CN105417197B - Bucket wheel machine automatic material taking method - Google Patents
Bucket wheel machine automatic material taking method Download PDFInfo
- Publication number
- CN105417197B CN105417197B CN201510969892.0A CN201510969892A CN105417197B CN 105417197 B CN105417197 B CN 105417197B CN 201510969892 A CN201510969892 A CN 201510969892A CN 105417197 B CN105417197 B CN 105417197B
- Authority
- CN
- China
- Prior art keywords
- bucket wheel
- feeding
- stockpile
- point
- cantilever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
Abstract
The invention provides a kind of bucket wheel machine automatic material taking method, comprise the following steps：When obtaining bucket wheel rotation circumference bottom and tangent feeding layer baseplane, the contour for the stockpile profile that bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact；In the case of tangent in bucket wheel rotation circumference bottom and feeding layer baseplane, the level convolution track around suspending arm rotary center and point of contact and the bucket wheel maximum digging depth of contour according to bucket wheel, to determine the coordinate of bucket wheel point of penetration；It is anti-to release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, so as to control reclaimer automatic material taking.Pass through the present invention, with reference to stockpile three-D profile data, according to the anti-action parameter for releasing reclaimer of feeding point of penetration, the unmanned control of bucket wheel machine feeding is realized, can avoid reclaimer sky sweep with vexed bucket, improve feeding efficiency to greatest extent on the premise of bucket wheel is not damaged.
Description
Technical field
The present invention relates to a kind of stacker reclaimer method, specifically, it is related to a kind of bucket wheel machine automatic material taking method.
Background technology
At present bulk thing is carried out in iron and steel raw material field, power plant's coal yard, harbour bulk cargo stock yard using bucket-wheel stacker reclaimer mostly
The handling of material, with the raising and informationization of automatization level, the application of digitizing technique, stock ground is being directed to heap feeding
The unmanned control of machine.The threedimensional model of stock ground stockpile is the premise for realizing unmanned control, is built by methods such as laser scannings
The threedimensional model of vertical stock ground stockpile is current study hotspot, however, in stockpile feeding technical elements, majority is surveyed using sensing
Amount means go to correct the action parameter of reclaimer, and sensing measuring method is only a kind of correction control method, is first to have in feeding
There is deviation, then deviation is reduced by programme-control, in reclaiming process, may have time and sweep and vexed bucket phenomenon.So far, also
Stockpile feeding is not carried out using stockpile three-dimensional modeling data, so as to prevent the empty method swept with vexed bucket phenomenon.
The content of the invention
The invention provides a kind of bucket wheel machine automatic material taking method, to solve correlation technique using stockpile three-dimensional modeling data
It is hollow sweep with it is vexed bucket phenomenon the problem of.
According to an aspect of the invention, there is provided a kind of bucket wheel machine automatic material taking method, comprises the following steps：Obtain bucket
When taking turns rotation circumference bottom and tangent feeding layer baseplane, the stockpile profile that bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact
Contour；In the case of tangent in bucket wheel rotation circumference bottom and feeding layer baseplane, according to bucket wheel around suspending arm rotary center
Level convolution track and the contour point of contact and bucket wheel maximum digging depth, to determine the coordinate of bucket wheel point of penetration；Instead
Reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle are released, so as to control reclaimer automatic material taking.
Preferably, the step of acquisition contour is：It is determined that layering quantity and layers apart length；The feeding bed of material is selected, is obtained
The floor height of the selected bed of material is taken, and calculates the luffing angle of cantilever；With reference to the three-D profile data of stockpile, obtain in bucket wheel
In the case that rotation circumference bottom and feeding layer baseplane are tangent, the stockpile that bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact
The contour of profile.
Preferably, the step of coordinate of the acquisition point of penetration is：Level according to bucket wheel around suspending arm rotary center is circled round
The point of contact of track and the contour is counter to push away bucket wheel reclaimer position in orbit, makes bucket wheel according to bucket wheel maximum digging depth
Reclaimer to stockpile direction offset a △ x displacement so that bucket wheel around suspending arm rotary center level convolution track with it is contour
Line forms multiple intersection points, selects an intersection point nearest from bucket wheel current location as the coordinate of bucket wheel feeding point of penetration.
