CN104715162B - Bucket-wheel stacker reclaimer luffing mechanism is grounded power computational methods and its on-line monitoring system - Google Patents
Bucket-wheel stacker reclaimer luffing mechanism is grounded power computational methods and its on-line monitoring system Download PDFInfo
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- CN104715162B CN104715162B CN201510169154.8A CN201510169154A CN104715162B CN 104715162 B CN104715162 B CN 104715162B CN 201510169154 A CN201510169154 A CN 201510169154A CN 104715162 B CN104715162 B CN 104715162B
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Abstract
A kind of bucket-wheel stacker reclaimer luffing mechanism ground connection power computational methods and its on-line monitoring system, computational methods comprise the following steps：Set up mechanism model, simplify the internal structure of an organization model and force analysis, detection luffing angle and driving force, calculates counterweight and cantilever angle, calculates driving force and cantilever angle, calculates ground connection power during different luffing angles, sets up the ground connection online computation model of power.On-line monitoring system includes sensor the examination subsystem, data process subsystem, error compensation subsystem, ground connection power computing subsystem, operating mode and judges subsystem and self-diagnosis of trouble subsystem.It can be realized in the case where bucket wheel machine is normally run to bucket wheel machine luffing mechanism ground connection power in line computation.It can realize and bucket wheel machine running status is monitored on-line, when being grounded power appearance exception, be alarmed.The safe operation ability of bucket wheel machine is improved, the bucket wheel machine caused by being grounded power problem is reduced and shuts down.Ground connection power measurement cost has been saved simultaneously, operation cost of enterprises has been reduced.
Description
Technical field
The present invention relates to crane field, and in particular to bucket-wheel stacker reclaimer luffing mechanism be grounded power computational methods and its
Line monitoring system.
Background technology
Bucket-wheel stacker reclaimer as bulk cargo port capital equipment, for realize bulk goods shipment, unloading and carry etc. make
Industry.Due to the particularity of its mechanism, in bucket-wheel stacker reclaimer operation, easily tilt, or even topple, harbour and personnel are caused
Harm.It is therefore desirable to dock soil fertility to be calculated.
In traditional ground connection power is calculated, luffing mechanism lifting calculating is obtained being grounded power using truck crane.Such a method
It will measured under bucket wheel machine stopped status, having a strong impact on the operational paradigm of bucket wheel machine.With the development of industrial process, this kind
Ground connection power calculation can not meet harbour requirement efficient to organisation operations and security.
The content of the invention
Power computational methods are grounded it is an object of the invention to provide a kind of bucket-wheel stacker reclaimer luffing mechanism, can be in bucket wheel machine
The soil fertility that achieved a butt joint during normal work in line computation.
To achieve these goals, the technical scheme is that：A kind of bucket-wheel stacker reclaimer luffing mechanism is grounded power meter
Calculation method, it is characterised in that：Comprise the following steps：
A. set up mechanism model.Using bucket wheel machine luffing mechanism as object, according to the forms of motion of object, two-dimensional graphicses are utilized
Software set up mechanism two dimensional model.
B. simplify the internal structure of an organization model and force analysis.According to the movement characteristic of bucket wheel machine luffing mechanism, a models set up are entered
Row simplifies, and carries out force analysis to bucket wheel machine luffing mechanism on the basis of simplified model.
C. luffing angle and driving force are detected.Utilize the angle being grounded in the sensor the examination subsystem of power on-line monitoring system
Sensor detects pitching angle of bucket wheel machine in real time, and pressure sensor detects bucket wheel machine driving force in real time.
D. counterweight and cantilever angle are calculated.According to the obtained simplified models of b and force analysis, to the counterweight of bucket wheel machine with bowing
Face upward the angle between the cantilever of mechanism and carry out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated.
E. driving force and cantilever angle are calculated.According to the obtained simplified models of b and force analysis, to the driving force of bucket wheel machine
Angle between the cantilever of luffing mechanism carries out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated.
F. ground connection power during different luffing angles is calculated.The angle formulae obtained according to d and e, using b force analysis,
Ground connection power is provided on luffing angle and the computation model of driving force, and ground connection power when calculating different luffing angles.
G. the ground connection online computation model of power is set up.According to the obtained simplified models of b and force analysis figure, d, e, f are utilized
Mathematical Modeling, sets up the online computational mathematics model of ground connection power of bucket wheel luffing mechanism.
