CN105300337A - Method for detecting angle of pitching mechanism of arm type bucket-wheel stacker-reclaimer - Google Patents
Method for detecting angle of pitching mechanism of arm type bucket-wheel stacker-reclaimer Download PDFInfo
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- CN105300337A CN105300337A CN201410291596.5A CN201410291596A CN105300337A CN 105300337 A CN105300337 A CN 105300337A CN 201410291596 A CN201410291596 A CN 201410291596A CN 105300337 A CN105300337 A CN 105300337A
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- angle
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- bucket wheel
- reclaimer
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Abstract
The present invention discloses a method for detecting an angle of a pitching mechanism of an arm type bucket-wheel stacker-reclaimer. The operating stroke change of the pitching mechanism can be got by the utilization of the position detection of a pitching oil cylinder, and the stroke data is uploaded to a PLC control system. Then, the angle of the pitching mechanism can be calculated out by the utilization of the triangle configuration of the pitching mechanism. The method for detecting the angle of the pitching mechanism of the arm type bucket-wheel stacker-reclaimer is simple and is convenient to operate, avoids a plurality of intermediate links, provides precious data, and systematically judges whether the working angle alpha is in the safe and reasonable range or not so as to improve the safety of the stacker-reclaimer at working. In additionally, the basic data is provided for the realization of automatic stacking and reclaiming working of the stacker-reclaimer according to the height data of the bucket wheel center suitably acquired in the system.
Description
Technical field
The invention belongs to boom type bucket wheel stacker technical field, be specifically related to a kind of boom type bucket wheel stacker luffing mechanism angle detecting method.
Background technology
Boom type bucket wheel stacker is a kind of Large Efficient heap reclaimer device, is can utilize the continuous feeding of bucket wheel, utilize belt conveyor on stacker-reclaimer cantilever to pile the rail type loading mechanization of feeding continuously.
Jib-type bucket-wheel stacker reclaimer is by bucket-wheel mechanism, slew gear, belt conveyor, trailer, pitching and travelling mechanism form, the effect of boom type bucket wheel stacker luffing mechanism is the weight of supporting bucket wheel and jib, and the height of bucket wheel can be changed, make bucket wheel and front jib can go up windrow or material extracting operation in different angles (highly), along with the change of bucket wheel and front jib height, considerable influence is had to the center of gravity of stacker-reclaimer equipment, stacker-reclaimer luffing mechanism and front jib angle is too high and the too low pivotal center of gravity of stacker-reclaimer that all likely causes exceeds safe range, even occur that accident toppled over by stacker-reclaimer, therefore, many industrial and mining enterprises are manufacturing stacker-reclaimer, in Problem process, a lot of security monitoring measures is all taken to the change of stacker-reclaimer luffing mechanism operating angle, such as material machine luffing mechanism stroke is adopted two spacing or control with rotary encoder, these all achieve some effects, but adopt two spacing upper just to luffing mechanism in these technology, lower limit position controls, rotary encoder is indirect control, and control accuracy is poor and link is many.
Find through retrieval, utility model patent " a kind of large arm pitching angle detection device of stacker-reclaimer " application number: CN201020263873, this utility model discloses a kind of large arm pitching angle detection device of stacker-reclaimer, comprise the ring type potentiometer for being fixed in large arm, the pendulum be coaxially fixedly connected with the rotation axis of ring type potentiometer is hammered into shape, and for generating according to the change in resistance of ring type potentiometer and exporting the change-over circuit of with it corresponding voltage signal, the large arm pitching angle detection device of this utility model can be fixed on the optional position of stacker-reclaimer large arm, compact, easy for installation, failsafe link is few, reliability is high, be applicable to being applied to harbour, harbour, metallurgical, cement, many dirt such as generating plant, the place of high humidity, but, in daily production run, because environment is poor, the reasons such as buildup, its performance is had an impact, also has this technology by change in resistance indirect inspection, precision own also can be weaker.
