CN106707956A - Intelligent and fully-automatic stacker-reclaimer control device - Google Patents
Intelligent and fully-automatic stacker-reclaimer control device Download PDFInfo
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- CN106707956A CN106707956A CN201710082047.0A CN201710082047A CN106707956A CN 106707956 A CN106707956 A CN 106707956A CN 201710082047 A CN201710082047 A CN 201710082047A CN 106707956 A CN106707956 A CN 106707956A
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- 238000012545 processing Methods 0.000 claims abstract description 32
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- 238000000034 method Methods 0.000 description 20
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- 238000004519 manufacturing process Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
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- 238000009825 accumulation Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 5
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- 238000004364 calculation method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
The invention discloses an intelligent and fully-automatic stacker-reclaimer control device. The device comprises a central processing server, a central control remote PLC system, a stacker-reclaimer PLC system, a human machine HMI operator interface and a laser scanning system; the central control remote PLC system is connected with the central processing server; the stacker-reclaimer PLC system is connected with the central processing server and the central control remote PLC system; the man-machine HMI operator interface is connected with the central processing server, the central control remote PLC system and the stacker-reclaimer PLC system; and the laser scanning system is connected with the central processing server. The connection of the intelligent and fully-automatic stacker-reclaimer control device is realized through intelligent remote communication networks which include an industrial field bus network, an industrial Ethernet and/or an industrial television network. Thus, with the intelligent and fully-automatic stacker-reclaimer control device of the invention adopted, work efficiency can be improved, labor cost can be saved, and the operating environment of a driver can be improved.
Description
Technical field
The present invention relates to a kind of intelligent full-automatic stacker-reclaimer, belong to bulk material conveying technology field and automation skill
Art field.
Background technology
It is external just using inefficient equipment such as continuous heap reclaiming technology substitution grab bucket, forklifts since the 1950's,
Stacker-reclaimer starts to be played an important role in bulk goods carrying work.Dalian industrial car factory devises Chinese First within 1966
Stacker-reclaimer, and come into operation in Panzhihua steel mill in nineteen sixty-eight.The eighties in 20th century, China starts reform and opening-up, introduces state
Outer advanced technology, cooperative manufacture, this is the prosperity period of stacker-reclaimer, at this moment the phase, have accumulated experience, design, manufacture and inspection
The level of testing has great progress.Late 1990s, China has been equipped with the ability that autonomous Design develops large-scale stacker-reclaimer.
Into 21 century, it is suitable with developed countries that domestic stacker-reclaimer manufactures and designs ability, substantially meets domestic user
Requirement, the like product of external import can be replaced completely.
However, stacker-reclaimer realizes that the difficulty of automation is very big！If stacker-reclaimer can realize full-automation, whole
The automation of individual stock ground system is just easily achieved, so that it may improve production efficiency, reduction pollution, reduces cost, reduction fault rate,
Ensure the Effec-tive Function of whole power plant.
The content of the invention
A kind of deficiency that the present invention exists for above-mentioned prior art, there is provided intelligent full-automatic stacker-reclaimer control dress
Put, its have typical heap feeding model of mind function, stockpile shape recognition function, self-position identification function, automatic detection and
Defencive function and complete middle control function.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of intelligent full-automatic stacker-reclaimer control dress
Put, including：Central processing server, middle control remote PLC system, stacker-reclaimer PLC system, man-machine HMI operation interfaces and swash
Photo-scanning system, wherein, the middle control remote PLC system is connected with the central processing server, the stacker-reclaimer PLC
System and the central processing server, the middle control remote PLC system are connected respectively, the man-machine HMI operation interfaces and institute
State central processing server, the middle control remote PLC system, the stacker-reclaimer PLC system to connect respectively, the laser scanning
System is connected with the central processing server；Connection in the intelligent full-automatic stacker-reclaimer control device is all logical
Cross intelligent long-distance communication network, including industrial field bus network, EPA and/or industrial television network.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Preferably, the central processing server includes data server and image server.