Preferably, it is anti-to release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, so as to control reclaimer
The step of automatic material taking is：Bucket wheel reclaimer walking and cantilevered action are controlled, bucket wheel is entered since being calculated obtained point of penetration
Row feeding, completion once horizontally rotates feeding；Judge whether the selected bed of material reaches layers apart length, if feeding layer does not reach
To layers apart length, then bucket wheel reclaimer is offset into a △ x displacement again to close to stockpile direction, continuation takes in the selected bed of material
Material, the iteration step is until reaching layers apart length；After feeding layer reaches layers apart length, the next layer of progress to feeding layer
Feeding, iteration completes feeding until the feeding layer of the bottom.
Preferably, when stockpile is longer, stockpile is divided into multiple material sections, dug after all layers of material of this material section, then
Take the material of next material section according to every layer of order.
Preferably, in bucket wheel rotation circumference bottom and HiHighly place feeding layer baseplane it is tangent in the case of, cantilever pitching
Angle calculation formula is as follows：
Sinγi=(R+Hi-H0)/L
Wherein, H0It is the height on cantilever pitching centre-to-centre spacing ground；
HiIt is the height of the i-th feeding layer bottom surface；
L is length of the cantilever pitching center to bucket wheel pivot；
R is bucket wheel rotation radius；
γiCantilever luffing angle.
Preferably, in bucket wheel rotation circumference bottom and HiHighly place feeding layer baseplane it is tangent in the case of, bucket wheel rotation
The point of contact of circumference and stockpile inclined-plane is highly：
Hi+2Rsin2(θ/2)
Wherein, HiIt is the height of i-th layer of bottom surface；
θ is the stocking angle of material；
R is bucket wheel rotation radius.
Preferably, in bucket wheel rotation circumference bottom and HiIn the case that the feeding layer baseplane at highly place is tangent, bucket wheel exists
Level convolution equation of locus in the contour plane around suspending arm rotary center is：
Wherein, x is distance of the reclaimer apart from rail end point；
Y is horizontal range of the bucket wheel perpendicular to track；
xiIt is suspending arm rotary center initial abscissa in orbit when taking i-th layer of material；
L is length of the cantilever pitching center to bucket wheel pivot；
HiIt is the height of the i-th feeding layer bottom surface；
H0It is the height on cantilever pitching centre-to-centre spacing ground.
By the present invention, the point of penetration of stockpile automatic material taking is calculated using stockpile threedimensional model, it is counter to release suspending arm rotary
The action parameters such as angle, relatively low, the reclaimer travel distance of cantilever pitching, take full advantage of stockpile three-dimensional modeling data, realize
Bucket wheel reclaimer carries out the unmanned control of stockpile feeding.
Brief description of the drawings
By the way that embodiment is described with reference to accompanying drawings below, features described above of the invention and technological merit will become
More understand and be readily appreciated that.
Fig. 1 is the flow chart of bucket wheel machine automatic material taking method according to embodiments of the present invention；
Fig. 2 is the flow chart of determination contour according to embodiments of the present invention；
Fig. 3 is the flow chart of determination point of penetration coordinate according to embodiments of the present invention；
Fig. 4 is the flow chart of feeding according to embodiments of the present invention；
Fig. 5 is the control flow chart of bucket wheel machine automatic material taking method according to embodiments of the present invention；
Fig. 6 is the relation schematic diagram of stockpile according to embodiments of the present invention and bucket wheel；
Fig. 7 is the schematic diagram of stockpile threedimensional model contour according to embodiments of the present invention；
Fig. 8 is the bucket wheel according to embodiments of the present invention level convolution track around suspending arm rotary center in contour plane
With the point of contact schematic diagram of contour；
Fig. 9 be bucket wheel feeding incision according to embodiments of the present invention can reconnaissance schematic diagram 1；
Figure 10 be bucket wheel feeding incision according to embodiments of the present invention can reconnaissance schematic diagram 2.
Embodiment
The embodiment of bucket wheel machine automatic material taking method of the present invention described below with reference to the accompanying drawings.This area it is general
Logical technical staff will recognize, without departing from the spirit and scope of the present invention, can use a variety of modes
Or its combination is modified to described embodiment.Therefore, accompanying drawing and description are inherently illustrative, rather than are used for
Limit scope of the claims.In addition, in this manual, accompanying drawing is drawn not in scale, and identical reference
Represent identical part.
