CN106966184B - Automatic layer-changing method and device for bucket wheel reclaimer - Google Patents
Automatic layer-changing method and device for bucket wheel reclaimer Download PDFInfo
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- CN106966184B CN106966184B CN201710224424.XA CN201710224424A CN106966184B CN 106966184 B CN106966184 B CN 106966184B CN 201710224424 A CN201710224424 A CN 201710224424A CN 106966184 B CN106966184 B CN 106966184B
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 239000000463 material Substances 0.000 claims abstract description 122
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000007423 decrease Effects 0.000 claims description 3
- 239000010410 layer Substances 0.000 description 46
- 239000003245 coal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- 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
- B65G65/005—Control arrangements
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- 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
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to feeding control fields, disclose a kind of automatic layer-changing method for bucket wheel reclaimer, this method comprises: whether having material in front of detection bucket wheel reclaimer；Record has material state duration and front without material state duration when interior front gyration period of secondary revolution reclaiming process；And when there is material state duration to reach predetermined ratio threshold value with the ratio without material state duration, start automatic layer-changing process.Another aspect of the present invention also discloses a kind of device of automatic layer-changing for bucket wheel reclaimer, it can be realized the automatic layer-changing in bucket wheel reclaiming process using this method and device to operate, and it is not influenced by the subjective factor of the factors such as weather and people during automatic layer-changing, control process is accurate and highly-safe.
Description
Technical field
The present invention relates to feeding control fields, and in particular, to a kind of automatic layer-changing method for bucket wheel reclaimer and
Device.
Background technique
Bucket wheel reclaimer is the high-efficiency appliance that the large bulk material of modernization industry continuously loads and unloads, be widely used in harbour,
The bulk cargos such as harbour, metallurgy, cement, steel plant, coke-oven plant, coal storage plant, power plant (ore, coal, coke, sandstone) store stock ground
Material extracting operation.Bucket wheel reclaimer is made of bucket-wheel mechanism, walking mechanism, luffing mechanism, swing mechanism, arm belt.When work,
Take material by bucket wheel to put to arm belt, ground belt is reached by center funnel, is finally sent to terminal.
In material extracting operation, since material heap is higher, when reclaimer feeding, needs to carry out layering feeding to material heap, i.e., each layer
When material heap gets the end, needs to shift to next layer of starting feeding position in time and carry out next layer of feeding.Among these, it relates generally to
To three problems, first is that the judgement to upper one layer of feeding end position, second is that during positioning to next layer of starting feeding position
The control of feeding amount size, third is that the judgement of the starting feeding position to next layer.
In the prior art, bucket wheel reclaimer is manually controlled by reclaimer driver, is entirely changed the selection on layer opportunity, is changed a layer process
The control of middle feeding amount and the judgement of next layer of starting feeding position, are determined by driver human eye observation, are limited to driver
Line-of-sight problems in the case of horizontal height and different weather, it tends to be difficult to obtain and change a layer effect well.
Summary of the invention
The object of the present invention is to provide a kind of automatic layer-changing method and device for bucket wheel reclaimer, this method and device
It can be realized accurate automatic layer-changing control, more adapt to the actual conditions at feeding scene.
To achieve the goals above, the present invention provides a kind of automatic layer-changing method for bucket wheel reclaimer, this method packet
It includes: whether having material in front of detection bucket wheel reclaimer；Record has material state to hold when interior front gyration period of secondary revolution reclaiming process
The continuous time and front is without material state duration；And when have material state duration with without material state duration
Ratio when reaching predetermined ratio threshold value, start automatic layer-changing process.
Wherein, this method can also include: according to current feeding flow, rotational speed, angle of revolution, into vehicle amount, material heap
Density calculates current feeding height；By the current feeding height compared with predetermined material stack height；And working as has material state to continue
Time when reaching predetermined ratio threshold value with the ratio without material state duration, and the current feeding height is lower than pre-
When determining material stack height, start automatic layer-changing process.
Wherein, the current feeding flow of the basis, rotational speed, angle of revolution, into vehicle amount, material heap density calculating currently take
Material height may include: to calculate current feeding height according to the following formula:
Current feeding height=1000 × current feeding flow/(into vehicle distance × angle of revolution cosine value × rotational speed
× cantilever crane length × 3600 × material density).