Summary of the invention
For solving the problem, the invention discloses a kind of boom type bucket wheel stacker luffing mechanism angle detecting method, the angle change of energy Accurate Determining stacker-reclaimer luffing mechanism, and then the accurate location of material machine bucket wheel height can also be realized.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of boom type bucket wheel stacker luffing mechanism angle detecting method, is characterized in that: comprise the following steps:
(1) determine with the swivel point of slew gear for A point, with the pin joint of pitching cylinder block and slew gear base for B point, with pitching cylinder piston rod top for C point;
(2) stacker-reclaimer in the unloaded state, by the semi-girder of stacker-reclaimer and bucket wheel work to horizontal level; The piston rod of pitching oil cylinder stretches out certain stroke, and now oil cylinder overall length is B
0c
0(use a
0represent); AB, AC are respectively fixed value c and b;
(3) according to the cosine law of trigonometric function: COSA
0=(b
2+ c
2-a
0 2)/2bc, calculates triangular apex A
0angle, because A
0during angle, semi-girder and bucket wheel are horizontal level, therefore just establish A
0angle is that (now, bucket wheel centre-height is h) to references angle in input PLC system;
(4) swivel point of slew gear is A point, pitching cylinder piston rod top C point, and when continuing to stretch out, then angle ∠ A continues to become large, at this moment ∠ A-∠ A
0=α just draw luffing mechanism operating angle α and on the occasion of; If instead when pitching cylinder piston rod top C point is retracted, ∠ A continues to diminish, at this moment ∠ A-∠ A
0=α just show that the operating angle α of luffing mechanism is then negative value;
(5) system judges whether the operating angle α of luffing mechanism is in values, if so, continues normal work; If not, then judge that luffing mechanism operating angle exceeds safe range, system stalls.
As a modification of the present invention, after to determine the operating angle α of luffing mechanism and swivel point be A point to the distance L at bucket wheel center, according to sin α=h
α/ L(h
αrepresent relative datum angle A
0height change value during angle) just can directly calculate bucket wheel center change height, the true altitude H=h+h of bucket wheel centre distance walking rails
α, the height number at bucket wheel center can be drawn in systems in which.
The invention has the beneficial effects as follows:
Compared with prior art, the present invention is simple and easy to do and avoid a lot of intermediate link, accurate data, system can judge whether the operating angle α of luffing mechanism is within the scope of safe and reasonable, improve the security of stacker-reclaimer work, in addition according to the height number drawing bucket wheel center in systems in which in good time, just can realize providing the foundation data for stacker-reclaimer realizes robotization stacking and taking operation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Reference numerals list:
1, counterweight, 2, weight arm, 3, slew gear, 4, travelling wheel, 5, pitching oil cylinder, 6, semi-girder, 7, bucket wheel.
Embodiment
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, following embodiment should be understood and be only not used in for illustration of the present invention and limit the scope of the invention.It should be noted that, the word "front", "rear" of use is described below, "left", "right", "up" and "down" refer to direction in accompanying drawing, word " interior " and " outward " refer to the direction towards or away from particular elements geometric center respectively.
Embodiment
As shown in Figure 1, the present embodiment stacker-reclaimer luffing mechanism used comprises the slew gear 3 be supported on travelling wheel 4, be supported in the pitching oil cylinder 5 on slew gear 3, semi-girder 6, weight arm 2, carry is in the counterweight 1 of weight arm 2, carry is in the bucket wheel 7 of semi-girder 6, wherein, hydraulic jack 5 adopts position to detect oil cylinder (MTS), and hydraulic jack 5 position sensor signal exports termination Programmable Logic Controller.