A kind of bucket wheel machine automatic material taking method is provided in the present embodiment, as shown in figure 1, this method includes：
Step S10, when obtaining bucket wheel rotation circumference bottom and tangent feeding layer baseplane, bucket wheel rotation circumference and stockpile are oblique
The contour for the stockpile profile that face point of contact is highly located；
Step S20, bucket wheel rotation circumference bottom and feeding layer baseplane it is tangent in the case of, according to bucket wheel around cantilever return
Turn level convolution track and point of contact and the bucket wheel maximum digging depth of contour at center, to determine the coordinate of bucket wheel point of penetration；
Step S30, it is anti-to release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, so as to control feeding
Machine automatic material taking.
Fig. 5 is the control flow chart that bucket wheel machine carries out feeding to a certain material section, and each step is described in detail with reference to Fig. 5.
In bucket wheel machine feeding, cantilever can be along track travel to the correct position of stockpile, and carries out luffing angle
Adjustment, is being longitudinally adjusted to suitable position, cantilever is around the convolution of suspending arm rotary center, and bucket wheel is then around the rotation of itself by bucket wheel
Central rotation, during cantilever convolution, bucket wheel carries out material extracting operation.Step S10 determine first bucket wheel rotation circumference bottom and
Feeding layer baseplane is tangent, and critical condition when bucket wheel rotation circumference and tangent stockpile inclined-plane, utilizes the side such as laser scanning
Method obtains the threedimensional model of stockpile, with reference to the height at stockpile inclined-plane point of contact, obtains the stockpile profile that stockpile inclined-plane point of contact is highly located
Contour.
Step S20 is that bucket wheel produces tangent critical condition with contour when being circled round according to cantilever level, determine bucket wheel and
The point of contact of contour, further according to bucket wheel maximum digging depth, during by bucket wheel rotation circumference bottom and tangent feeding layer baseplane, bucket
Take turns the level convolution track around suspending arm rotary center in contour plane to move to stockpile direction one section of skew, level convolution rail
Mark and contour are intersecting, so as to obtain the optimal incision point coordinates of bucket wheel.
Bucket wheel machine feeding is to rely on walking in a horizontal state of the reclaimer along track, and the level of cantilever is circled round, and the rotation of bucket wheel is completed
Material extracting operation, step S30 is to release reclaimer walking displacement, cantilever convolution angle, cantilever according to optimal incision point coordinates is counter
Luffing angle, so as to control reclaimer automatic material taking.
By the present invention bucket wheel machine method for fetching, can avoid reclaimer sky sweep with vexed bucket, before bucket wheel is not damaged
Raising feeding efficiency to greatest extent is put, stockpile three-dimensional modeling data is taken full advantage of, realizes bucket wheel reclaimer and expected
The unmanned control of heap feeding.
As shown in Fig. 2 in one alternate embodiment, step S10 also includes：
Step S102, it is determined that layering quantity and layers apart length；
Step S104, selects the feeding bed of material, obtains the floor height of the selected bed of material, and calculates the luffing angle of cantilever；
Step S106, with reference to the three-D profile data of stockpile, is obtained in bucket wheel rotation circumference bottom and feeding layer baseplane
In the case of tangent, the contour for the stockpile profile that bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact.
Each step, step S102 is specifically described below, it is determined that layering quantity n, can be not more than bucket wheel half according to every thickness degree
Footpath is layered, i.e. n is >=H/0.5R smallest positive integral, or voluntarily specifies every layer of thickness range, such as 2~3 meters, then according to material
The actual height H of heap determines layering quantity n.Because the feeding of reclaimer is limited in scope, it is necessary to according to stockpile length and reclaimer
Performance determines layers apart length, reaches that layers apart length represents to take this layer of material.For longer stockpile, every layer of feeding length does not surpass
Cross 5 meters, convolution number of times is no less than 10 times, it is ensured that cantilever is not collided with lower floor material, i other words, stockpile is divided into multiple material
Section, when a certain material section a certain layer reach layers apart length after, carry out next layer of feeding, wait take the material section n-layer material after, i.e.,
Feeding task is completed, next material section feeding task is performed according still further to order from top to bottom；For shorter stockpile, it can be layered
Be not segmented, that is, take above one layer remove one layer again, take n-layer material, that is, complete feeding task.