Wherein, the automatic layer-changing process may include: that the cantilever crane of bucket wheel reclaimer is made to return back to rollback angle；Bucket wheel takes
The walking of material machine retracts, when running to default walking position, the feeding angle that makes the cantilever crane return back to next layer；And detection
Bucket wheel pressure makes the pitch angle of the cantilever crane drop to the angle of next layer of feeding when bucket wheel pressure is lower than predetermined pressure.
Wherein, the starting automatic layer-changing process further include: when the cantilever crane of bucket wheel reclaimer returns back to rollback angle, make
Pitch angle declines predetermined angular.
According to another aspect of the present invention, a kind of automatic layer-changing device for bucket wheel reclaimer, the device packet are also provided
Include: material detection module, for detecting whether front has material, record front has material state duration and front without material state
Duration；And a layer control module is changed, there is material state duration and without the ratio for expecting state duration for working as
When value reaches predetermined ratio threshold value, start automatic layer-changing process.
Wherein, the device further include: feeding height determining module, for according to current feeding flow, rotational speed, revolution
Angle calculates current feeding height into vehicle amount, material heap density；Wherein, layer control module is changed by the current feeding height and pre-
Determine material stack height to compare；And working as has material state duration and reaches predetermined without the ratio between material state duration
When proportion threshold value, and the current feeding height be lower than predetermined material stack height when start automatic layer-changing process.
Wherein, feeding height determining module calculates current feeding height according to the following formula:
Current feeding height=1000 × current feeding flow/(into vehicle distance × angle of revolution cosine value × rotational speed
× cantilever crane length × 3600 × material density).
Wherein, layer control module of changing includes: revolution control module, for returning back to back the cantilever crane of bucket wheel reclaimer
Move back angle；Travelling control module retracts for controlling bucket wheel reclaimer walking；Bucket wheel pressure detecting module, for detecting bucket wheel
Pressure；And pitch angle control module, for dropping to the pitch angle of cantilever crane when the bucket wheel pressure is lower than predetermined pressure
The angle of next layer of feeding；Wherein, revolution control module makes the cantilever crane when bucket wheel reclaimer runs to default walking position
Return back to next layer of feeding angle.
Wherein, the pitch angle control module is also used to make to bow when the cantilever crane of bucket wheel reclaimer returns back to rollback angle
The elevation angle declines predetermined angular.
Through the above technical solutions, realizing that automatic layer-changing controls using the real-time parameter in reclaiming process, and can replace
Manually, and control process is not influenced by the objective factors such as weather and operator's subjective factor, thus can not only be real
A layer control is now accurately changed, also there is higher safety, improve operating efficiency.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of the automatic layer-changing method according to an embodiment of the invention for bucket wheel reclaimer；
Fig. 2 is the flow chart of the automatic layer-changing method according to another embodiment of the present invention for bucket wheel reclaimer；
Fig. 3 is automatic layer-changing mistake in the automatic layer-changing method according to another embodiment of the present invention for bucket wheel reclaimer
The flow chart of the preferred embodiment of journey；
Fig. 4 is the structure chart of the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer；
Fig. 5 is the structure chart of the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer；
Fig. 6 is to change layer control mould in the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer
The structure chart of the preferred embodiment of block；And
Fig. 7 is the schematic diagram of bucket wheel reclaimer revolution reclaiming process.
Description of symbols
100: feeding height determining module 200: changing a layer control module
210: revolution control module 220: travelling control module
230: bucket wheel pressure detecting module 240: pitch angle control module
300: feeding height determining module
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the flow chart of the automatic layer-changing method according to an embodiment of the invention for bucket wheel reclaimer.Such as Fig. 1 institute
Show, method includes the following steps:
In step s 110, whether there is material in front of detection bucket wheel reclaimer.For example, can be in the bucket wheel two sides of reclaimer point
Not An Zhuan radar, emit laser forwards by radar to detect bucket wheel with a distance from material heap, in bucket wheel reclaimer reclaiming process
A gyration period in, when having material in front of bucket wheel, radar will be received by the reflected laser of material heap, thus can determine whether to work as
There is material in front of preceding bucket wheel；, whereas if reflected laser cannot be received, or seldom reflection laser can only be received,
Or when with a certain distance from the distance that detections of radar to bucket wheel has discharge position from front exceeds, it can be seen that without material in front of current bucket wheel.
Be in step S120, record when time revolution reclaiming process gyration period in front have material state duration and
Front is without material state duration.