A kind of boom type bucket wheel stacker luffing mechanism of the present embodiment angle detecting method comprises:
1, with reference to the accompanying drawings 1, determine with the swivel point of slew gear 3 for A point, with the pin joint of pitching oil cylinder 5 cylinder body and slew gear 3 base for B point, with pitching oil cylinder 5 piston rod top for C point, the semi-girder 6 of stacker-reclaimer and bucket wheel 7 are worked to horizontal level; The piston rod of pitching oil cylinder 5 stretches out certain stroke, and now oil cylinder overall length is B
0c
0(use a
0represent, changing value); AB, AC are respectively fixed value c and b, input system;
2, according to the cosine law of trigonometric function: COSA
0=(b
2+ c
2-a
0 2)/2bc, calculates triangular apex A
0angle, because A
0during angle, semi-girder 6 and bucket wheel 7, in horizontal level, therefore just establish A
0angle is that (now, bucket wheel centre-height is h) to references angle in input PLC system; For certain model stacker-reclaimer: c=6123, b=8956, a
0=4680.3; Then COSA
0=(8956
2+ 6123
2-4680.3
2)/2*8956*6123=0.873; References angle A
0=29.14 °;
3, the swivel point of slew gear is A point, pitching cylinder piston rod top C point, and when continuing to stretch out, then angle ∠ A continues to become large, at this moment ∠ A-∠ A
0=α just draw luffing mechanism operating angle α and on the occasion of; During as pitching oil cylinder 5 continuation elongation a=5050mm, COSA=(8956
2+ 6123
2-5050
2)/2*8956*6123=0.841; References angle A
0=32.79 °; α=∠ A-∠ A
0=+3.65 °; If instead when pitching oil cylinder 5 piston rod top C point is retracted, ∠ A continues to diminish, at this moment ∠ A-∠ A
0=α just show that the operating angle α of Fu Yang mechanism is then negative value;
4, system judges whether the operating angle α of luffing mechanism is in values, if so, continues normal work; If not, then judge that mansion is faced upward institution staff angle [alpha] and exceeded safe range, system stalls;
5, the operating angle α of luffing mechanism
0when=+ 3.65 °, certain model stacker-reclaimer h=12000mm, and know that swivel point is the distance L=37000mm of A point to bucket wheel center, according to h
α=L*sin α=37000*sin α=2355.5mm, just calculates the height of bucket wheel 7 center change, the true altitude H=h+h of bucket wheel 7 centre distance walking rails
α=12000+2355.5=14355.5mm, this just draws the height number at bucket wheel center; Certainly if pitching oil cylinder 5 shrinks, then h
αfor negative value.
Whether the problem that the operating angle α that the present embodiment fundamentally solves stacker-reclaimer luffing mechanism accurately detects, be within the scope of safe and reasonable, improves the security of stacker-reclaimer work; Can also change according to operating angle α in addition, by PLC system process, draw the height number at bucket wheel center in good time, realize laying a good foundation for stacker-reclaimer realizes robotization stacking and taking operation.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, also comprises the technical scheme be made up of above technical characteristic combination in any.
Claims (2)
1. a boom type bucket wheel stacker luffing mechanism angle detecting method, is characterized in that: comprise the following steps:
(1) determine with the swivel point of slew gear for A point, with the pin joint of pitching cylinder block and slew gear base for B point, with pitching cylinder piston rod top for C point;
(2) stacker-reclaimer in the unloaded state, by the semi-girder of stacker-reclaimer and bucket wheel work to horizontal level; The piston rod of pitching oil cylinder stretches out certain stroke, and now oil cylinder overall length is B
0c
0; AB, AC are respectively fixed value c and b;
(3) according to the cosine law of trigonometric function: COSA
0=(b
2+ c
2-a
0 2)/2bc, calculates triangular apex A
0angle, because A
0during angle, semi-girder and bucket wheel are horizontal level, therefore just establish A
0angle is references angle in input PLC system;
(4) swivel point of slew gear is A point, pitching cylinder piston rod top C point, and when continuing to stretch out, then angle ∠ A continues to become large, at this moment ∠ A-∠ A
0=α just draw luffing mechanism operating angle α and on the occasion of; If instead when pitching cylinder piston rod top C point is retracted, ∠ A continues to diminish, at this moment ∠ A-∠ A
0=α just show that the operating angle α of luffing mechanism is then negative value;
(5) system judges whether the operating angle α of luffing mechanism is in values, if so, continues normal work; If not, then judge that luffing mechanism operating angle exceeds safe range, system stalls.