Preferably, collision avoidance system is controlled in being provided with the data server, it is ensured that in many stacker-reclaimer synchronizations
In the case of operation, it is to avoid stacker-reclaimer is collided.
Preferably, stereo image processing system is installed in described image server, by the laser scanning system institute
The data of collection are integrated and calculated, and are converted into stockpile 3-D view and stockpile and are made an inventory data.
Preferably, the laser scanning system includes multiple laser scanners for scanning operation stockpile, and scanning is current
Operation stockpile and carry out data collection arrange；The laser scanner is connected and sends data to described image server,
And then feed back in the man-machine HMI operation interfaces, and stock ground 3-D scanning heap shape and stockpile are provided make an inventory data.
Preferably, the laser scanner configuration is on stacker-reclaimer.
Preferably, in frame or building of the laser scanner configuration beyond stacker-reclaimer.
Preferably, also including video monitoring system, the video monitoring system includes：Multiple is arranged on stacker-reclaimer
Camera and the camera video frequency divider for connecting and the video display and video that are connected to the video frequency divider
Operation keyboard；The video display is additionally coupled to the man-machine HMI operation interfaces.
Preferably, also including being connected to the middle control remote PLC system and then controlling the remote of the stacker-reclaimer PLC system
Journey operation handle.
Preferably, available pattern has：Classical windrow pattern, barnyard stacking pattern, benefit pile pattern and feeding mould
Formula.
The beneficial effects of the invention are as follows：
1st, special setting stepwise piling height model is reduced and produces dust pollution environment greatly very much because piling up raw material drop,
When in rainy season set, it is also possible to suitably reduce piling height, pile landslip is reduced；
2nd, special layer and section windrow model avoids the stack collapse situation because caused by being only segmented；
3rd, classical heap feeding model reduce cart repeatedly adjust large arm luffing angle, walk, change that layer causes need not
The energy consumption wanted, and extend the service life of equipment, maximizing the benefits；
4th, middle control remote PLC system authorizes operator special operational in case of emergency, it is to avoid in situation occurred
The loss that scene need to be notified to put the time loss of inspection and caused；
5th, middle control collision avoidance system avoids the generation of the severe safety accidents such as stacker-reclaimer collision；
6th, the full-automatic operation of equipment, realizes stock ground management, center control, the unwatched integration of stacker-reclaimer.
Brief description of the drawings
Fig. 1 is the structural representation of intelligent full-automatic stacker-reclaimer control device of the invention；
Fig. 2 a are fixed point pitching build up process figure one of the invention；
Fig. 2 b are fixed point pitching build up process figure two of the invention；
Fig. 3 is segmentation piling height method schematic diagram of the invention；
Fig. 4 is rotation layering reclaiming technology figure of the invention；
In the accompanying drawings, the list of designations represented by each label is as follows：
101 central processing servers
1011 data servers
1012 image servers
Remote PLC system is controlled in 102
103 stacker-reclaimer PLC systems
104 man-machine HMI operation interfaces
105 laser scanners
106 cameras
107 video frequency dividers
108 video displays
109 vision operation keyboards
110 remote operation handles
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
Please also refer to shown in Fig. 1, it is the structural representation of intelligent full-automatic stacker-reclaimer control device of the invention.
The intelligent full-automatic stacker-reclaimer control device includes：Central processing server 101, middle control remote PLC system 102, heap
Reclaimer PLC system 103, man-machine HMI operation interfaces 104 and laser scanning system, wherein,
The middle control remote PLC system 102 is connected with the central processing server 101, the stacker-reclaimer PLC systems
System 103 is connected respectively with the central processing server 101, the middle control remote PLC system 102, the man-machine HMI operations circle
Face 104 and the central processing server 101, the middle control remote PLC system 102,103 points of the stacker-reclaimer PLC system
Do not connect, the laser scanning system is connected with the central processing server 101；It is complete certainly in the intellectuality of the invention
In dynamic stacker-reclaimer control device, all of connection is all including the industrial field bus net by intelligent long-distance communication network
Network, EPA and industrial television network, with meet different pieces of information communicate the need for.
