CN108639777B - A strip material yard automatic reclaiming system - Google Patents

Abstract

The invention relates to an automatic material taking system for a bar-shaped stock ground, which comprises a material taking machine, a control module and a detection module, wherein the material taking machine comprises a rack, a material taking mechanism and a travelling mechanism arranged on the rack, the material taking mechanism is connected with the rack, the pitching angle of the material taking mechanism is adjusted through a pitching mechanism, the travelling mechanism can move along a track arranged in the bar-shaped stock ground, the detection module transmits detected data information to the control module, the control module combines the acquired data information with a material taking operation target instruction to obtain a control result through control operation, and the control module controls the material taking machine to finish an operation target according to the control result. The invention can overcome the defects of low automation degree, high labor intensity of operators, low operation efficiency and low site utilization rate of the existing bulk cargo stock yard on the basis of fully ensuring the stock yard utilization rate, exerting the material taking capability of material taking equipment and other functions.

Description

A strip material yard automatic reclaiming system

technical field

The invention belongs to the technical field of intelligent loading and unloading, and in particular relates to an automatic material reclaiming system for a strip material yard.

Background technique

At present, the stacking and reclaiming of bulk materials in iron and steel and mining enterprises is completed by stacking and reclaiming equipment, while the stacking and reclaiming equipment of most domestic enterprises is completed by manual operation, which is labor-intensive and long-term. Stacking often causes high dust pollution, which causes great damage to the physical and mental health of operators who work for a long time. In the prior art, since the bulk material stacking operation is usually operated continuously, the labor intensity of the operators in the operating room is relatively high; at the same time, due to the inevitable generation of dust during the bulk material stacking process, the equipment also has continuous operation during the operation process. Vibration and noise, so operators work in dust, vibration and noise environment for a long time, which can easily cause occupational diseases and endanger personal health. In the manual operation mode, each equipment needs to be equipped with 1-2 operators for each operation shift. When the number of equipment is large, the labor cost is also high. The efficiency of equipment operation mainly depends on the experience of the operators. In recent years , Due to the harsh operating environment, the recruitment of professional young operators is difficult, and the operation efficiency of non-professional operators is low. Moreover, during manual operation, due to factors such as personnel fatigue, safety accidents such as collisions are very likely to occur, resulting in equipment damage or even personal injury, resulting in major shutdown losses. More importantly, during manual operation, the stockpiling of the material yard is more random and the shape of the pile is irregular, which reduces the utilization rate and reclaiming efficiency of the material yard. management, is not conducive to user access.

In conclusion, there is an urgent need to provide an automatic and intelligent strip-shaped material yard automatic reclaiming system that can realize high-efficiency and high-precision operations.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic and intelligent strip material yard automatic reclaiming system that can realize high-efficiency and high-precision operations.

The above purpose is achieved through the following technical solutions: an automatic reclaiming system for a strip material field, including a reclaimer, a control module and a detection module, the reclaimer includes a frame, a reclaiming mechanism, and a reclaimer arranged on the frame. The walking mechanism, the reclaiming mechanism is connected to the frame, the reclaiming mechanism adjusts its pitch angle through the pitching mechanism, the walking mechanism can move along the track set in the strip-shaped material yard, and the detection module at least includes a A stack shape detection sensor for detecting the geographical features of a stack, a position measuring device for detecting the position of the reclaimer on the track, an angle sensor for detecting the included angle of the reclaimer relative to the horizontal plane, and an angle sensor for detecting the position of the reclaimer on the track A reclaiming operation flowmeter that detects the material weight flow rate obtained by the reclaiming mechanism from the strip material yard. The control module controls the reclaimer to move to the target position and performs the reclaiming operation according to the reclaiming operation target. The detection module will detect The data information is transmitted to the control module, and the control module combines the acquired data information with the target instruction of the fetching operation, and obtains a control result through a control operation, and the control module controls the walking mechanism, pitching mechanism, The reclaiming mechanism performs the corresponding action operation and completes the job target.

The invention can be used for unmanned material reclaiming operation in strip-shaped material yard, and can realize the whole-process automatic material reclaiming operation of material reclaiming equipment in the case of no operating driver on site in a large-scale bulk material yard. The invention can fully guarantee the utilization rate of the material yard, exert the material reclaiming ability and other functions of the material reclaiming equipment, and there is no operating driver in the material reclaiming equipment to operate and monitor, and the central control room does not require personnel to perform the whole process of control operations. Thus, the defects of the existing bulk material yard of low automation degree, high labor intensity of operators, low operation efficiency and low utilization rate of the site are overcome.