2. a kind of boom type bucket wheel stacker luffing mechanism angle detecting method according to claim 1, is characterized in that: after to determine the operating angle α of luffing mechanism and swivel point be A point to the distance L at bucket wheel center, according to sin α=h
α/ L just directly can calculate the height of bucket wheel center change, the true altitude H=h+h of bucket wheel centre distance walking rails
α, the height number at bucket wheel center can be drawn in systems in which.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291596.5A CN105300337A (en) | 2014-06-26 | 2014-06-26 | Method for detecting angle of pitching mechanism of arm type bucket-wheel stacker-reclaimer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291596.5A CN105300337A (en) | 2014-06-26 | 2014-06-26 | Method for detecting angle of pitching mechanism of arm type bucket-wheel stacker-reclaimer |
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| CN105300337A true CN105300337A (en) | 2016-02-03 |
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ID=55197879
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|---|---|---|---|
| CN201410291596.5A Pending CN105300337A (en) | 2014-06-26 | 2014-06-26 | Method for detecting angle of pitching mechanism of arm type bucket-wheel stacker-reclaimer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144651A (en) * | 2016-08-23 | 2016-11-23 | 大连奇重机电成套设备有限公司 | Hanging arm type bucket wheel stacker-reclaimer luffing mechanism balance detecting device |
| CN110181242A (en) * | 2018-02-23 | 2019-08-30 | 中国神华能源股份有限公司 | The hydraulic cylinder replacing options of stacker-reclaimer |
| CN110243622A (en) * | 2019-07-11 | 2019-09-17 | 上海海事大学 | A kind of bucket wheel machine complete machine stability test method |
| CN110606379A (en) * | 2019-08-30 | 2019-12-24 | 湖南大唐先一科技有限公司 | Bucket wheel machine positioning system and method |
| CN113401590A (en) * | 2021-07-07 | 2021-09-17 | 大连天重散装机械设备有限公司 | Servo mechanism and mechanical-hydraulic servo control system thereof |
| CN114506690A (en) * | 2020-11-16 | 2022-05-17 | 南京宝地梅山产城发展有限公司 | Device for automatically adjusting gravity center position of material machine and control method thereof |
| CN118061194A (en) * | 2024-04-17 | 2024-05-24 | 自贡创赢智能科技有限公司 | Method and device for detecting working state of model driving arm, medium and mechanical arm |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144651A (en) * | 2016-08-23 | 2016-11-23 | 大连奇重机电成套设备有限公司 | Hanging arm type bucket wheel stacker-reclaimer luffing mechanism balance detecting device |
| CN110181242A (en) * | 2018-02-23 | 2019-08-30 | 中国神华能源股份有限公司 | The hydraulic cylinder replacing options of stacker-reclaimer |
| CN110243622A (en) * | 2019-07-11 | 2019-09-17 | 上海海事大学 | A kind of bucket wheel machine complete machine stability test method |
| CN110606379A (en) * | 2019-08-30 | 2019-12-24 | 湖南大唐先一科技有限公司 | Bucket wheel machine positioning system and method |
| CN114506690A (en) * | 2020-11-16 | 2022-05-17 | 南京宝地梅山产城发展有限公司 | Device for automatically adjusting gravity center position of material machine and control method thereof |
| CN113401590A (en) * | 2021-07-07 | 2021-09-17 | 大连天重散装机械设备有限公司 | Servo mechanism and mechanical-hydraulic servo control system thereof |
| CN118061194A (en) * | 2024-04-17 | 2024-05-24 | 自贡创赢智能科技有限公司 | Method and device for detecting working state of model driving arm, medium and mechanical arm |
| CN118061194B (en) * | 2024-04-17 | 2024-07-09 | 自贡创赢智能科技有限公司 | Method and device for detecting working state of model driving arm, medium and mechanical arm |
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Application publication date: 20160203 |