Step S104, selects i-th layer of beginning feeding, obtains this layer of floor height Hi, calculate cantilever luffing angle.Feeding
When, cantilever needs to adjust luffing angle according to bed depth, as shown in fig. 6, according to the height H on cantilever pitching centre-to-centre spacing ground0、
Cantilever pitching center calculates cantilever luffing angle γ to length L, the bucket wheel radius R of bucket wheel pivoti, its calculation formula is such as
Under：
Sinγi=(R+Hi-H0)/L
According to cantilever luffing angle γi, cantilever rotates to an angle from current angular, reaches angle of pitch γiSo that bucket
The bottom and the bottom surface of this layer for taking turns rotation circumference are tangent.
Step S106, according to the height H of i-th layer of bottom surfacei, material stocking angle θ, bucket wheel radius R calculate bucket wheel rotation circle
Week and the tangent line height on stockpile inclined-plane, can be extrapolated, its calculation formula is as follows from Fig. 6：
Hi+2Rsin2(θ/2)
According to tangent line height, with reference to stockpile three-D profile data, you can obtain i-th layer of bucket wheel rotation circumference and stockpile
The contour that the tangent line on inclined-plane is highly located, as shown in fig. 7, SiThe tangent line of as i-th layer bucket wheel rotation circumference and stockpile inclined-plane is high
Contour at degree.Stockpile three-D profile data can be updated after feeding task is completed, and be that next feeding task is prepared.
Certain stockpile three-D profile data, which can also often complete once to rotate feeding, just updates three-D profile data, is not done herein in detail
State.
In one alternate embodiment, as shown in figure 3, step S20 also includes：
Step S202, anti-bucket is pushed away according to bucket wheel around the point of contact of level convolution track and the contour at suspending arm rotary center
Take turns reclaimer position in orbit；
Step S204, makes bucket wheel reclaimer offset a △ x displacement to stockpile direction according to bucket wheel maximum digging depth, from
And bucket wheel is formed multiple intersection points with contour around the level convolution track at suspending arm rotary center, select from bucket wheel current location most
A near intersection point as bucket wheel feeding point of penetration coordinate.
As shown in figure 8, step S202, in bucket wheel rotation circumference bottom and HiThe highly tangent feelings in feeding layer baseplane at place
Under condition, bucket wheel is searched in contour S with alternative manneriAround the level convolution track at suspending arm rotary center and contour S in planei
Point of contact Pi, cantilever level convolution equation of locus be：
Wherein, abscissa x be reclaimer apart from the distance of rail end point, ordinate y is level of the bucket wheel perpendicular to track
Distance, xiFor suspending arm rotary center initial abscissa in orbit, L is length of the cantilever pitching center to bucket wheel pivot
Degree, H0For the height on cantilever pitching centre-to-centre spacing ground.Bucket wheel can be searched out in contour S using alternative manner by the equationi
Around the level convolution track at suspending arm rotary center and contour S in planeiPoint of contact Pi, it is counter to release bucket wheel by point of contact Pi
Reclaimer position in orbit.
Step S204, by bucket wheel in contour SiLevel in plane around suspending arm rotary center circles round track to close to stockpile
Direction offsets △ x distances, the convolution track and contour SiIntersection point be Pbj、Pej, select a bit near from bucket wheel current location
As bucket wheel feeding point of penetration, when setting offset distance △ x, be considered as the maximum digging depth of bucket wheel, prevent sky sweep with it is vexed
Bucket.As shown in figure 9, as j=1, it is P that point, which may be selected, in the incision of bed of material first time convolution feedingb1And Pe1, compare Pb1And Pe1
With the distance of bucket wheel current location, a bit near from bucket wheel current location is selected as bucket wheel feeding point of penetration.
In one alternate embodiment, as shown in figure 4, step S30 also includes：
Since step S302, the walking of control bucket wheel reclaimer and cantilevered action, make bucket wheel enter calculating obtained point of penetration
Row feeding, completion once horizontally rotates feeding；
Step S304, judges whether the selected bed of material reaches layers apart length, if feeding layer is not reaching to layers apart length,
Bucket wheel reclaimer is then offset into a △ x displacement to close to stockpile direction again, continues feeding, the iteration step in the selected bed of material
Suddenly until reaching layers apart length；
Step S306, when the feeding layer reach layers apart length after, to the feeding layer next layer progress feeding, iteration until
The feeding layer of the bottom completes feeding.
