CN108357943B - Control method and device for bucket-wheel reclaimer - Google Patents
Control method and device for bucket-wheel reclaimer Download PDFInfo
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- CN108357943B CN108357943B CN201810030785.5A CN201810030785A CN108357943B CN 108357943 B CN108357943 B CN 108357943B CN 201810030785 A CN201810030785 A CN 201810030785A CN 108357943 B CN108357943 B CN 108357943B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000000463 material Substances 0.000 claims abstract description 28
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 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
- 238000004939 coking Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
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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
- B65G65/16—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 invention relates to the field of engineering control, in particular to a control method and a control device for a bucket-wheel reclaimer. The control method is used for controlling the bucket-wheel reclaimer to reclaim materials at least one stacking position, and comprises the following steps: receiving a stack position allocated to the bucket-wheel reclaimer; acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer; determining the bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle and the pitching angle; and controlling the bucket wheel and the conveying equipment according to the position of the bucket wheel and/or the pile position information of the pile position. The method and the device can accurately distribute the stack positions for the bucket-wheel reclaimer and prevent the stack positions from being mistakenly taken.
Description
Technical Field
The invention relates to the field of engineering control, in particular to a control method and a control device for a bucket-wheel reclaimer.
Background
The bucket-wheel reclaimer is a high-efficiency device for continuously loading and unloading a large amount of bulk materials in the modern industry, and is widely applied to the reclaiming operation of bulk material (ore, coal, coke and sand) storage material yards such as ports, docks, metallurgy, cement, iron and steel plants, coking plants, coal storage plants, power plants and the like. Bucket-wheel reclaimers typically include bucket-wheel mechanisms, traveling mechanisms, pitching mechanisms, slewing mechanisms, conveyors (e.g., boom belts), and the like. When the device works, materials are dug by the bucket wheel and are placed on the cantilever belt, and the materials reach the ground belt through the central funnel and are finally conveyed to the terminal point.
When the material taking operation is carried out, the material taking machine operator needs to take materials on the appointed stacking position according to the instruction of the central control operator, and if the materials are not taken according to the appointed stacking position, serious freight quality accidents can be caused.
In the prior art, a central control operator adopts an interphone mode when communicating with a reclaimer operator about stack position distribution, and the central control operator is finally confirmed by a goods yard manager. Although the assignment of the stack position according to the scheme is strict, the freight quality accident of taking the wrong stack still occurs under special conditions.
Disclosure of Invention
The invention aims to provide a control method and a control device for a bucket-wheel reclaimer, which can accurately distribute a stack position for the bucket-wheel reclaimer and prevent the bucket-wheel reclaimer from reclaiming materials at wrong stack positions.
In order to achieve the above object, an embodiment of the present invention provides a control method for a bucket-wheel reclaimer, where the control method is used to control the bucket-wheel reclaimer to reclaim materials at least one pile position, and the control method includes: receiving a stack position allocated to the bucket-wheel reclaimer; acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer; determining the bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle and the pitching angle; and controlling the bucket wheel and the conveying equipment according to the position of the bucket wheel and/or the pile position information of the pile position.
Wherein the stacking position information may include a stacking position number, the method may further include: receiving the stack position number sent to the bucket-wheel reclaimer by a control server; the controlling of the bucket wheel and the conveying device according to the bucket wheel position and/or the pile position information of the pile position comprises: checking the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server, and when the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server are inconsistent, not allowing the bucket-wheel and the conveying equipment to be started.
Wherein the position information comprises a position of the stack, and controlling the bucket wheel and the conveying device according to the position of the bucket wheel and/or the position information of the stack may comprise: when the bucket wheel position does not coincide with the pile position, not allowing the bucket wheel and conveyor to be turned on.
Wherein, the method can also comprise: establishing a position coordinate system, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and representing the bucket wheel position and the stack position information of the stack position by coordinates in the position coordinate system.
According to another aspect of the invention, there is also provided a control apparatus for a bucket-wheel reclaimer for controlling the bucket-wheel reclaimer to reclaim material at least one pile position, the control apparatus may comprise: a receiving module for receiving a stack position allocated to the bucket-wheel reclaimer; the positioning module is used for acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer; the position determining module is used for determining the bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle and the pitching angle; and the control module is used for controlling the bucket wheel and the conveying equipment according to the position of the bucket wheel and/or the stack position information of the stack position.
The receiving module is further used for receiving the stack position number sent to the bucket-wheel reclaimer by the control server; the control module may be further operable to: checking the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server, and when the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server are inconsistent, not allowing the bucket-wheel and the conveying equipment to be started.
