CN108357943A - Control method and device for bucket wheel reclaimer - Google Patents
Control method and device for bucket wheel reclaimer Download PDFInfo
- Publication number
- CN108357943A CN108357943A CN201810030785.5A CN201810030785A CN108357943A CN 108357943 A CN108357943 A CN 108357943A CN 201810030785 A CN201810030785 A CN 201810030785A CN 108357943 A CN108357943 A CN 108357943A
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- bucket wheel
- stack position
- stack
- reclaimer
- control
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000000463 material Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 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
- 208000006111 contracture Diseases 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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
- B65G65/005—Control arrangements
-
- 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
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/20—Paddle wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to Engineering Control fields, more particularly to the control method and device for bucket wheel reclaimer.The control method carries out feeding for controlling the bucket wheel reclaimer at least one stack position, which includes：Receive the stack position for distributing to the bucket wheel reclaimer；Obtain walking position, angle of revolution and the pitch angle of the bucket wheel reclaimer；The bucket wheel position of the bucket wheel reclaimer is determined according to the walking position, the angle of revolution and the pitch angle；And stack position information control bucket wheel and conveying equipment according to the bucket wheel position and/or the stack position.This method and device can be accurately that bucket wheel reclaimer distributes stack position, prevent from taking wrong stack position.
Description
Technical field
The present invention relates to Engineering Control fields, more particularly to the control method and device for bucket wheel reclaimer.
Background technology
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 generally include bucket-wheel mechanism, walking mechanism, luffing mechanism, swing mechanism, conveying device (such as
Arm belt) etc..When work, material is taken by bucket wheel and is put to arm belt, ground belt is reached by center funnel, is finally sent
To terminal.
In material extracting operation, reclaimer operator needs to control the instruction of operator in, is taken on specified stack position
Material can cause serious freight transport quality accident if not carrying out feeding according to specified stack position.
In the prior art, middle control operator with regard to stack position distribution with reclaimer operator when linking up, using intercom
Mode, and finally confirmed by goods yard administrator.Although specified very rigorous according to this scheme progress stack position,
In special circumstances, it still will appear the freight transport quality accident for taking wrong pile.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of control method and device for bucket wheel reclaimer, this method and dress
It can be accurately that bucket wheel reclaimer distributes stack position to set, and prevent bucket wheel reclaimer in the stack position feeding of mistake.
To achieve the goals above, the embodiment of the present invention provides a kind of control method for bucket wheel reclaimer, the control
Method carries out feeding for controlling the bucket wheel reclaimer at least one stack position, which includes：Institute is distributed in reception
State the stack position of bucket wheel reclaimer；Obtain walking position, angle of revolution and the pitch angle of the bucket wheel reclaimer；According to the row
Walk the bucket wheel position that position, the angle of revolution and the pitch angle determine the bucket wheel reclaimer；And according to the bucket
Take turns the stack position information control bucket wheel and conveying equipment of position and/or the stack position.
Wherein, the stack position information may include stack position number, and this method can also include：It receives from control server to institute
State the stack position number of bucket wheel reclaimer transmission；The stack position information control according to the bucket wheel position and/or the stack position
Bucket wheel and conveying equipment include：Check the assigned stack position number of the bucket wheel reclaimer and from the control server to the bucket
The stack position number that wheel reclaimer is sent does not allow to open the bucket wheel and the conveying equipment when the two is inconsistent.
Wherein, the stack position information includes stack position position, described according to the bucket wheel position and/or the stack position of the stack position
Information controls bucket wheel and conveying equipment may include：When the bucket wheel position and the stack position position are inconsistent, do not allow out
Open the bucket wheel and conveying equipment.
Wherein, this method can also include：Position coordinates system is established, in the position coordinates system, is taken with the bucket wheel
The orbital direction of material machine is X-axis, using the direction vertical with the orbital direction as Y-axis；And in the position coordinates system
The stack position information of bucket wheel position and the stack position described in coordinate representation.