As shown in figure 9, step S302 is according to point of penetration PbjOr PejIt is anti-to release reclaimer walking position xjWith the rotation of cantilever
Gyration scope αj~βj, control bucket wheel is once circled round feeding, as j=1, and reclaimer is from current location walking to x1Place.
If the bed of material circles round from P during feedingb1Incision, then cantilever is screwed into angle [alpha] from current angular convolution1Place, and start from α1To β1Revolve in direction
Turn feeding.If the bed of material circles round from P during feedinge1Incision, then cantilever is screwed into angle beta from current angular convolution1Place, and start from β1To
α1Direction rotates feeding.
As shown in Figure 10, step S304 is to judge whether i-th layer of feeding reaches layers apart length, if it is, performing step
S306, if it is not, then j=j+1, return to step S204, reclaimer moves △ x to stockpile direction again, as j=2, reclaimer from
X is arrived in current location walking2Place.If the bed of material circles round from P during feedingb2Incision, then cantilever is screwed into angle [alpha] from current angular convolution2Place,
And start from α2To β2Direction rotates feeding.If the bed of material circles round from P during feedinge2Incision, then cantilever is screwed into from current angular convolution
Angle beta2Place, and start from β2To α2Direction rotates feeding.
Step S306, reaches after layers apart length, judges whether to take all bed of materials of material section, if it is, terminating to take
Material, if it is not, then a layer feeding is changed in i=i+1, return to step S104, progress.
After solid accumulation, the stocking angle θ of material be it is known, in one alternate embodiment, before material extracting operation, i.e.,
The action parameter of reclaimer and its cantilever is calculated, so as to realize reclaimer automatic material taking.
In summary, by the bucket wheel machine automatic material taking method of the present invention, following technique effect is realized：
1. combining stockpile three-D profile data, by the anti-action parameter for releasing reclaimer of feeding point of penetration, bucket wheel is realized
The unmanned control of machine feeding；
2. using the present invention method for fetching, can avoid reclaimer sky sweep with vexed bucket, on the premise of bucket wheel is not damaged
Feeding efficiency is improved to greatest extent.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (7)
1. a kind of bucket wheel machine automatic material taking method, it is characterised in that comprise the following steps：
When obtaining bucket wheel rotation circumference bottom and tangent feeding layer baseplane, bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact
Stockpile profile contour；
In the case of tangent in bucket wheel rotation circumference bottom and feeding layer baseplane, level of the foundation bucket wheel around suspending arm rotary center
Point of contact and bucket wheel maximum digging depth of the convolution track with the contour, to determine the coordinate of bucket wheel point of penetration；
It is anti-to release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, so that reclaimer automatic material taking is controlled,
Wherein, the step of coordinate of the acquisition point of penetration is：
Level according to bucket wheel around suspending arm rotary center is circled round, and counter to push away bucket wheel reclaimer in-orbit for the point of contact of track and the contour
Position on road；
Bucket wheel reclaimer is set to offset a △ x displacement to stockpile direction according to bucket wheel maximum digging depth, so that bucket wheel is around outstanding
The level convolution track at revolution of arm center forms multiple intersection points with contour, selects an intersection point nearest from bucket wheel current location
It is used as the coordinate of bucket wheel feeding point of penetration.
2. according to the method described in claim 1, it is characterised in that the step of obtaining the contour be：
It is determined that layering quantity and layers apart length；
The feeding bed of material is selected, the floor height of the selected bed of material is obtained, and calculates the luffing angle of cantilever；
With reference to the three-D profile data of stockpile, obtain bucket wheel rotation circumference bottom and feeding layer baseplane it is tangent in the case of,
The contour for the stockpile profile that bucket wheel rotation circumference is highly located with stockpile inclined-plane point of contact.