Wherein the stacking position information comprises a stacking position, the control module may be further configured to: when the bucket wheel position does not coincide with the pile position, not allowing the bucket wheel and conveyor to be turned on.
Wherein the apparatus may further comprise a coordinate module for: establishing a position coordinate system, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and representing the bucket wheel position and the stack position information of the stack position by coordinates in the position coordinate system.
According to another aspect of the invention, there is also provided a bucket-wheel reclaimer including the control device for a bucket-wheel reclaimer described above.
According to another aspect of the invention there is also provided a stack allocation system for allocating stacks to a plurality of said bucket-wheel reclaimers, the stack allocation system comprising: the storage module is used for storing the stack position information; and the stack position distribution module is used for distributing the stored stack position information to one of the plurality of bucket-wheel material taking machines.
In another aspect, the present disclosure also provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-described control method for a bucket-wheel reclaimer.
Through the technical scheme, the position of the bucket-wheel reclaimer is accurately positioned by adopting the high-precision positioning system, and whether the bucket-wheel position is consistent with the stack position and/or whether the stack position number sent by the master control server is consistent with the stack position number distributed is checked, so that the bucket-wheel and conveying equipment are controlled to be opened, the stack position protection can be automatically realized, the bucket-wheel reclaimer is prevented from mistakenly reclaiming materials when the stack position is wrong, and the occurrence of material reclaiming quality accidents can be further prevented.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a control method for a bucket-wheel reclaimer, according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method for a bucket-wheel reclaimer, according to another embodiment of the present invention;
fig. 3 is a flowchart of a control method for a bucket-wheel reclaimer, according to another embodiment of the present invention;
fig. 4 is a block diagram of a control device for a bucket-wheel reclaimer according to an embodiment of the present invention;
fig. 5 is a block diagram of a control device for a bucket-wheel reclaimer according to another embodiment of the present invention; and
FIG. 6 is a block diagram of a crenelation distribution system according to another embodiment of the present invention.
Description of the reference numerals
10: a receiving module: 20: receiving module
30: the position determination module 40: control module
50: the coordinate module 60: memory module
70: stack position distribution module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a control method for a bucket-wheel reclaimer according to an embodiment of the present invention. The control method is used for controlling the bucket-wheel reclaimer to reclaim materials at least one pile position, and as shown in fig. 1, the control method comprises the following steps:
in step S110, a pile position assigned to the bucket-wheel reclaimer is received. The stack may be sent by the stack distribution system to a bucket-wheel reclaimer, which moves to the stack after receiving the stack assigned to it.
In step S120, a travel position, a turning angle, and a pitch angle of the bucket-wheel reclaimer are acquired. For example, an RTK GPS system can be installed on the reclaimer, so that the walking distance, the rotation angle and the pitching angle of the reclaimer can be accurately obtained, and an alarm can be given in time when the positioning accuracy is not good.
In step S130, the bucket-wheel position of the bucket-wheel reclaimer is determined according to the travel position, the swing angle, and the pitch angle.
In order to locate the position of the bucket-wheel reclaimer, a position coordinate system can be established, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and representing the bucket wheel position and the stack position information of the stack position by coordinates in the position coordinate system. Thus, the position of the bucket wheel of the reclaimer in the coordinate system can be obtained by calculating the travel distance, the rotation angle and the pitching angle of the bucket-wheel reclaimer in the position coordinate system according to GPS mapping.
In step S140, the bucket wheel and the conveying apparatus are controlled according to the bucket wheel position and/or the pile position information of the pile position. Whether the bucket-wheel reclaimer is located at the correct stack position or not can be automatically judged according to the bucket-wheel position and the stack position information, so that the bucket-wheel reclaimer can be prevented from reclaiming materials at the wrong material position to cause material quality accidents.
Fig. 2 is a flowchart of a control method for a bucket-wheel reclaimer according to another embodiment of the present invention. The stacking position information may comprise a stacking position number, as shown in fig. 2, and the method may further comprise the steps of:
in step S240, the stack position number transmitted to the bucket-wheel reclaimer by the control server is received.
In step S250, the allocated stack position number of the bucket-wheel reclaimer and the stack position number transmitted to the bucket-wheel reclaimer by the control server are checked.
In step S260, when the allocated stack number of the bucket-wheel reclaimer and the stack number transmitted to the bucket-wheel reclaimer by the control server do not coincide, the bucket-wheel and the conveying apparatus are not allowed to be turned on. Further, in step S270, when the two coincide, the bucket wheel and the conveying device may be allowed to be turned on.