Needs illustrate be：Because equipment is various in the present invention, for the sake of clarity, some connecting lines are eliminated,
It will be understood by those skilled in the art that on annexation of the invention, being defined by word description.
Central processing server 101, it includes data server 1011 and image server 1012, responsible data communication,
Signal receives transmission and parameter calculates the important process such as amendment and sets up the internal system communication network of complete set；
Collision avoidance system is controlled in being provided with the data server 1011, the middle control collision avoidance system ensures many
In the case of platform stacker-reclaimer synchronization job, it is to avoid the generation of the severe safety accident such as stacker-reclaimer collision；When the middle control is anti-
When the anticollision calculation of collision system show that stacker-reclaimer may collide, the stacker-reclaimer PLC system is notified immediately
103, time update and limit operation stacker-reclaimer run action, prevent the generation of collision accident；
Stereo image processing system is installed in described image server 1012, the stereo image processing system is by institute
State a series of stockpile scan datas that laser scanning system gathered to be integrated and calculated, these data are converted into stockpile three
The presentation directly perceived of image is tieed up, is made an inventory data with the stockpile for providing control；
Middle control remote PLC system 102, it is responsible for coordinating control of each operating unit to all stacker-reclaimers, authorizes operation
Member's special operational in case of emergency；The middle control remote PLC system 102 calculates related to stereo image processing system request
Data simultaneously obtain result of calculation, and being then sent to stacker-reclaimer PLC system carries out real-time control, the middle control remote PLC system
102 also send the information such as job state to stereo image processing system；
Stacker-reclaimer PLC system 103, it is from the central processing server 101 and the middle control remote PLC system 102
Obtain control instruction and data parameters, walking mechanism, slew gear, luffing mechanism, the bucket machine issued an order to stacker-reclaimer
Structure, trailer mechanism and machine upper belt mechanism etc.；The stacker-reclaimer PLC system 103 is in real time by the various operations of field operation
Parameter and functioning condition feedback of the information give the man-machine HMI operation interfaces 104；
Man-machine HMI operation interfaces 104, shown it comprises the parameters for operation stacker-reclaimer and it is controllable and
Change the specific button of actual job flow；In the man-machine HMI operation interfaces 104, job instruction sum is issued and changed
According to parameter, by the integration and calculating of the central processing server 101 and the middle control remote PLC system 102, institute is handed down to
Stacker-reclaimer PLC system 103 is stated, operation stacker-reclaimer is operated according to specific instruction；
Laser scanning system, it includes multiple laser scanners 105 for scanning operation stockpile, can in real time and clearly
Sectoring is carried out to current work stockpile, rapidly and accurately operation stockpile scan data is acquired and arranged；Then, will
Scan data is sent to described image server 1012, stereo image processing system with will data carry out data screening and formula
Calculate, and then change into the 3-D view pattern that can intuitively show, feed back in the man-machine HMI operation interfaces 104；It is multiple
Laser scanner 105 is configurable on stacker-reclaimer, can also be configured in the frame or building beyond stacker-reclaimer；
Preferably, the intelligent full-automatic stacker-reclaimer control device also includes video monitoring system, and it includes：It is multiple
Camera 106 on stacker-reclaimer and the video frequency divider 107 of the connection of the camera 106, it is connected to the video
The video display 108 and vision operation keyboard 109 of frequency divider 107, the video display 108 is additionally coupled to described man-machine
HMI operation interfaces 104；Thus, the real picture of operation field is transferred to the video and shown by the video monitoring system in real time
Show on device 108, while being also displayed in the man-machine HMI operation interfaces 104, facilitate operator to carry out reality to field operation scene
When monitoring, and assist make accurately judgement；
Preferably, the intelligent full-automatic stacker-reclaimer control device also includes remote operation handle 110, and it is connected to
The middle control remote PLC system 102, the stacker-reclaimer PLC system 103 is controlled by industrial field bus network.