Preferably, a further technical solution is that: the control module includes a control system, a display terminal for the distribution of stockpiles in the stockyard and the shape of the stockpiles, and a terminal for inputting operation parameters and monitoring the operation status, and the pile shape detection sensor will detect the geographical shape of the stockpiles. The topographic feature data is transmitted to the control system, and the geographic topographic features of the stockpiles are displayed in real time through the stockpiles distribution and stockpil shape display terminals in the stockyard, and the reclaiming operation instructions related to the input of the operation status monitoring terminal are input through the operation parameters. And through the control system to control the reclaimer to carry out the corresponding action operation and complete the reclaiming operation. This arrangement is convenient for the operator to input commands to remotely control and monitor the operation process of the present invention.

A further technical solution is: the reclaimer is provided with a transmission control system, the control system includes a central control unit arranged in the central control room and an automatic operation control unit of the reclaimer in the transmission control system, the central control The unit is connected in communication with the automatic operation control unit of the reclaimer.

A further technical solution is that: the detection module further includes a radar wave material level gauge arranged on the frame, and the radar wave material level gauge is used to measure the distance between the material stack under the reclaimer and the frame. In this way, the radar wave material level gauge can be used as an emergency sensor when the stack detector fails, so as to ensure the working efficiency of the present invention.

A further technical solution is: the reclaimer is a scraper type reclaimer, the reclaiming mechanism is a scraper mechanism, both sides of the scraper type reclaimer are provided with walking mechanisms, and the scraper type The walking mechanisms on both sides of the feeder are provided with position measuring devices, and the stack shape detection sensor is arranged on the frame.

A further technical solution is: according to the planning target of the reclaiming operation and the spatial position information of the material yard, inputting the reclaiming operation instruction data including the reclaiming weight, the material variety, and the position of the stockpile area through the operation parameter input and the operation state monitoring terminal, The reclaiming operation instruction data sends control commands and parameters to the scraper reclaimer through the control module, and the scraper reclaimer receives the command to move toward the target position. During the movement, the pile shape detection sensor detects the lower part of the scraper reclaimer. The geographical features of the stockpiles are sent to the control module. The control module updates the stored stockpiles model and displays them in real time through the stockpiles distribution and stockpil shape display terminals in the stockyard. At the same time, the position measuring device sends the detected position information. To the control module, the control module calculates and compares the received position information with the determined starting point coordinates to detect whether the scraper reclaimer has reached the predetermined starting position; when the position measuring device detects that the scraper reclaimer has reached the predetermined starting position , the control module controls the traveling mechanism to continue to move to the predetermined end position. During the driving process, the stack shape detection sensor detects the latest stack shape of the material stack between the predetermined start position and the predetermined end position, and sends it to the control module, and the control module updates the storage The stock pile model is displayed in real time through the stock pile distribution and stock pile shape display terminal in the stock yard. At the same time, the position measuring device sends the detected position information to the control module, and the control module compares the received position information with the determined termination coordinates. Calculate and compare to detect whether the scraper reclaimer has reached the predetermined end position; when the position measuring device detects that the scraper reclaimer has reached the predetermined end position, the control module controls the scraper reclaimer to travel in reverse to return to the predetermined starting position; the scraper reclaimer After reaching the predetermined starting position, the control module calculates the reclaiming angle of the scraper mechanism according to the updated topographical data of the stockpile and the amount of the reclaiming operation, and the corresponding reclaiming walking at this reclaiming angle during the reclaiming process of the scraper mechanism. The starting and reclaiming end positions, the control module controls the movement of the pitching mechanism and drives the movement of the scraper mechanism according to the calculation results, and the angle sensor sends the detected information of the angle between the scraper mechanism and the horizontal plane to the control module, the The control module calculates and compares the received information of the angle between the scraper mechanism and the horizontal plane with the reclaiming angle of the scraper mechanism until the scraper mechanism reaches the predetermined reclaiming angle; the control module controls the operation of the scraper mechanism to take materials, and controls the The walking mechanism walks along the starting position of reclaiming material at the current reclaiming angle to the end position of reclaiming material. During the material reclaiming process, the reclaiming operation flowmeter sends the detected material flow data to the control module, and the control module sends the received material flow data to the control module. The material flow data is compared with the set flow, and the running speed of the traveling mechanism is adjusted to ensure that the actual flow of the reclaimed material is close to the set flow. After the reclaiming termination position is reached, the control module judges whether the total amount of the reclaiming operation is reached according to the data detected by the reclaiming operation flowmeter. If it is, the reclaiming operation is ended; The amount of unfinished reclaiming work calculates the reclaiming angle of the scraper mechanism again and the corresponding reclaiming starting and reclaiming end positions at this reclaiming angle during the reclaiming process of the scraper mechanism, and the reclaimer movement is controlled according to the calculation results until the reclaiming workload is completed and the reclaiming operation is ended.

The invention can realize the unmanned control and automatic reclaiming operation function of the strip material yard. After simple parameter setting is performed in the central control room, the control module automatically controls the scraper reclaimer to complete the operation plan, and no manual remote manual operation intervention is required in the middle. At the same time, it can realize the real-time display of the distribution and shape of the stockpile in the material yard during the whole process of reclaiming, as well as the real-time status monitoring of the fetching equipment.

A further technical solution is: during the reclaiming operation, after the reclaimer walks from the reclaiming start position to the reclaiming end position at a predetermined reclaiming angle, the control module judges whether it is not based on the data detected by the reclaiming operation flowmeter. Reaching the work volume of reclaiming, if yes, end the reclaiming operation, if not, then judge whether the current angle of the scraper mechanism is the lowest angle in the operation interval, if yes, end the reclaiming operation, if not, then the control module will update the The topographic data of the material pile and the amount of unfinished reclaiming operations are calculated again to calculate the reclaiming angle of the scraper mechanism, as well as the corresponding reclaiming starting and reclaiming end positions under this reclaiming angle during the reclaiming process of the scraper mechanism. And control the movement of the reclaimer according to the calculation results until the amount of the reclaiming operation is completed and the reclaiming operation is ended.

A further technical solution is: the pitching mechanism is a scraper lifting traction device, and the scraper lifting traction device adjusts the pitching angle of the scraper mechanism by winding and unwinding the scraper lifting and pulling the wire rope.

A further technical solution is: the control module stores the received geomorphological data of the stockpile in the data server in the format of DEM terrain data, and can convert the geomorphological data of the whole stockyard into 2D or 3D pile-shaped display. , the 2D or 3D pile shape display at least includes the material name, pile shape volume, pile shape repose angle, and pile shape profile information of each material pile in the whole material yard. In this way, the system can record the material statistics of the whole stockyard in real time, and query the material statistics of the whole stockyard through the control module, so as to realize the function of the whole stockyard.

A further technical solution is: the material yard adopts the gridding method to divide the area in the effective stockpiling area into continuous grid surfaces, and the vertex of each grid unit on the surface has a three-dimensional space coordinate value (x, y). ,z), the three-dimensional space coordinate value takes a static three-dimensional space point in the material yard as the reference coordinate zero point, wherein the x and y coordinates represent the position value of the grid vertex on the surface of the material pile in the horizontal direction, and the z value represents the material pile The height of the vertex of the surface mesh, that is, the height value of a specific point on the surface of the stockpile, the size of the mesh can be adjusted according to the requirements of display accuracy.

In this way, in the predetermined coordinate system, the height value of a specific point on the surface of the pile can be calculated by giving the abscissa and ordinate of any point of the pile, so as to obtain all the topographic feature data of the surface of the pile, and then The control module performs relevant control operations on the reclaiming equipment based on the data, so as to realize automatic and intelligent stacking. The stack detection sensor may be a measurement and modeling system including a 3D laser scanner.

A further technical solution is: the stock yard pile shape and stock pile distribution are displayed in a plane display mode, the horizontal position of the vertices of the stock yard grid is displayed by numerical value, the height is displayed by a color ruler, and the color ruler is in a gradient mode. For example, the redder the color, the higher the height, the green part is lower than the red part, the whole height scale adopts the gradient method, and the black part means that the height of the grid point is less than or equal to the zero plane value in the Z direction (height direction) of the material yard .

式中，m 和n为料场DEM地形数据格式下的网格数，其中，m为DEM地形数据格式下的料场行数，n为DEM地形数据格式下的料场列数，h_ij为第i行j列下的所对应的网格高度值，V为料堆的堆形体积。A further technical solution is: in the calculation process of converting the geographic topography data of the whole material yard into 2D or 3D pile shape display, the calculation model of the pile shape volume of the material pile is:

In the formula, m and n are the grid numbers in the DEM terrain data format, where m is the number of rows in the DEM terrain data format, n is the number of columns in the DEM terrain data format, and h _ij is The corresponding grid height value under the i-th row and j column, V is the pile-shaped volume of the material pile.