In order to more effectively prevent the material taking stacking positions of the bucket-wheel material taking machine from being staggered, the control server is used for sending stacking position numbers to the bucket-wheel material taking machine. The control server may be, for example, a central control system of a material taking control system. And after the reclaimer sends the stack position number to the reclaimer by the control server, checking whether the stack position number is consistent with the stack position number distributed to the reclaimer by the stack position distribution system, if the stack position number is inconsistent with the stack position number, indicating that the bucket-wheel reclaimer is positioned at the wrong material position, and at the moment, not allowing the bucket-wheel reclaimer to take the materials. Thereby avoiding the wrong material taking.
Fig. 3 is a flowchart of a control method for a bucket-wheel reclaimer according to another embodiment of the present invention. The position information may include a position of the position, as shown in FIG. 3, at which point the control method may include the steps of:
in step S350, the stack level number to which the bucket-wheel reclaimer is assigned and the stack level number sent to the bucket-wheel reclaimer by the control server are checked.
In step S360, when the stack number allocated to the bucket-wheel reclaimer and the stack number transmitted to the bucket-wheel reclaimer by the control server coincide, it is further checked whether the bucket-wheel position coincides with the stack position.
In step S370, when the pile number allocated to the bucket-wheel reclaimer and the pile number transmitted to the bucket-wheel reclaimer by the control server coincide, and the bucket-wheel position coincides with the pile position, the bucket-wheel and conveying device are allowed to be turned on.
In step S380, when either of the check results of steps S350 and S360 is inconsistent, the bucket wheel and the conveying device are not allowed to be turned on.
In this embodiment, the opening of the bucket wheel and the conveying device is only permitted when the bucket wheel position coincides with the position of the stack and the stack numbers received from the control server and the stack distribution system coincide, and it is also possible to issue a stack anomaly alarm when either of the two do not coincide, thus enabling to prevent the occurrence of a stack anomaly to a greater extent.
In another preferred embodiment, whether the stack position numbers received from the control server and the stack position distribution system are consistent or not can be judged preferentially, when the stack position numbers received from the control server and the stack position distribution system are consistent, the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer are obtained, the position of the bucket wheel is determined according to the walking position, the rotation angle and the pitching angle, and the operation of the bucket wheel and the conveying equipment is controlled according to the position of the bucket wheel and the stack position. Thus, if the number of bits received from the control server and the bit allocation system are not consistent, no further operations need to be performed, so that the control process is further simplified, the control process is saved, and resources are saved.
Fig. 4 is a block diagram of a control device for a bucket-wheel reclaimer according to an embodiment of the present invention. The control device is used for controlling the bucket-wheel reclaimer to reclaim materials at least one stacking position, and as shown in fig. 4, the control device may include: a receiving module 10 for receiving the stack position allocated to the bucket-wheel reclaimer; the positioning module 20 is used for acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer; the position determining module 30 is configured to determine a bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle, and the pitch angle; and a control module 40 for controlling the bucket wheel and/or the conveying apparatus in dependence on the bucket wheel position and the stack position information for the stack position.
In another preferred embodiment, the stack position information may include a stack position number, and the receiving module is further configured to receive the stack position number sent by the control server to the bucket-wheel reclaimer; the control module 40 may also be configured to: checking the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server, and when the stack position number distributed by the bucket-wheel reclaimer and the stack position number sent to the bucket-wheel reclaimer by the control server are inconsistent, not allowing the bucket-wheel and the conveying equipment to be started.
In another preferred embodiment, the buttress information includes a buttress position, and the control module 40 is further operable to: when the bucket wheel position does not coincide with the pile position, not allowing the bucket wheel and conveyor to be turned on.
Fig. 5 is a block diagram of a control device for a bucket-wheel reclaimer according to another embodiment of the present invention. As shown in fig. 5, the apparatus may further include a coordinate module 50 for: establishing a position coordinate system, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and representing the bucket wheel position and the stack position information of the stack position by coordinates in the position coordinate system.
FIG. 6 is a block diagram of a crenelation distribution system according to another embodiment of the present invention. The stack position distribution system can be used for distributing stack positions to a plurality of bucket-wheel reclaimers, and the bucket-wheel reclaimer comprises the control device for the bucket-wheel reclaimer. As shown in FIG. 6, the crenelation distribution system includes: a storage module 60 for storing the stack position information; and a stack position allocating module 70, configured to allocate the stored stack position information to one of the plurality of bucket-wheel reclaimers.