3. according to the method described in claim 1, it is characterised in that it is anti-release reclaimer walking displacement, cantilever convolution angle and
Cantilever luffing angle, so that the step of controlling reclaimer automatic material taking is：
Bucket wheel reclaimer walking and cantilevered action are controlled, the point of penetration that bucket wheel is obtained from calculating is proceeded by feeding, completes one
Sub-level rotates feeding；
Judge whether the selected bed of material reaches layers apart length, if feeding layer is not reaching to layers apart length, by bucket wheel feeding
Machine offsets a △ x displacement again to close to stockpile direction, continues the feeding in the selected bed of material, the iteration step is until reaching out
Layer length；
After feeding layer reaches layers apart length, to next layer of progress feeding of feeding layer, iteration is until the feeding of the bottom
Layer completes feeding.
4. method according to claim 3, it is characterised in that when stockpile is longer, is divided into multiple material sections by stockpile, has dug
After all layers of material of this material section, the material of next material section is taken according still further to every layer of order.
5. according to the method described in claim 1, it is characterised in that in bucket wheel rotation circumference bottom and HiHighly locate feeding layer bottom
In the case that plane is tangent, cantilever luffing angle calculation formula is as follows：
Sinγi=(R+Hi-H0)/L
Wherein, H0It is the height on cantilever pitching centre-to-centre spacing ground；
HiIt is the height of the i-th feeding layer bottom surface；
L is length of the cantilever pitching center to bucket wheel pivot；
R is bucket wheel rotation radius；
γiCantilever luffing angle.
6. according to the method described in claim 1, it is characterised in that in bucket wheel rotation circumference bottom and HiHighly locate feeding layer bottom
In the case that plane is tangent, the point of contact of bucket wheel rotation circumference and stockpile inclined-plane is highly：
Hi+2Rsin2(θ/2)
Wherein, HiIt is the height of i-th layer of bottom surface；
θ is the stocking angle of material；
R is bucket wheel rotation radius.
7. according to the method described in claim 1, it is characterised in that in bucket wheel rotation circumference bottom and HiThe feeding layer highly located
In the case that baseplane is tangent, bucket wheel is around the level convolution equation of locus at suspending arm rotary center in the contour plane：
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>y</mi>
<mn>2</mn>
</msup>
<mo>=</mo>
<msup>
<mi>r</mi>
<mn>2</mn>
</msup>
<mo>,</mo>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>&le;</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<mi>y</mi>
<mo>&GreaterEqual;</mo>
<mn>0</mn>
<mo>,</mo>
<mi>r</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>L</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>H</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>H</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mi>R</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>+</mo>
<mi>R</mi>
<mo>&CenterDot;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
<mo>)</mo>
</mrow>
</mrow>
Wherein, x is distance of the reclaimer apart from rail end point；
Y is horizontal range of the bucket wheel perpendicular to track；
xiIt is suspending arm rotary center initial abscissa in orbit when taking i-th layer of material；
L is length of the cantilever pitching center to bucket wheel pivot；
HiIt is the height of the i-th feeding layer bottom surface；
H0It is the height on cantilever pitching centre-to-centre spacing ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510969892.0A CN105417197B (en) | 2015-12-22 | 2015-12-22 | Bucket wheel machine automatic material taking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510969892.0A CN105417197B (en) | 2015-12-22 | 2015-12-22 | Bucket wheel machine automatic material taking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105417197A CN105417197A (en) | 2016-03-23 |
| CN105417197B true CN105417197B (en) | 2017-10-13 |
Family
ID=55495825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510969892.0A Active CN105417197B (en) | 2015-12-22 | 2015-12-22 | Bucket wheel machine automatic material taking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105417197B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081648B (en) * | 2016-05-31 | 2019-05-24 | 中国神华能源股份有限公司 | The recognition methods of Neosinocalamus affinis for reclaimer feeding and device |
| CN106707956A (en) * | 2017-02-15 | 2017-05-24 | 京能（锡林郭勒）发电有限公司 | Intelligent and fully-automatic stacker-reclaimer control device |
| CN106966185A (en) * | 2017-04-14 | 2017-07-21 | 中国神华能源股份有限公司 | For the method for core pile, system, reclaimer and stacker |