It is a further object of the present invention to provide a kind of bucket-wheel stacker feeding that power computational methods are grounded using above-mentioned luffing mechanism
Machine luffing mechanism is grounded power on-line monitoring system, can realize and the ground connection power of bucket wheel machine luffing mechanism is monitored on-line.
To achieve these goals, the technical scheme is that：A kind of bucket-wheel stacker reclaimer luffing mechanism ground connection power exists
Line monitoring system, it is characterised in that：Including sensor the examination subsystem, data process subsystem, error compensation subsystem, ground connection power
Computing subsystem, operating mode judge subsystem and self-diagnosis of trouble subsystem.
The sensor the examination subsystem includes angular transducer and pressure sensor, and angular transducer is used for detecting pitching machine
The luffing angle of structure, pressure sensor is used for detecting the size of driving force.Sensor the examination subsystem passes through cable and data processing
Subsystem is connected, and detection signal is sent into data process subsystem.
The data process subsystem includes signal filtering and converted with sampling, analog quantity.By to sensor the examination subsystem
The signal filtering and sampling of middle sensor, conversion to analog quantity is realized using data processing module, and by the data after conversion
It is sent to error compensation subsystem.
The error compensation subsystem includes circuit error compensation and transducer sensitivity compensation.Error compensation subsystem will
Data after compensation are sent to ground connection power computing subsystem.
The ground connection power computing subsystem utilizes the data of error compensation subsystem, according to ground connection power on-line calculation method
Mathematical Modeling, is realized to bucket wheel machine luffing mechanism ground connection power in line computation.Result of calculation is sent to operating mode simultaneously and judges son
System.
The operating mode judges that subsystem, using the data message for being grounded power subsystem, table is judged according to default operating mode, real
Now to the judgement of bucket wheel machine operating mode.
The self-diagnosis of trouble subsystem utilization is grounded power subsystem and operating mode judges the data of subsystem, according to preset failure
Value, realizes the self-diagnosis of trouble to monitoring system and alarm.
The present invention is advantageous in that：It can be realized in the case where bucket wheel machine is normally run to bucket wheel machine pitching machine
Structure ground connection power in line computation.It can realize and bucket wheel machine running status is monitored on-line, when being grounded power appearance exception, be reported
It is alert.The safe operation ability of bucket wheel machine is improved, the bucket wheel machine caused by being grounded power problem is reduced and shuts down.Save and connect simultaneously
Soil fertility measurement cost, reduces operation cost of enterprises.
Brief description of the drawings
Fig. 1 is ground connection power computational methods FB(flow block) of the invention.
Fig. 2 be the present invention by driving force of steel wire rope bucket wheel machine luffing mechanism ground connection power computational methods embodiment by
Power analyzes sketch.
Fig. 3 be the present invention by driving force of hydraulic cylinder bucket wheel machine luffing mechanism ground connection power computational methods embodiment by
Power analyzes sketch.
Fig. 4 is on-line monitoring system frame diagram of the invention.
G. is grounded power, F. driving forces, θ steel wire ropes and cantilever angle, O. cantilever hinges, O1. assembly pulley hinges, A. in figure
Steel wire rope hinge at cantilever, D. bucket wheels and cantilever connection place (during raising angle [alpha]), O. column hinges；O1. hydraulic cylinder hinge；
A. hydraulic cylinder hinge at column；A1. hydraulic cylinder hinge at column (during raising angle [alpha]).
Embodiment
With reference to accompanying drawing, the specific implementation that this practicality is invented is further illustrated.
As shown in figure 1, a kind of bucket-wheel stacker reclaimer luffing mechanism ground connection power computational methods, it is characterised in that including following step
Suddenly：
A. set up mechanism model.Using bucket wheel machine luffing mechanism as object, according to the forms of motion of object, two-dimensional graphicses are utilized
Software set up mechanism two dimensional model.
B. simplify the internal structure of an organization model and force analysis.According to the movement characteristic of bucket wheel machine luffing mechanism, a models set up are entered
Row simplifies, and carries out force analysis to bucket wheel machine luffing mechanism on the basis of simplified model.
C. luffing angle and driving force are detected.Utilize the angle being grounded in the sensor the examination subsystem of power on-line monitoring system
Sensor detects pitching angle of bucket wheel machine in real time, and pressure sensor detects bucket wheel machine driving force in real time.
D. counterweight and cantilever angle are calculated.According to the obtained simplified models of b and force analysis, to the counterweight of bucket wheel machine with bowing
Face upward the angle between the cantilever of mechanism and carry out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated.
E. driving force and cantilever angle are calculated.According to the obtained simplified models of b and force analysis, to the driving force of bucket wheel machine
Angle between the cantilever of luffing mechanism carries out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated.
F. ground connection power during different luffing angles is calculated.The angle formulae obtained according to d and e, using b force analysis,
Ground connection power is provided on luffing angle and the computation model of driving force, and ground connection power when calculating different luffing angles.
G. the ground connection online computation model of power is set up.According to the obtained simplified models of b and force analysis figure, d, e, f are utilized
Mathematical Modeling, sets up the online computational mathematics model of ground connection power of bucket wheel luffing mechanism.
As shown in Fig. 2 bucket wheel machine luffing mechanism of the explanation using steel wire rope as driving force is grounded the embodiment party of power computational methods
Formula.
When cantilever level, it can be obtained by equalising torque：
G × L2=F × L1 × sin θ 1 (3-1)
When cantilever produces certain luffing angle α, it can be obtained by equalising torque：
G × L2 × cos α=F × L1 × sin θ 2 (3-2)
In formula (3-1), (3-2)：F is that pressure sensor detects obtained lineoutofservice signal pull；α detects for angular transducer
The luffing angle arrived；
When luffing angle is timing, being derived by the expression formulas of θ 2 is：
In formula (3-3)：AO1 is that steel wire rope draws point away from hinge length, and measurement is obtained；
AD=2L1sin α/2 (3-4)
When luffing angle is bears, being derived by the expression formulas of θ 2 is：
As shown in figure 3, bucket wheel machine luffing mechanism of the explanation using hydraulic cylinder as driving force is grounded the embodiment party of power computational methods
Formula.
When cantilever level, it can be obtained by equalising torque：
G × L2=F × L1 (4-1)
When cantilever produces certain luffing angle α, it can be obtained by equalising torque：
G × L2 × cos α=F × L1 × cos β (4-2)
When luffing angle is timing, being derived by β expression formulas is：
OA1 is in formula (4-3), it is known that；OO1 is, it is known that；
When luffing angle is bears, being derived by β expression formulas is：
As shown in figure 4, a kind of bucket-wheel stacker reclaimer luffing mechanism ground connection power on-line monitoring system, including sensing detection subsystem
System, data process subsystem, error compensation subsystem, ground connection power computing subsystem, operating mode judge subsystem and self-diagnosis of trouble
System.
Sensor the examination subsystem includes angular transducer and pressure sensor, and angular transducer is used for detecting luffing mechanism
Luffing angle, pressure sensor is used for detecting the size of driving force.Sensor the examination subsystem passes through cable and data processing subsystem
System connection, and detection signal is sent to data process subsystem.
Data process subsystem includes signal filtering and converted with sampling, analog quantity.By to being passed in sensor the examination subsystem
The signal filtering and sampling of sensor, realize the conversion to analog quantity, and the data after conversion are transmitted using data processing module
To error compensation subsystem.
Error compensation subsystem includes circuit error compensation and transducer sensitivity compensation.Error compensation subsystem will be compensated
Data afterwards are sent to ground connection power computing subsystem.
The data that power computing subsystem utilizes error compensation subsystem are grounded, according to the mathematics of ground connection power on-line calculation method
Model, is realized to bucket wheel machine luffing mechanism ground connection power in line computation.Result of calculation is sent into operating mode judges subsystem simultaneously.
Operating mode judges that subsystem, using the data message for being grounded power subsystem, table, realization pair is judged according to default operating mode
The judgement of bucket wheel machine operating mode.
The utilization of self-diagnosis of trouble subsystem is grounded power subsystem and operating mode judges the data of subsystem, according to preset failure value,
Realize the self-diagnosis of trouble to monitoring system and alarm.
Claims (2)
1. a kind of bucket-wheel stacker reclaimer luffing mechanism is grounded power computational methods, it is characterised in that：Comprise the following steps：
A. set up mechanism model；Using bucket wheel machine luffing mechanism as object, according to the forms of motion of object, two-dimensional graphicses software is utilized
Set up mechanism two dimensional model；
B. simplify the internal structure of an organization model and force analysis；According to the movement characteristic of bucket wheel machine luffing mechanism, letter is carried out to the model that a is set up
Change, and force analysis is carried out to bucket wheel machine luffing mechanism on the basis of simplified model；
C. luffing angle and driving force are detected；Utilize the angle sensor being grounded in the sensor the examination subsystem of power on-line monitoring system
Device detects pitching angle of bucket wheel machine in real time, and pressure sensor detects bucket wheel machine driving force in real time；
D. counterweight and cantilever angle are calculated；According to the obtained simplified models of b and force analysis, to counterweight and the pitching machine of bucket wheel machine
Angle between the cantilever of structure carries out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated；
E. driving force and cantilever angle are calculated；According to the obtained simplified models of b and force analysis, to the driving force of bucket wheel machine with bowing
Face upward the angle between the cantilever of mechanism and carry out qualitative analysis, and the angle calcu-lation Mathematical Modeling that quantitative is calculated；
F. ground connection power during different luffing angles is calculated；The angle formulae obtained according to d and e, using b force analysis, is provided
Power is grounded on luffing angle and the computation model of driving force, and ground connection power when calculating different luffing angles；
G. the ground connection online computation model of power is set up；According to the obtained simplified models of b and force analysis figure, d, e, f mathematics are utilized
Model, sets up the online computational mathematics model of ground connection power of bucket wheel luffing mechanism.
2. a kind of bucket-wheel stacker reclaimer luffing mechanism ground connection of the luffing mechanism ground connection power computational methods described in usage right requirement 1
Power on-line monitoring system, it is characterised in that：Including sensor the examination subsystem, data process subsystem, error compensation subsystem, connect
Soil fertility computing subsystem, operating mode judge subsystem and self-diagnosis of trouble subsystem；
The sensor the examination subsystem includes angular transducer and pressure sensor, and angular transducer is used for detecting luffing mechanism
Luffing angle, pressure sensor is used for detecting the size of driving force；Sensor the examination subsystem passes through cable and data processing subsystem
System connection, and detection signal is sent to data process subsystem；
The data process subsystem includes signal filtering and converted with sampling, analog quantity；By to being passed in sensor the examination subsystem
The signal filtering and sampling of sensor, realize the conversion to analog quantity, and the data after conversion are transmitted using data processing module
To error compensation subsystem；
The error compensation subsystem includes circuit error compensation and transducer sensitivity compensation；Error compensation subsystem will be compensated
Data afterwards are sent to ground connection power computing subsystem；
The ground connection power computing subsystem utilizes the data of error compensation subsystem, according to the mathematics of ground connection power on-line calculation method
Model, is realized to bucket wheel machine luffing mechanism ground connection power in line computation；Result of calculation is sent into operating mode judges subsystem simultaneously；
The operating mode judges that subsystem, using the data message for being grounded power subsystem, table, realization pair is judged according to default operating mode
The judgement of bucket wheel machine operating mode；
The self-diagnosis of trouble subsystem utilization is grounded power subsystem and operating mode judges the data of subsystem, according to preset failure value,
Realize the self-diagnosis of trouble to monitoring system and alarm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510169154.8A CN104715162B (en) | 2014-12-25 | 2015-04-10 | Bucket-wheel stacker reclaimer luffing mechanism is grounded power computational methods and its on-line monitoring system |
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| CN2014108277614 | 2014-12-25 | ||
| CN201410827761 | 2014-12-25 | ||
| CN201510169154.8A CN104715162B (en) | 2014-12-25 | 2015-04-10 | Bucket-wheel stacker reclaimer luffing mechanism is grounded power computational methods and its on-line monitoring system |
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| CN112945311A (en) * | 2021-03-10 | 2021-06-11 | 湛江港（集团）股份有限公司 | Bucket wheel machine RMS on-line monitoring system |
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Non-Patent Citations (5)
| Title |
|---|
| "Simultaneous optimal structure and control design of flexible linkage mechanism for noise attenuation";Zhang Xianmin等;《Journal of Sound and Vibration》;20070206;第299卷(第4-5期);全文 * |
| "塔架式斗轮堆取料机俯仰系统重心位置的测定与分析";衣万等;《起重运输机械》;20020831(第8期);全文 * |
| "斗轮取料机配重安装";何利华;《机械与电子》;20121231(第7期);全文 * |
| "斗轮机配重的调整";冯利;《科技向导》;20111231(第33期);全文 * |
| "活动平衡式臂式斗轮堆取料机配重及俯仰驱动功率计算";任志刚;《起重运输机械》;20140731(第7期);全文 * |
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