In intelligent full-automatic stacker-reclaimer control device of the invention, available pattern has following four：
1st, classical windrow pattern
Model is as shown in Fig. 2 a, 2b and 3, and technique is as follows：
First, discharging point position is determined according to pile heap width, discharging point position is the centre position of stacking width, Fig. 2 a
CD lines be stockyard width centreline；
Secondly, the luffing angle of large arm is determined according to height is stored up, it is ensured that blanking position is CD lines as shown in Figure 2 a
On；
The information such as the length S according to pile heap, coal, it is determined that the Ju Li ⊿ S of adjusting microinching every time；
Specific heap method：Big machine is travelled to windrow starting point position, it is determined that after the pitching height and adjusting microinching distance of large arm,
Set the value and keep large arm pitching highly constant, then start windrow, line slip is entered using the natural gravity of coal charge, formed such as
Triangular-section shown in Fig. 2 b；After heap is to specified altitude assignment H, level-sensing device alarm then carries out adjusting microinching Zou Hang ⊿ S distances, starts
Lower a pile windrow, so circulation, until the complete stockpile length distance S of adjusting microinching, then windrow completion.Sometimes for using segmentation in operation
The method of piling height is set to reduce airborne dust.As shown in figure 3, piling height is divided into three sections, 6m, 9m, 12.4m are corresponding outstanding
Arm is highly 8.4m, 11.8m, 14.5m, and piling height is controlled by " Charge level measurer ".
Automatic stockpiling operating procedure：Central control system receive comprising operation cargo type, plan workload production plan after, root
Correspondence bulk density is found in basic database according to operation cargo type, angle information is piled up, it is then determined that accumulation mode；With post analysis
The currently used state in stock ground, determines that Work machine, accumulation address, stockpile heap are high；Lead to information above as job instruction automatically
Cross industrial network and issue correspondence stacker-reclaimer；Simultaneously " windrow preparation " instruction is sent to ground belt flow.Unmanned windrow process
In, stacker-reclaimer carries out windrow calculating automatically according to production plan, and carries out automatic aligning, and " fixed point method of piling " function is by heap
PLC is realized on reclaimer, and stacker-reclaimer first starts arm belt, intermediate belt according to middle control instruction, and ground belt conveyer presses flow
Order starts running, and stacker-reclaimer waits material to pass through according to windrow requirement in initial address, with reference to predetermined principle of piling up to big
Car adjusting microinching distance and cycle angle are adjusted, and after accumulation terminates, adjust automatically piling height carries out second layer fixed point covering and mends
Heap, until predetermined altitude, completes the accumulation of the first stockpile.When the first stockpile reaches specified altitude, width, stacker-reclaimer is automatic
Moved to the second heap plot point, repeat to pile up according to the sequence of operation mode of the first heap plot point, until the end of job.
Automatic stockpiling operating process is as follows：
1) master server receives the windrow production plan that human-computer interaction interface is issued；
2) windrow production plan content is analyzed, windrow pattern is determined, the windrow control instruction of big machine is generated；
3) control picture display windrow job control directive in, carries out parameters revision (including out of shape, convolution and pitch value)；
4) windrow control instruction is issued to big machine PLC system；
5) big machine receives windrow job instruction, carries out the adjustment work before formal operation；
6) big machine travels to plan the initial address in windrow region, and the operation of great Ji Ge mechanisms is ready；
7) ground flow starts, and batcher starts operation with corresponding conveyer, and big machine starts automatic stockpiling operation；
8) control of automatic stockpiling process；
9) big machine does not reach accumulation termination address (but batcher has stopped feed) or windrow operation is reached to pile up and terminates ground
Location, big machine completes the treatment of windrow operation；
10) after windrow terminates, dump scan data is analyzed and is preserved.