| CN109835726B (en) * | 2017-11-29 | 2021-07-09 | 中冶宝钢技术服务有限公司 | Stacking and taking method |
| CN108502483B (en) * | 2018-02-09 | 2021-02-02 | 中国神华能源股份有限公司 | Material taking control method and device for material taking machine |
| CN111302084B (en) * | 2020-03-11 | 2021-08-03 | 华能国际电力股份有限公司大连电厂 | Constant-flow material taking control system and method for bucket wheel type material taking machine |
| CN111674954B (en) * | 2020-07-17 | 2022-06-07 | 中冶长天国际工程有限责任公司 | Material taking system and method |
| CN112407979B (en) * | 2020-11-11 | 2022-07-19 | 中冶东方工程技术有限公司 | Automatic material taking method and system based on stock yard scanning imaging |
| 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 |
| CN113463720B (en) * | 2021-06-30 | 2023-02-17 | 广西柳工机械股份有限公司 | System and method for identifying contact material of loader bucket |
| CN114084585B (en) * | 2021-11-12 | 2023-10-20 | 北京华能新锐控制技术有限公司 | Straight feeding method and device of bucket-wheel stacker-reclaimer |
| CN114803391B (en) * | 2022-05-12 | 2023-11-03 | 北京华能新锐控制技术有限公司 | Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system |
| CN116380081B (en) * | 2023-05-29 | 2023-09-19 | 湖南锐异智能科技有限公司 | Material taking path planning method, equipment and storage medium for bucket wheel reclaimer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040020478A (en) * | 2002-08-30 | 2004-03-09 | 재단법인 포항산업과학연구원 | Method for controlling position of reclaimer |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101776867A (en) * | 2009-01-14 | 2010-07-14 | 宝山钢铁股份有限公司 | Automatic material taking control device and method of material piling and taking machine |
| CN102336340A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Full-automatic bulk cargo storage yard stacking and taking method |
-
2015
- 2015-12-22 CN CN201510969892.0A patent/CN105417197B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040020478A (en) * | 2002-08-30 | 2004-03-09 | 재단법인 포항산업과학연구원 | Method for controlling position of reclaimer |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101776867A (en) * | 2009-01-14 | 2010-07-14 | 宝山钢铁股份有限公司 | Automatic material taking control device and method of material piling and taking machine |
| CN102336340A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Full-automatic bulk cargo storage yard stacking and taking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105417197A (en) | 2016-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105417197B (en) | Bucket wheel machine automatic material taking method | |
| CN108724695B (en) | A kind of building method of seal in underground sequestration space | |
| CN106120702B (en) | High roadbed artificial foundation back-filling in layers is layered strong rammer composite reinforcement method | |
| CN107587513B (en) | A kind of pile defect handling method of foundation pit supporting pile | |
| CN110424479A (en) | A kind of rectifying of leaned building system and method based on 3 D laser scanning | |
| CN106544998A (en) | For the method for real-time of underground deep layer earth horizontal displacement | |
| CN107489137A (en) | A kind of method that collapsible loess foundation is handled using cement soil padding | |
| CN102304910A (en) | Construction method of armor block in breakwater engineering | |
| CN107989612A (en) | A kind of high ground-water level coal field dynamic is reclaimed new method in advance | |
| CN108868837B (en) | A kind of underground space building system | |
| CN207017267U (en) | Engineering pile guider in piling construction | |
| CN108772937A (en) | A kind of underground cavity intelligence placement method | |
| CN102817298A (en) | Construction method on permafrost | |
| CN110348645B (en) | Opencut coal mine dumping line arrangement method based on internal dumping space utilization maximization | |
| CN106930336A (en) | One kind building isolated footing displacement method for correcting error | |
| CN107700513A (en) | A kind of anti-excavation construction method of pile cover | |
| CN108243647B (en) | A kind of new method that coal field dynamic in Midwest is reclaimed in advance | |
| CN207567817U (en) | Automatic paver system with movable blanking structure | |
| CN110245452A (en) | A kind of Loess Region coal mining subsidence area crack administering method | |
| CN205975653U (en) | Independent bearing platform structure of soil child mould construction | |
| CN202925538U (en) | Rammer used in construction on frozen earth | |
| CN109024129A (en) | The compacted construction method of high-fill roadbed | |
| CN102864760A (en) | Gravel masonry dam material filling construction method in cold region | |
| CN108748983B (en) | System is sealed in a kind of building of underground sequestration space up for safekeeping | |
| CN106049461B (en) | The construction method of bored concrete pile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |