveyer belt apparatus 17 step conveyer belt (according in the form of implementation of Fig. 1) or the signal H of measuring value sensor 28 of current loading condition of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
For probe station stepwise conveyer belt apparatus 17 step conveyer belt (according in the form of implementation of Fig. 1) or the signal I of measuring value sensor 29 of possible current tape skew of receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37
For detecting the signal K of the measuring value sensor 30 of the current angle position loading chute 14,
For detecting the signal L of the measuring value sensor 31 of the current tilt loading chute 14.
Regulate to carry out better/control, additionally the signal E of the measuring value sensor 25 being used for the present load detecting the carrier tape loading cantilever 13 is transported to adjustment/control device 20.Thus, identify in the possible clogged up with material (such as due to wet material or transported substance) of loading in chute 14 and export as required accordingly for the manipulation signal S of excavating equipment 2, avoiding excessively filling loading chute 14 for stopping bucket-wheel excavator or bucket chain excavator.
In order to avoid loading the collision (crash protection) between cantilever 13 and step conveyer belt apparatus 17, additionally the signal O being used for the measuring value sensor 34 that the current band detected between the carrier tape loading cantilever 13 and the step conveyer belt (according in the form of implementation of Fig. 1) of step conveyer belt apparatus 17 exceeds or exceeds at the current band loaded between the carrier tape of cantilever 13 or the receiving belt 39 (according in the form of implementation of Fig. 2) of band conveyor 37 is being transported to adjustment/control device 20.
In order to avoid in loading cantilever 13 and the collision between object such as equipment or personnel, additionally the signal M of the measuring value sensor 32 being used for the object detected within the hunting range of loading cantilever 13 is transported to adjustment/control device 20 (crash protection).
This signal O, M is considered when producing manipulation signal R and Q if possible also at generation signal S.
Generally speaking, pass through advised adjustment/control obtain parts to be used high can mastery and obtain the high of the function (" unattended ") expected in particular can mastery.By this adjustment/control realization the solar irradiation such as strong with ambient influnence, heavy rain, snow, the independence of mist, frost.In addition, the insensitivity to (dampfend) coal gasified or transported substance is achieved.Obtain precision high in the location of conveyer belt seamed edge and measurement and the detection of band traveling.In addition, ensure that equipment protection and personal protection under all operating conditions.
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
The reception chute of 7 loading cantilevers 13
Swaying direction/the pendulum angle of 8 cantilevers 4 on the width of exploiting field
The tracked substructure of 9 band
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 (rotary chute, conveying chute) of 14 transfer devices
15 for loading the swing mechanism/jack machinism of cantilever
16-
17 step conveyer belt apparatus (step tape transport device) comprise step conveyer belt
The band center of 18 step conveyer belt axis=step conveyer belt apparatus 17
19–
20 adjustments/control device
21 for detecting the current spatial coordinate x of bucket-wheel excavator or bucket chain excavator 1
b/ y
b/ z
bmeasuring value sensor → signal A
22 for probe station stepwise conveyer belt axis 18 or the current spatial coordinate x of receiving belt 39 of band conveyor 37
s/ y
s/ z
smeasuring value sensor → signal B
23 load the current fore-and-aft tilt of cantilever 13 and the measuring value sensor → signal C of lateral inclination for detecting
24 for detecting the measuring value sensor → signal D of the current oscillation angle of loading cantilever 13
25 for detecting the measuring value sensor → signal E of the present load of loading cantilever 13
26 for detecting the measuring value sensor → signal F of the current distance of loading above the current distance of cantilever 13 relative to roadbed or the step conveyer belt at step conveyer belt apparatus 17 or above the receiving belt 39 of band conveyor 37
27 for detecting the measuring value sensor → signal G loading the current vertical location of cantilever 13 above the step conveyer belt of step conveyer belt apparatus 17 or above the receiving belt 39 of band conveyor 37 and comprise surveying tape center
28 for probe station stepwise conveyer belt apparatus 17 step conveyer belt or the measuring value sensor → signal H of current loading condition of receiving belt 39 of band conveyor 37
29 for probe station stepwise conveyer belt apparatus 17 step conveyer belt or the measuring value sensor → signal I of possible current tape skew of receiving belt 39 of band conveyor 37
30 for detecting the measuring value sensor → signal K of the current angle position loading chute 14
31 for detecting the measuring value sensor → signal L of the current tilt loading chute 14
32 for detecting measuring value sensor 32 (crash protection) → signal M of the object within the hunting range of loading cantilever 13
33 measuring value sensor (the crash protection) → signal N exceeded for the current band detected between the receiving belt and the carrier tape loading cantilever 13 of cantilever 4
34 are loading for detecting measuring value sensor 34 → signal O that the current band between the carrier tape of cantilever 13 and the step conveyer belt of step conveyer belt apparatus 17 exceeds or current band between the carrier tape loading cantilever 13 and the receiving belt 39 of band conveyor 37 exceeds
35 theoretical values preset/parameter preset
36-
37 band conveyors
The tracked substructure of 38 band
39 receiving belts
40 conveying chutes
Claims (7)
1. one kind for identifying and follow the tracks of the method for the position of the transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator (1), described bucket-wheel excavator or bucket chain excavator comprise the excavating equipment (2) with the swingable superstructure with tiltable cantilever (4), can crawler type travel substructure (9) and with load cantilever (13) transfer device (12), and when centre is connected with band conveyor (37) or be not connected with band conveyor (37) in centre by step conveyer belt apparatus (17) transmission transport thing or by similar transmission position transmission transport thing, it is characterized in that, adjustment/control device (20) specifies pendulum angle and the inclination of the loading cantilever (13) of described transfer device (12) according to the signal of following measuring value sensor:
For detecting the current spatial coordinate (x of described bucket-wheel excavator or bucket chain excavator (1)
b/ y
b/ z
b) measuring value sensor (21),
For detecting the current spatial coordinate (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),
For the measuring value sensor (23) of the current fore-and-aft tilt and lateral inclination that detect described loading cantilever (13),
For detecting the measuring value sensor (24) of the current oscillation angle of described loading cantilever (13),
For detecting 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)
Locate at the current vertical of described step conveyer belt apparatus (17) top or the top of the receiving belt (39) in described band conveyor (37) measuring value sensor (27) comprising surveying tape center for detecting described loading cantilever (13)
For monitoring in the transmission position of described loading cantilever (13)/measuring value sensor of excessive filling at place.