2nd, barnyard stacking pattern
Windrow in such cases only needs to determine stacking initial address and termination address that system can be according to the amount of unloading coal, coal
Kind volume of unloading coal is calculated, simulate the effect of storing up in place in conjunction with clamp method, operating personnel can carry out storing up pre-
Sentence.
Barnyard clamp method：
1) according to the amount of unloading, coal information, calculate and store up volume；
2) windrow initial address is determined；
3) clamp method is selected；
4) volume combination clamp method will be stored up, analog simulation stores up design sketch；
5) windrow is started；
6) after windrow terminates, dump scan data is analyzed and is preserved.
3rd, pile pattern is mended
Windrow in such cases is firstly the need of the situation for determining existing pile type, it is determined that the initial address stored up and terminating ground
Location, system can calculate volume of unloading coal according to the amount of unloading coal, coal, be simulated in conjunction with clamp method on the place of existing storage
What is represented stores up effect, and thus operating personnel carry out storing up anticipation and the suitable place of selection.
Mend stacking method：
1) according to the amount of unloading, coal information, calculate and store up volume；
2) windrow initial address is determined；
3) clamp method is selected；
4) data of existing stacking are scanned, or calls the pile type data for having preserved；
5) volume combination clamp method will be stored up, being scanned generation on existing stacking stores up design sketch；
6) windrow is started；
7) after windrow terminates, dump scan data is analyzed and is preserved.
4th, feeding pattern
Classical model such as Fig. 4, operates stacker-reclaimer walking first, and rotation, elevation mount make whole machine be placed in stockpile top layer work
On industry starting point position, then start feeding by rotation control, when often reaching rotating range the setting of walking mechanism fine motion one away from
From the i.e. amount of feeding, after taking ground floor, carry out changing layer operation, every layer of the anglec of rotation is determined by the angle of repose and the number of plies of material；
Pitching height is set by the number of plies, and travel distance is determined by the amount of feeding.Arm support rotary speed should be with arm support rotation angle into determination letter
Number relation, and fed back according to the electric current of drive motor, realize rotation layering equivalent feeding algorithm.
When pile type is larger more long, need to carry out rotating layer and section feeding sometimes, i.e., according to the length of the feed section for setting
Carry out, carry out changing layer automatically when taking current layer, carry out changing section operation after basecoat is taken, be placed in second segment top
In operation starting point, repeat feeding, until feeding is completed.Automatic material taking operating process is as follows：
1) stockpile scanning three-dimensional imaging laser is realized and for automatic material taking control provides data foundation, production plan setting；
2) analyze data provided according to three-dimensional imaging, it is determined that the data such as layering, adjusting microinching amount, boundary value, with initialization system
The foundation of automatic material taking；
3) when same layer is taken, according to setup parameter automatic running feeding；
4) after layer takes according to setup parameter automatic aligning, layers apart, change layer；
5) after feeding terminates, dump scan data is analyzed and is preserved.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of intelligent full-automatic stacker-reclaimer control device, it is characterised in that including：Central processing server, middle control are remote
Journey PLC system, stacker-reclaimer PLC system, man-machine HMI operation interfaces and laser scanning system, wherein,
It is described it is middle control remote PLC system be connected with the central processing server, the stacker-reclaimer PLC system with it is described in
Centre processing server, the middle control remote PLC system are connected respectively, and the man-machine HMI operation interfaces and the center treatment take
Business device, the middle control remote PLC system, the stacker-reclaimer PLC system are connected respectively, the laser scanning system with it is described in
Centre processing server is connected；
The connection of the intelligent full-automatic stacker-reclaimer control device is all including the industry by intelligent long-distance communication network
Fieldbus networks, EPA and/or industrial television network.
2. control device according to claim 1, it is characterised in that the central processing server includes data server
And image server.