A further technical solution is: the control module obtains the information including the material name, pile shape volume, pile shape repose angle, and pile shape profile information of each material pile in the whole material yard through the calculation module of the geographical topography data of the whole material yard. 2D or 3D pile-shaped display, and according to the information pre-stored in the control module, material names are marked for each material pile in the 2D or 3D pile-shaped display.

A further technical solution is that: the discharge port of the scraper type reclaimer is provided with a discharge belt conveying mechanism, the discharge conveying mechanism is a belt conveyor, and the blanking point of the belt of the belt conveyor is provided. A buffer idler and a side idler are provided, and the side idler is inclined forward along the belt conveying direction at a predetermined angle. The setting of the buffer idler can effectively slow down the impact of the material blanking process on the belt and ensure the stability of transportation. In addition, the side idler is set according to the above method to generate a relative sliding speed with the belt, which can effectively promote the belt to return to the belt conveyor. the center position, so that the belt can be limited to avoid misalignment.

A further technical solution is: the discharge port of the scraper type reclaimer is provided with a material guide member, and the material between the discharge port and the belt conveyor is transported through the material guide member, and the belt type The conveyor is provided with a belt anti-deviation device, and the belt anti-deviation device includes a driving device for driving the material guide member to move and changing the relative position of the blanking point of the material guide member and the belt, and a driving device for measuring its own to the belt. The detection element of the side distance, the detection element and the driving device are electrically connected with the control module, the control module stores the initial distance data between the detection element and the side of the belt, and the detection element will detect the distance between the detection element and the side of the belt The distance data is transmitted to the control module, the control module compares the received distance data with the pre-stored initial distance data between the detection element and the side of the belt, and controls the drive device to drive the material guide member to change its horizontal direction according to the comparison result. angle. In this way, when it is detected that the belt is deviated, the control module controls the drive device to drive the material guide member to move to change its blanking point on the belt. Due to the change of the blanking point, the belt bearing capacity changes, so that the blanking point is in the belt. The center position of the belt can realize the correction of the belt deviation, effectively improve the production efficiency and reduce the occurrence of production accidents. Preferably, the detection element is a photoelectric sensor or a displacement sensor.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

1 is a schematic structural diagram of an automatic reclaiming system according to an embodiment of the present invention;

2 is a schematic diagram of a reclaimer control system involved in an embodiment of the present invention;

3 is a schematic diagram of a reclaimer reclaiming operation control process according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the composition of a central control room according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a method for representing a grid surface of a stockpile shape according to an embodiment of the present invention;

6 is a schematic structural diagram of a reclaimer involved in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the K-direction structure of the combing device involved in FIG. 6 of the present invention.

In the picture:

0 stockpiles 11 racks 12 scraper lift traction wire rope

13 Scraper lift traction device 14 Walking mechanism 15 Discharge belt conveyor mechanism

16 Transmission control system 17 Automatic operation control unit of reclaimer 18 Stack shape detection sensor

19 Radar wave level gauge 20 Angle sensor 21 Reclaiming flow meter

22 position measuring device 24 scraper mechanism 25 mesh vertex

26 Comb Rack 27 Main Material Comb 28 Conveyor Chain

29 drive shaft 30 rotation comb

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present invention. In addition, according to the description in this document, those skilled in the art can make corresponding combinations of features in the embodiments in this document and in different embodiments.

Embodiments of the present invention are as follows, referring to FIG. 1 and FIG. 2, an automatic reclaiming system for a strip material yard includes a reclaimer, a control module and a detection module. The reclaimer includes a frame 11, a reclaiming mechanism and a set of The walking mechanism 14 on the frame 11, the reclaiming mechanism is connected to the frame 11, the reclaiming mechanism adjusts its pitch angle through the pitching mechanism, and the walking mechanism 14 can follow the track arranged in the bar-shaped material yard The detection module at least includes a stack-shaped detection sensor 18 for detecting the geographical topographic features of the material stack 1, a position measuring device 22 for detecting the position of the reclaimer on the track, and a reclaiming mechanism for detecting the material. The angle sensor 20 of the included angle relative to the horizontal plane and the reclaiming operation flow meter 21 used to detect the weight flow of the material obtained by the reclaiming mechanism from the strip yard, the control module controls the reclaimer to move to a position according to the reclaiming operation target. target position and carry out the reclaiming operation, the detection module transmits the detected data information to the control module, the control module combines the acquired data information with the target instruction of the reclaiming operation, and obtains the control result through the control operation, the said control module The control module controls the walking mechanism 14 , the pitching mechanism, and the reclaiming mechanism to perform corresponding action operations and complete the job target according to the control result.