2. method according to claim 1, wherein, transported substance is transported to receiving belt (39) place of described step conveyer belt apparatus (17) place or described band conveyor (37) by described loading cantilever (13) by loading chute (14), it is characterized in that, described adjustment/control device (20) specifies pendulum angle and the inclination of described loading chute (14) according to the signal of following measuring value sensor:
For detect the step conveyer belt of described step conveyer belt apparatus (17) or the measuring value sensor (28) of current loading condition of receiving belt (39) of described band conveyor (37),
For detect the step conveyer belt of described step conveyer belt apparatus (17) or the measuring value sensor (29) of possible current tape skew of receiving belt (39) of described band conveyor (37),
For detecting the measuring value sensor (30) of the current angle position of described loading chute (14),
For detecting the measuring value sensor of the current tilt of described loading chute (14).
3. method according to claim 1, it is characterized in that, additionally the signal of the measuring value sensor (25) being used for the present load of the carrier tape detecting described loading cantilever (13) is transported to described adjustment/control device (20).
4. method according to claim 2, it is characterized in that, additionally the signal of the measuring value sensor (25) being used for the present load of the carrier tape detecting described loading cantilever (13) is transported to described adjustment/control device (20).
5. the method according to any one of claim 1-4, it is characterized in that, additionally the signal being used for detecting the measuring value sensor (33) that the current band between the receiving belt and the carrier tape of described loading cantilever (13) of described cantilever (4) exceeds is transported to described adjustment/control device (20).
6. the method according to any one of claim 1-4, it is characterized in that, additionally the signal being used for detecting the measuring value sensor (34) that the current band 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) exceeds is transported to described adjustment/control device (20).
7. the method according to any one of claim 1-4, it is characterized in that, additionally the signal of the measuring value sensor (32) being used for the object detected within the hunting range of described loading cantilever (13) is transported to described adjustment/control device (20).
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 CN103732831A (en) | 2014-04-16 |
| CN103732831B true 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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| BR102017002299B1 (en) * | 2017-02-03 | 2020-11-10 | Vale S/A | control system and method for fireplaces |
| 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 |
| DE102019004529A1 (en) | 2019-01-14 | 2020-07-16 | Joy Global Underground Mining Llc | SYSTEMS AND METHODS FOR AUTOMATICALLY CONTROLLING A LINE CONVEYOR BOAT |
| DE102019200773A1 (en) | 2019-01-23 | 2020-07-23 | Thyssenkrupp Ag | Open pit arrangement and method for operating an open pit arrangement |
| BE1027170B1 (en) * | 2019-04-03 | 2020-11-05 | Thyssenkrupp Ind Solutions Ag | Method and device for the automatable operation of a belt conveyor system used in particular in opencast mining |
| 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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- 2012-05-04 PL PL12718993T patent/PL2707547T3/en unknown
- 2012-05-04 AU AU2012252544A patent/AU2012252544B2/en not_active Ceased
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- 2012-05-04 CN CN201280022138.0A patent/CN103732831B/en not_active Expired - Fee Related
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- 2012-05-04 HU HUE12718993A patent/HUE026594T2/en unknown
-
2013
- 2013-11-05 CL CL2013003170A patent/CL2013003170A1/en unknown
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Also Published As
| Publication number | Publication date |
|---|---|
| RU2013154104A (en) | 2015-06-20 |
| BR112013028622A2 (en) | 2017-01-24 |
| DE102011100890A1 (en) | 2012-11-08 |
| AU2012252544A1 (en) | 2013-11-28 |
| CA2833999A1 (en) | 2012-11-15 |
| EP2707547A1 (en) | 2014-03-19 |
| US20140067194A1 (en) | 2014-03-06 |
| AU2012252544B2 (en) | 2015-09-03 |
| RU2556095C1 (en) | 2015-07-10 |
| HUE026594T2 (en) | 2016-06-28 |
| HRP20150753T1 (en) | 2015-09-11 |
| CN103732831A (en) | 2014-04-16 |
| PE20141751A1 (en) | 2014-11-19 |
| EP2707547B1 (en) | 2015-04-08 |
| PL2707547T3 (en) | 2015-09-30 |
| RS54115B1 (en) | 2015-12-31 |
| WO2012152674A1 (en) | 2012-11-15 |
| CL2013003170A1 (en) | 2014-05-16 |
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