The stack position distribution system can take a PLC (programmable logic controller) as a platform, uniformly stores the position information of all stack positions in the stack position distribution system, and distributes the stack positions to the bucket-wheel reclaimer from the stored stack position information, so that the stack position distribution error caused by untimely update of the stack position information is avoided. In addition, in the normal operation process of a plurality of bucket-wheel reclaimers, the allocation of the stack positions follows the uniqueness principle, namely, each stack position can only be allocated to one single machine, thus avoiding the competition of the stack positions of the two machines caused by operation negligence and reducing the interference to the operation.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the apparatus according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps of the apparatus according to the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (9)
1. A control method for a bucket-wheel reclaimer machine, the control method for controlling the bucket-wheel reclaimer machine to reclaim material at least one pile position, the control method comprising:
receiving a stack position allocated to the bucket-wheel reclaimer;
acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer;
determining the bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle and the pitching angle;
receiving a stack position number sent to the bucket-wheel reclaimer by a control server;
checking whether the stack position number distributed by the bucket-wheel reclaimer is consistent with the stack position number sent to the bucket-wheel reclaimer by the control server, and if the stack position number distributed by the bucket-wheel reclaimer is inconsistent with the stack position number sent to the bucket-wheel reclaimer by the control server, not allowing the bucket-wheel and the conveying equipment to be started; when the two are in agreement, the bucket wheel and the conveying equipment are controlled according to the bucket wheel position and/or the pile position information of the pile position.
2. A method of controlling according to claim 1, wherein the position information includes a position of the position, and controlling the bucket wheel and conveyor apparatus according to the position of the bucket wheel and/or the position information of the position includes:
when the bucket wheel position does not coincide with the pile position, not allowing the bucket wheel and conveyor to be turned on.
3. The control method according to claim 2, characterized in that the method further comprises:
establishing a position coordinate system, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and
representing the bucket wheel position and the stack position information for the stack with coordinates in the position coordinate system.
4. A control device for a bucket-wheel reclaimer, the control device for controlling the bucket-wheel reclaimer to reclaim material at least one pile position, the control device comprising:
a receiving module for receiving a stack position allocated to the bucket-wheel reclaimer;
the positioning module is used for acquiring the walking position, the rotation angle and the pitching angle of the bucket-wheel reclaimer;
the position determining module is used for determining the bucket-wheel position of the bucket-wheel reclaimer according to the walking position, the rotation angle and the pitching angle;
the receiving module is also used for receiving the stack position number sent to the bucket-wheel reclaimer by the control server;
the control module is used for checking whether the stack position number distributed by the bucket-wheel reclaimer is consistent with the stack position number sent to the bucket-wheel reclaimer by the control server, and when the stack position number distributed by the bucket-wheel reclaimer is inconsistent with the stack position number sent to the bucket-wheel reclaimer by the control server, the bucket-wheel and the conveying equipment are not allowed to be started; when the two are in agreement, the bucket wheel and the conveying equipment are controlled according to the bucket wheel position and/or the pile position information of the pile position.
5. The control device of claim 4, wherein the buttress information includes a buttress position, the control module further to:
when the bucket wheel position does not coincide with the pile position, not allowing the bucket wheel and conveyor to be turned on.
6. The control device of claim 5, further comprising a coordinate module for:
establishing a position coordinate system, wherein the track direction of the bucket-wheel reclaimer is taken as an X axis, and the direction vertical to the track direction is taken as a Y axis; and
representing the bucket wheel position and the stack position information for the stack with coordinates in the position coordinate system.
7. A bucket-wheel reclaimer machine, characterized in that it comprises a control device according to any one of claims 4 to 6.
8. A level distribution system for distributing levels to a plurality of bucket-wheel reclaimers of claim 7, the level distribution system comprising:
the storage module is used for storing the stack position information;
and the stack position distribution module is used for distributing the stored stack position information to one of the plurality of bucket-wheel reclaimers.
9. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method of any one of claims 1-3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810030785.5A CN108357943B (en) | 2018-01-12 | 2018-01-12 | Control method and device for bucket-wheel reclaimer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810030785.5A CN108357943B (en) | 2018-01-12 | 2018-01-12 | Control method and device for bucket-wheel reclaimer |
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| CN108357943A CN108357943A (en) | 2018-08-03 |
| CN108357943B true CN108357943B (en) | 2020-02-07 |
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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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| CN108357943A (en) | 2018-08-03 |
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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. |