According to another aspect of the present invention, a kind of control device for bucket wheel reclaimer is also provided, which uses
Feeding is carried out at least one stack position in controlling the bucket wheel reclaimer, which may include：Receiving module, for connecing
The stack position of bucket wheel reclaimer described in contracture dispensing；Locating module, walking position, angle of revolution for obtaining the bucket wheel reclaimer
Degree and pitch angle；Position determination module, for being determined according to the walking position, the angle of revolution and the pitch angle
The bucket wheel position of the bucket wheel reclaimer；And control module, for the stack position according to the bucket wheel position and/or the stack position
Information controls bucket wheel and conveying equipment.
Wherein, the stack position information may include stack position number, the receiving module be additionally operable to receive from control server to
The stack position number that the bucket wheel reclaimer is sent；The control module can be also used for：The bucket wheel reclaimer is checked to be divided
The stack position number matched and the stack position number sent from the control server to the bucket wheel reclaimer do not permit when the two is inconsistent
Perhaps the bucket wheel and the conveying equipment are opened.
Wherein, the stack position information includes stack position position, and the control module can be also used for：When the bucket wheel position with
When the stack position position is inconsistent, do not allow to open the bucket wheel and conveying equipment.
Wherein, which can also include index module, be used for：Position coordinates system is established, in the position coordinates system,
Using the orbital direction of the bucket wheel reclaimer as X-axis, using the direction vertical with the orbital direction as Y-axis；And with institute's rheme
Set the stack position information of bucket wheel position and the stack position described in the coordinate representation in coordinate system.
According to another aspect of the present invention, a kind of bucket wheel reclaimer is also provided, which includes above-mentioned for struggling against
Take turns the control device of reclaimer.
According to another aspect of the present invention, a kind of stack position distribution system is also provided, which is used for more
The bucket wheel reclaimer distributes stack position, which includes：Memory module, for storing the stack position information；And
Stack position distribution module, for the stack position information of storage to be distributed to one in the more bucket wheel reclaimers.
On the other hand, it the present invention also provides a kind of machine readable storage medium, is stored on the machine readable storage medium
Instruction, the instruction is for so that machine executes the above-mentioned control method for bucket wheel reclaimer.
Through the above technical solutions, being accurately positioned to the position of bucket wheel reclaimer using high-accuracy position system, and pass through
Whether bucket wheel position is consistent with stack position position, and/or by checking the stack position number and assigned pile that master control control server is sent
Whether position number is consistent, controls the unlatching of bucket wheel and conveying equipment, so as to realize that stack position is protected automatically, prevents bucket wheel reclaimer from existing
Stack position mistake mistiming feeding is further able to prevent the generation of feeding Quality Accident.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is further understood to the embodiment of the present invention for providing, an and part for constitution instruction, under
The specific implementation mode in face is used to explain the embodiment of the present invention together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure：
Fig. 1 is the flow chart of the control method according to an embodiment of the invention for bucket wheel reclaimer；
Fig. 2 is the flow chart of the control method according to another embodiment of the present invention for bucket wheel reclaimer；
Fig. 3 is the flow chart of the control method according to another embodiment of the present invention for bucket wheel reclaimer；
Fig. 4 is the structure diagram of the control device according to an embodiment of the invention for bucket wheel reclaimer；
Fig. 5 is the structure diagram of the control device according to another embodiment of the present invention for bucket wheel reclaimer；And
Fig. 6 is the structure diagram of stack position distribution system according to another embodiment of the present invention.
Reference sign
10：Receiving module： 20：Receiving module
30：Position determination module 40：Control module
50：Index module 60：Memory module
70：Stack position distribution module
Specific implementation mode
The specific implementation mode of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
The described specific implementation mode in place is merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the flow chart of the control method according to an embodiment of the invention for bucket wheel reclaimer.The control method
Feeding is carried out at least one stack position for controlling the bucket wheel reclaimer, as shown in Figure 1, the control method includes following step
Suddenly：
In step s 110, the stack position for distributing to the bucket wheel reclaimer is received.Stack position can be sent by stack position distribution system
To bucket wheel reclaimer, bucket wheel reclaimer, which receives, distributes to the backward stack position movement in its stack position.
In the step s 120, walking position, angle of revolution and the pitch angle of the bucket wheel reclaimer are obtained.For example, can
To install RTK GPS systems on reclaimer, to accurately obtain reclaimer travel distance, angle of revolution, pitch angle, and
Alarm can be sent out in time when positioning accuracy is bad.
In step s 130, the bucket wheel is determined according to the walking position, the angle of revolution and the pitch angle
The bucket wheel position of reclaimer.
In order to position the position of bucket wheel reclaimer, position coordinates system can be established, in the position coordinates system, with described
The orbital direction of bucket wheel reclaimer is X-axis, using the direction vertical with the orbital direction as Y-axis；And with the position coordinates
The stack position information of bucket wheel position and the stack position described in coordinate representation in system.It can be surveyed and drawn as a result, according to GPS, in above-mentioned position
Coordinate system obtains reclaimer bucket wheel in coordinate system by the operation to bucket wheel reclaimer travel distance, angle of revolution, pitch angle
In position.
In step S140, set according to the stack position information control bucket wheel and conveying of the bucket wheel position and/or the stack position
It is standby.According to bucket wheel position and stack position information can automatic decision go out whether bucket wheel reclaimer is located at correct stack position, so as to
Prevent bucket wheel reclaimer from leading to feeding Quality Accident in the material position feeding of mistake.
Fig. 2 is the flow chart of the control method according to another embodiment of the present invention for bucket wheel reclaimer.The stack position
Information may include stack position number, as shown in Fig. 2, this method may also comprise the following steps:：
In step S240, the stack position number sent from control server to the bucket wheel reclaimer is received.
In step s 250, the assigned stack position number of the bucket wheel reclaimer is checked and from the control server to described
The stack position number that bucket wheel reclaimer is sent.
In step S260, taken to the bucket wheel when the stack position number that bucket wheel reclaimer is assigned and from the control server
When the stack position number that material machine is sent is inconsistent, do not allow to open the bucket wheel and the conveying equipment.It, can and then in step S270
When both above-mentioned consistent, to allow to open the bucket wheel and the conveying equipment.
In order to more effectively prevent the feeding stack position of bucket wheel reclaimer from misplacing, also utilize control server to bucket wheel in the present invention
Reclaimer sends stack position number.Control server for example can be the central control system of feeding control system.Reclaimer is serviced in control
After device is sent to the stack position number of reclaimer, check the stack position number whether with its stack position number one is distributed to by stack position distribution system
It causes, if the two is inconsistent, shows that bucket wheel reclaimer is located at the material position of mistake, bucket wheel reclaimer feeding should not be allowed at this time.
Thus it can avoid wrong feeding.
Fig. 3 is the flow chart of the control method according to another embodiment of the present invention for bucket wheel reclaimer.The stack position
Information may include stack position position, as shown in figure 3, the control method may comprise steps of at this time：
In step S350, the assigned stack position number of the bucket wheel reclaimer is checked and from the control server to described
The stack position number that bucket wheel reclaimer is sent.
In step S360, taken to the bucket wheel when the stack position number that bucket wheel reclaimer is assigned and from the control server
When the stack position number that material machine is sent is consistent, further checks bucket wheel position and whether stack position position is consistent.
In step S370, taken to the bucket wheel when the stack position number that bucket wheel reclaimer is assigned and from the control server
When the stack position number that material machine is sent is consistent, and when bucket wheel position and stack position position consistency, allow to open bucket wheel and conveying equipment.
In step S380, when any checked result in step S350 and S360 is inconsistent, do not allow to open institute
State bucket wheel and conveying equipment.
In the present embodiment, it only when bucket wheel position and stack position position consistency, and is distributed from control server and stack position
When the stack position number that system receives is consistent, just allow to open bucket wheel and conveying equipment, it can also be when any one in the two be inconsistent
Send out stack position abnormal alarm, it is thus possible to prevent stack position abnormal conditions from occurring to a greater degree.