In step s 130, judgement has whether material state duration reaches with the ratio without material state duration
Predetermined ratio threshold value.
In step S140, when there is material state duration and the ratio without material state duration reaches predetermined ratio
When example threshold value, start automatic layer-changing process.
As shown in fig. 7, being the schematic diagram of bucket wheel reclaimer revolution reclaiming process.Bucket wheel reclaimer is in single layer reclaiming process
In, walking mechanism is walked from the origin of walk of walking track to walking terminal, while cantilever crane turns round feeding.In a gyration period
Interior, cantilever crane returns back to the other side by side, to carry out feeding, therefore within a gyration period, the revolution range of cantilever crane is
Fan-shaped region.With the progress of reclaiming process, in the feeding layer, the material that cantilever crane turns round in range in one's power is exhausted (such as Fig. 7
In non-material area domain), and material of the cantilever crane revolution in one's power except range need feeding (having material region in such as Fig. 7).Such as Fig. 7
Shown in middle top half, there remains a large amount of materials when feeding when this is material bed, i.e., from change layer time point also for some time when,
Within a gyration period, detect that front has material state duration by obvious than detecting that front is lasting without material state
Front will be grown or be consistently detected in the gyration period to time material.As shown in the lower half portion of Fig. 7, by repeatedly turning round
And after walking feeding, when cantilever crane is returned in the period and turned round at one at this time, it can only detect that there is material in front in part-time, it should
Part-time is that front has material state duration, will also have partial time period to detect front without material, the partial time period
I.e. front is without material state duration.
When material is taken to a certain degree in the reclaiming process in same feeding layer, in a gyration period of cantilever crane
Interior, front can be gradually increased without material state duration, and front has material state duration that can be gradually reduced, because before this
Side has material state duration and front also can be smaller and smaller without the ratio of material state duration, can set when the ratio
When value is lower than predetermined ratio threshold value, such as 20% or 40%, judge that this layer of feeding terminates.
Fig. 2 is the flow chart of the automatic layer-changing method according to another embodiment of the present invention for bucket wheel reclaimer.Such as Fig. 2
Shown, which may comprise steps of:
Wherein, step S210-S230 is respectively the same as above-mentioned steps S110-S130.
In step S240, when there is material state duration and the ratio without material state duration reaches predetermined ratio
When example threshold value, according to current feeding flow, rotational speed, angle of revolution, into vehicle amount, material heap density current feeding height is calculated.
Wherein it is possible to calculate current feeding height according to the following formula:
Current feeding height=1000 × current feeding flow/(into vehicle distance × angle of revolution cosine value × rotational speed
× cantilever crane length × 3600 × material density).
In step s 250, by the current feeding height compared with predetermined material stack height.
In step S260, judge whether current feeding height is lower than predetermined material stack height, if it is carries out step S260.
In step S260, when there is material state duration and the ratio without material state duration reaches predetermined ratio
Example threshold value when, and the current feeding height be lower than predetermined material stack height when, start automatic layer-changing process.
Predetermined material stack height, that is, theoretic current feeding layer height.Current feeding height is according to practical reclaiming process
In parameter calculate current feeding take to height.With the progress of reclaiming process, calculated current feeding height meeting
Reduce, when being lower than predetermined feeding height, that is, show it is current it is material bed exhausted, therefore next layer of continuation feeding can be shifted to.
Fig. 3 is in the automatic layer-changing method according to another embodiment of the present invention for bucket wheel reclaimer, automatic layer-changing
The flow chart of preferred embodiment.As shown in figure 3, the automatic layer-changing step can preferably include following steps:
In step s310, the cantilever crane of bucket wheel reclaimer is made to return back to rollback angle.Rollback angle, that is, bucket wheel sweeps pile process
Rollback angle, when reaching the angle, bucket wheel reclaimer starts the walking that retracts backward.
In this embodiment, the process of automatic layer-changing can also include further preferably step S320, in step S320
In, when the cantilever crane of bucket wheel reclaimer returns back to rollback angle, pitch angle is made to decline predetermined angular.
It changes during layer, in order to reduce bucket wheel idle running, gets more materials as far as possible, leading to Ningbo road can be in revolution feeding
A stack wall is reserved in outermost in the process.But by a practical situation, pile wall width can not strict guarantee.For this purpose, in order to
The feeding amount during layer of changing is maximized, it, can be with when angle of revolution reaches rollback angle in the back off procedure of automatic layer-changing
The pitching of cantilever crane is declined into certain angle, to make in back off procedure, bucket wheel takes next layer of material in advance, not only avoids
Bucket wheel idle running, can also maximize feeding amount.