3. control device according to claim 2, it is characterised in that control anti-collision in being provided with the data server
Hit system, it is ensured that in the case of many stacker-reclaimer synchronization jobs, it is to avoid stacker-reclaimer is collided.
4. control device according to claim 2, it is characterised in that be provided with 3-D view in described image server
Processing system, the data that the laser scanning system is gathered are integrated and calculated, and are converted into stockpile 3-D view with material
Heap is made an inventory data.
5. the control device according to claim 2 or 4, it is characterised in that the laser scanning system is used for including multiple
The laser scanner of scanning operation stockpile, the collection for scanning current work stockpile and carrying out data is arranged；The laser scanner
Described image server is connected and sent data to, and then is fed back in the man-machine HMI operation interfaces, and stock ground three is provided
Dimension scanning heap shape and stockpile are made an inventory data.
6. control device according to claim 5, it is characterised in that the laser scanner configuration is on stacker-reclaimer.
7. control device according to claim 5, it is characterised in that the laser scanner configuration is beyond stacker-reclaimer
Frame or building on.
8. control device according to claim 1 and 2, it is characterised in that also including video monitoring system, the video prison
Viewing system includes：Video frequency divider and the connection of camera and camera connection of the multiple on stacker-reclaimer
In the video display and vision operation keyboard of the video frequency divider；The video display is additionally coupled to the man-machine HMI
Operation interface.
9. control device according to claim 1 and 2, it is characterised in that also including being connected to the middle control remote PLC system
Unite and then control the remote operation handle of the stacker-reclaimer PLC system.
10. control device according to claim 1 and 2, it is characterised in that available pattern has：Classical windrow mould
Formula, barnyard stacking pattern, benefit pile pattern and feeding pattern.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082047.0A CN106707956A (en) | 2017-02-15 | 2017-02-15 | Intelligent and fully-automatic stacker-reclaimer control device |
| PCT/CN2017/092730 WO2018149087A1 (en) | 2017-02-15 | 2017-07-13 | Intelligent and fully automatic stacker-reclaimer control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082047.0A CN106707956A (en) | 2017-02-15 | 2017-02-15 | Intelligent and fully-automatic stacker-reclaimer control device |
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| Publication Number | Publication Date |
|---|---|
| CN106707956A true CN106707956A (en) | 2017-05-24 |
Family
ID=58909203
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|---|---|---|---|
| CN201710082047.0A Pending CN106707956A (en) | 2017-02-15 | 2017-02-15 | Intelligent and fully-automatic stacker-reclaimer control device |
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| Country | Link |
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| CN (1) | CN106707956A (en) |
| WO (1) | WO2018149087A1 (en) |
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| CN108016891A (en) * | 2017-12-13 | 2018-05-11 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108082954A (en) * | 2017-12-13 | 2018-05-29 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108100686A (en) * | 2017-12-13 | 2018-06-01 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108116900A (en) * | 2017-12-13 | 2018-06-05 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108127890A (en) * | 2018-02-07 | 2018-06-08 | 北京工商大学 | A kind of Full automatic feed system of polymer extruder |
| CN108398889A (en) * | 2018-02-06 | 2018-08-14 | 徐雪华 | Aluminium plate automatic piling control system |
| WO2018149087A1 (en) * | 2017-02-15 | 2018-08-23 | 京能（锡林郭勒）发电有限公司 | Intelligent and fully automatic stacker-reclaimer control apparatus |
| CN108502483A (en) * | 2018-02-09 | 2018-09-07 | 中国神华能源股份有限公司 | Feeding control method and device for reclaimer |
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| CN109650089A (en) * | 2018-12-20 | 2019-04-19 | 秦皇岛燕大滨沅科技发展有限公司 | A kind of collision-proof method of stockyard stacker-reclaimer and material heap |
| CN110171722A (en) * | 2019-05-13 | 2019-08-27 | 华电重工股份有限公司 | Circular coal yard stacker-reclaimer scraper plate feeding stability of flow control method and device |
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