In another preferred embodiments, can also preferentially it judge from the stack position that control server and stack position distribution system receive
It is number whether consistent, when consistent with the stack position number that stack position distribution system receives from control server, execute the acquisition bucket wheel and take
Walking position, angle of revolution and the pitch angle of material machine, and bucket wheel position is determined according to it, and then according to bucket wheel position and stack position
Position controls the operation of bucket wheel and conveying equipment.As a result, if from the stack position number that control server and stack position distribution system receive
It is inconsistent, it is not necessary to execute other operations again, so that control process is further simplified, save control process, and economize on resources.
Fig. 4 is the structure diagram of the control device according to an embodiment of the invention for bucket wheel reclaimer.The control fills
It sets and carries out feeding at least one stack position for controlling the bucket wheel reclaimer, as shown in figure 4, the control device may include：
Receiving module 10, for receiving the stack position for distributing to the bucket wheel reclaimer；Locating module 20, for obtaining the bucket wheel feeding
Walking position, angle of revolution and the pitch angle of machine；Position determination module 30, for according to the walking position, the revolution
Angle and the pitch angle determine the bucket wheel position of the bucket wheel reclaimer；And control module 40, for according to the bucket
Take turns the stack position information control bucket wheel and/or conveying equipment of position and the stack position.
In another preferred embodiment, the stack position information may include stack position number, and the receiving module is additionally operable to receive
The stack position number sent from control server to the bucket wheel reclaimer；The control module 40 can be also used for：Verification institute
The stack position number stated the assigned stack position number of bucket wheel reclaimer and sent from the control server to the bucket wheel reclaimer, when two
When person is inconsistent, do not allow to open the bucket wheel and the conveying equipment.
In another preferred embodiment, the stack position information includes stack position position, and the control module 40 can be also used for：
When the bucket wheel position and the stack position position are inconsistent, do not allow to open the bucket wheel and conveying equipment.
Fig. 5 is the structure diagram of the control device according to another embodiment of the present invention for bucket wheel reclaimer.Such as Fig. 5 institutes
Show, which can also include index module 50, be used for：Position coordinates system is established, in the position coordinates system, with the bucket
The orbital direction for taking turns reclaimer is X-axis, using the direction vertical with the orbital direction as Y-axis；And with the position coordinates system
In coordinate representation described in bucket wheel position and the stack position stack position information.
Fig. 6 is the structure diagram of stack position distribution system according to another embodiment of the present invention.The stack position distribution system can be with
For distributing stack position to the more bucket wheel reclaimers, which includes that the above-mentioned control for bucket wheel reclaimer fills
It sets.As shown in fig. 6, the stack position distribution system includes：Memory module 60, for storing the stack position information；And stack position distribution
Module 70, for the stack position information of storage to be distributed to one in the more bucket wheel reclaimers.
The location information of all stack positions for example can be uniformly stored in stack position distribution by stack position distribution system using PLC as platform
In system, and stack position is distributed to bucket wheel reclaimer from stored stack position information, avoided because of stack position information update not in time
And there is stack position assignment error.In addition, during more bucket wheel reclaimer normal operations, the distribution of stack position follows uniqueness original
Then, i.e., each stack position can only distribute to a single machine, avoid since two-shipper stack position caused by negligence of operation is fought for, reduce pair
The interference of operation.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment 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 of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that realizing that all or part of step in above-described embodiment device is can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of step of each embodiment described device of the application.And it is preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, disclosure of that of the embodiment of the present invention is equally should be considered as.
Claims (11)
1. a kind of control method for bucket wheel reclaimer, the control method is for controlling the bucket wheel reclaimer at least one
Stack position carries out feeding, which is characterized in that the control method includes：
Receive the stack position for distributing to the bucket wheel reclaimer；
Obtain walking position, angle of revolution and the pitch angle of the bucket wheel reclaimer；
The bucket wheel position of the bucket wheel reclaimer is determined according to the walking position, the angle of revolution and the pitch angle；
And
According to the stack position information control bucket wheel and conveying equipment of the bucket wheel position and/or the stack position.
2. control method according to claim 1, which is characterized in that the stack position information includes stack position number, and this method is also
Including：
Receive the stack position number sent from control server to the bucket wheel reclaimer；
The stack position information according to the bucket wheel position and/or the stack position controls bucket wheel and conveying equipment includes：
It checks the assigned stack position number of the bucket wheel reclaimer and controls what server was sent to the bucket wheel reclaimer from described
Stack position number does not allow to open the bucket wheel and the conveying equipment when the two is inconsistent.