In a step 330, bucket wheel reclaimer walking retracts.Walking retract be bucket wheel reclaimer after the completion of this layer of feeding from
Feeding terminal as shown in Figure 7 walks to feeding starting point direction along walking track and retracts.
In step S340, judge whether the walking mechanism of reclaimer runs to default walking position.Default walking position
It is calculated according to the threedimensional model of material heap, and preset walking position, bucket wheel reclaimer needs leading in every layer of feeding
It walks to default walking position.When running to default walking position, cantilever crane can will be made to return back to next layer of feeding angle, while after
Continue away rollback.
In step S350, bucket wheel pressure is detected.Pressure sensor can be installed at the hydraulic motor of bucket wheel reclaimer,
When bucket wheel takes to material or larger bucket wheel feeding flow, bucket wheel pressure can not take to material or bucket wheel than bucket wheel to be taken
Stream it is small compared with it is small when bucket wheel pressure it is big.It can determine whether bucket wheel can take to object amount and feeding flow accordingly.
In step S360, judge whether bucket wheel pressure is lower than predetermined pressure.
In step S370, when bucket wheel pressure is lower than predetermined pressure, the pitch angle of the cantilever crane is made to drop to next layer
The angle of feeding.Pitching in place when, automatic layer-changing process terminates, and can start next layer of normal feeding.
In bucket wheel reclaimer back off procedure, when bucket wheel pressure is lower than predetermined pressure, that is, the material that bucket wheel takes is indicated
From changing as nothing, at this time it is believed that having closed on next layer of feeding position.At this point it is possible to which the factors such as dump angle of repose are added
It calculates, to further accurately obtain next layer of starting feeding position.For example, it is assumed that dump angle of repose is α, next layer
Feeding height is H, and side can calculate the outermost layer profile place that work formula calculates next layer of material according to the trigonometric function of angle of repose α
Position, thus the also operating angle of available next layer of feeding.
Fig. 4 is the structure chart of the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer.Such as Fig. 4
Shown, which includes: material detection module 100, and for detecting whether front has material, there is material state in record front
Without material state duration, material detection module for example may include radar for duration and front；And change a layer control
Module 200, for when have material state duration with without material state duration ratio reach predetermined ratio threshold value when,
Start automatic layer-changing process.
Fig. 5 is the structure chart of the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer.Such as Fig. 5
Shown, the automatic layer-changing device can also preferably include feeding height determining module 300, for according to current feeding stream
Amount, angle of revolution, into vehicle amount, material heap density calculates current feeding height at rotational speed；Wherein, layer control module 200 is changed by institute
Current feeding height is stated compared with predetermined material stack height；And working as has material state duration and without material state duration
Between ratio when reaching predetermined ratio threshold value, and when current feeding height is lower than predetermined material stack height, starts automatic layer-changing
Process.
Wherein, feeding height determining module 300 can calculate current feeding height according to the following formula:
Current feeding height=1000 × current feeding flow/(into vehicle distance × angle of revolution cosine value × rotational speed
× cantilever crane length × 3600 × material density).
Fig. 6 is to change layer control mould in the automatic layer-changing device according to another embodiment of the present invention for bucket wheel reclaimer
The structure chart of the preferred embodiment of block.
As shown in fig. 6, changing layer control module 200 can preferably include: revolution control module 210, for taking bucket wheel
The cantilever crane of material machine returns back to rollback angle；Travelling control module 220 retracts for controlling bucket wheel reclaimer walking；Bucket wheel pressure
Detection module 230, for detecting bucket wheel pressure；And pitch angle control module 240, for when the bucket wheel pressure is lower than predetermined
When pressure, the pitch angle of cantilever crane is made to drop to the angle of next layer of feeding；Wherein, revolution control module 210 can also be when row bucket
Wheel reclaimer is when running to default walking position, the feeding angle for making the cantilever crane return back to next layer.
Wherein, the pitch angle control module 240 is also used to make when the cantilever crane of bucket wheel reclaimer returns back to rollback angle
Pitch angle declines predetermined angular.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of automatic layer-changing method for bucket wheel reclaimer, which is characterized in that this method comprises:
Whether there is material in front of detection bucket wheel reclaimer；
Record has material state duration and front to continue without material state when interior front gyration period of secondary revolution reclaiming process
Time；And
When there is material state duration to reach predetermined ratio threshold value with the ratio without material state duration, starting is automatic
Change a layer process.