3. control method according to claim 1 or 2, which is characterized in that the stack position information includes stack position position, described
Stack position information control bucket wheel and conveying equipment according to the bucket wheel position and/or the stack position include：
When the bucket wheel position and the stack position position are inconsistent, do not allow to open the bucket wheel and conveying equipment.
4. control method according to claim 3, which is characterized in that this method further includes：
Establish position coordinates system, in the position coordinates system, using the orbital direction of the bucket wheel reclaimer as X-axis, with institute
It is Y-axis to state the vertical direction of orbital direction；And
The stack position information of bucket wheel position and the stack position described in the coordinate representation in the position coordinates system.
5. a kind of control device for bucket wheel reclaimer, the control device is for controlling the bucket wheel reclaimer at least one
Stack position carries out feeding, which is characterized in that the control device includes：
Receiving module, for receiving the stack position for distributing to the bucket wheel reclaimer；
Locating module, walking position, angle of revolution and pitch angle for obtaining the bucket wheel reclaimer；
Position determination module, for determining the bucket wheel according to the walking position, the angle of revolution and the pitch angle
The bucket wheel position of reclaimer；And
Control module, for the stack position information control bucket wheel and conveying equipment according to the bucket wheel position and/or the stack position.
6. control device according to claim 5, which is characterized in that the stack position information includes stack position number, the reception
Module is additionally operable to receive the stack position number sent from control server to the bucket wheel reclaimer；
The control module is additionally operable to：
It checks the assigned stack position number of the bucket wheel reclaimer and controls what server was sent to the bucket wheel reclaimer from described
Stack position number does not allow to open the bucket wheel and the conveying equipment when the two is inconsistent.
7. control device according to claim 5 or 6, which is characterized in that the stack position information includes stack position position, described
Control module is additionally operable to：
When the bucket wheel position and the stack position position are inconsistent, do not allow to open the bucket wheel and conveying equipment.
8. control device according to claim 7, which is characterized in that the device further includes index module, is used for：
Establish position coordinates system, in the position coordinates system, using the orbital direction of the bucket wheel reclaimer as X-axis, with institute
It is Y-axis to state the vertical direction of orbital direction；And
The stack position information of bucket wheel position and the stack position described in the coordinate representation in the position coordinates system.
9. a kind of bucket wheel reclaimer, which is characterized in that the bucket wheel reclaimer includes the control described in any one of claim 5-8
Device.
10. a kind of stack position distribution system, which is characterized in that the stack position distribution system is used for the bucket described in more claims 9
It takes turns reclaimer and distributes stack position, which includes：
Memory module, for storing the stack position information；
Stack position distribution module, for the stack position information of storage to be distributed to one in the more bucket wheel reclaimers.
11. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, the instruction is for so that machine
Perform claim requires the control method described in any one of 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810030785.5A CN108357943B (en) | 2018-01-12 | 2018-01-12 | Control method and device for bucket-wheel reclaimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810030785.5A CN108357943B (en) | 2018-01-12 | 2018-01-12 | Control method and device for bucket-wheel reclaimer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108357943A true CN108357943A (en) | 2018-08-03 |
| CN108357943B CN108357943B (en) | 2020-02-07 |
Family
ID=63006138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810030785.5A Active CN108357943B (en) | 2018-01-12 | 2018-01-12 | Control method and device for bucket-wheel reclaimer |
Country Status (1)
| Country | Link |
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| CN (1) | CN108357943B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN206002934U (en) * | 2016-09-05 | 2017-03-08 | 中国神华能源股份有限公司 | A kind of clear pile bottom control system of reclaimer |
| 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 |
-
2018
- 2018-01-12 CN CN201810030785.5A patent/CN108357943B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN206002934U (en) * | 2016-09-05 | 2017-03-08 | 中国神华能源股份有限公司 | A kind of clear pile bottom control system of reclaimer |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN108357943B (en) | 2020-02-07 |
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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. |
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