2. automatic layer-changing method according to claim 1, which is characterized in that this method further include:
According to current feeding flow, rotational speed, angle of revolution, into vehicle amount, material heap density calculate current feeding height；
By the current feeding height compared with predetermined material stack height；And
When there is material state duration to reach predetermined ratio threshold value with the ratio without material state duration, and it is described
When current feeding height is lower than predetermined material stack height, start automatic layer-changing process.
3. automatic layer-changing method according to claim 2, which is characterized in that the current feeding flow of the basis, revolution speed
Degree, angle of revolution include: into vehicle amount, the current feeding height of material heap density calculating
Current feeding height is calculated according to the following formula:
Current feeding height=1000 × current feeding flow/(into vehicle distance × angle of revolution cosine value × rotational speed × arm
Frame length × 3600 × material density).
4. automatic layer-changing method according to claim 1 or 2, which is characterized in that the automatic layer-changing process includes:
The cantilever crane of bucket wheel reclaimer is set to return back to rollback angle；
Bucket wheel reclaimer walking retracts, when running to default walking position, the feeding angle that makes the cantilever crane return back to next layer
Degree；And
Bucket wheel pressure is detected, when bucket wheel pressure is lower than predetermined pressure, the pitch angle of the cantilever crane is made to drop to next layer of feeding
Angle.
5. automatic layer-changing method according to claim 4, which is characterized in that the starting automatic layer-changing process further include:
When the cantilever crane of bucket wheel reclaimer returns back to rollback angle, pitch angle is made to decline predetermined angular.
6. a kind of automatic layer-changing device for bucket wheel reclaimer, which is characterized in that the device includes:
Material detection module, for detecting whether front has material, record front has material state duration and front without material shape
State duration；And
A layer control module is changed, has material state duration to reach predetermined ratio with the ratio without material state duration for working as
When example threshold value, start automatic layer-changing process.
7. automatic layer-changing device according to claim 6, which is characterized in that the device further include:
Feeding height determining module, for according to current feeding flow, rotational speed, angle of revolution, into vehicle amount, material heap densitometer
Calculate current feeding height；
Wherein, layer control module is changed by the current feeding height compared with predetermined material stack height；And
When having material state duration and reaching predetermined ratio threshold value without the ratio between material state duration, and
The current feeding height starts automatic layer-changing process when being lower than predetermined material stack height.
8. automatic layer-changing device according to claim 7, which is characterized in that feeding height determining module is according to the following formula
Calculate current feeding height:
Dump height=1000 × current feeding flow/(long into vehicle distance × angle of revolution cosine value × rotational speed × cantilever crane
Spend × 3600 × material density).
9. automatic layer-changing device according to claim 6 or 7, which is characterized in that layer control module of changing include:
Control module is turned round, for making the cantilever crane of bucket wheel reclaimer return back to rollback angle；And
Travelling control module retracts for controlling bucket wheel reclaimer walking；
Bucket wheel pressure detecting module, for detecting bucket wheel pressure；And
Pitch angle control module, for dropping to the pitch angle of cantilever crane next when the bucket wheel pressure is lower than predetermined pressure
The angle of layer feeding；
Wherein, revolution control module makes the cantilever crane return back to next layer when bucket wheel reclaimer runs to default walking position
Feeding angle.
10. automatic layer-changing device according to claim 9, which is characterized in that the pitch angle control module is also used to work as
When the cantilever crane of bucket wheel reclaimer returns back to rollback angle, pitch angle is made to decline predetermined angular.
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| CN108249141B (en) * | 2017-12-29 | 2019-05-07 | 英特尔产品（成都）有限公司 | Material add-on system |
| 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 |
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| CN106966184A (en) | 2017-07-21 |
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Address after: 100011 Shenhua building, 22 West Binhe Road, Dongcheng District, Beijing Patentee after: China Shenhua Energy Co.,Ltd. Patentee after: Guoneng Huanghua Port Co.,Ltd. Address before: 100011 Shenhua building, 22 West Binhe Road, Dongcheng District, Beijing Patentee before: China Shenhua Energy Co.,Ltd. Patentee before: SHENHUA HUANGHUA PORT Co.,Ltd. |