The invention can be used for the unmanned reclaiming operation of the strip material yard, and can realize the whole-process automatic reclaiming operation of the reclaiming equipment without operating the driver on site in one large bulk material yard. The invention can fully guarantee the utilization rate of the material yard, exert the material reclaiming ability and other functions of the material reclaiming equipment, and there is no operating driver in the material reclaiming equipment to operate and monitor, and the central control room does not require personnel to perform the whole process of control operations. Thus, the defects of the existing bulk material yard of low automation degree, high labor intensity of operators, low operation efficiency and low utilization rate of the site are overcome.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIGS. 1 and 4 , the control module includes a control system, a display terminal for the distribution of stockpiles 1 in the stockyard and the shape of stockpiles 1, and the input of operation parameters and operation status. The monitoring terminal, the pile shape detection sensor 18 transmits the geographical topographic feature data of the detected material pile 1 to the control system, and the geographical topographic feature of the material pile 1 is displayed in real time through the display terminal of the stock pile 1 distribution in the stock yard and the shape of the material pile 1 It is displayed that the reclaiming operation instruction related to the input of the operation state monitoring terminal is input through the operation parameters, and the reclaimer is controlled by the control system to perform corresponding action operations and complete the reclaiming operation. This arrangement is convenient for the operator to input commands to remotely control and monitor the operation process of the present invention.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIGS. 1 and 2 , the reclaimer is provided with a transmission control system 16, and the control system includes a central control unit arranged in the central control room and a transmission. The reclaimer automatic operation control unit 17 in the control system 16 is connected in communication with the reclaimer automatic operation control unit 17 .

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, as shown in FIG. 1 , the detection module further includes a radar wave level gauge 19 arranged on the rack 11 , and the radar wave level gauge 19 uses It is used to measure the distance between the material stack 1 under the reclaimer and the frame 11 . In this way, the radar wave level gauge 19 can be used as an emergency sensor when the stack detector fails, ensuring the working efficiency of the present invention.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIGS. 1 and 2 , the reclaimer is a scraper type reclaimer, the reclaiming mechanism is a scraper mechanism 24, and the scraper type Both sides of the feeder (divided into the high side and the ground side) are provided with traveling mechanisms 14, and the traveling mechanisms 14 on both sides of the scraper type reclaimer are provided with position measuring devices 22, and the stack-shaped detection sensor 18 installed on the rack 11 .

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, as shown in FIG. 3 , according to the reclaiming operation plan target and the material yard space position information, the operation parameter input and the operation status monitoring terminal input include the reclaimed weight, material variety. , The reclaiming operation instruction data of the position of the material stack 1 area, the reclaiming operation instruction data sends control commands and parameters to the scraper reclaimer through the control module, and the scraper reclaimer receives the command to move toward the target position, during the movement process , the pile shape detection sensor 18 detects the geographical features of the pile 1 under the scraper reclaimer and sends it to the control module, and the control module updates the stored model of the pile 1 and distributes and distributes the pile 1 through the material yard. 1 The shape display terminal performs real-time display, and the position measuring device 22 sends the detected position information to the control module, and the control module calculates and compares the received position information with the determined starting point coordinates, and detects whether the scraper reclaimer has reached the predetermined starting point. When the position measuring device 22 detects that the scraper reclaimer has reached the predetermined starting position, the control module controls the traveling mechanism 14 to continue to move to the predetermined ending position. The latest stack shape of stock pile 1 between the termination positions is sent to the control module, which updates the stored stock pile 1 model and displays it in real time through the stock pile 1 distribution and stock pile 1 shape display terminal in the stockyard, and simultaneously measures the position The device 22 sends the detected position information to the control module, and the control module calculates and compares the received position information with the determined termination coordinates to detect whether the scraper reclaimer has reached the predetermined termination position; when the position measuring device 22 detects that the scraper has After the feeder reaches the predetermined end position, the control module controls the scraper reclaimer to travel in the reverse direction to return to the predetermined start position; after the scraper reclaimer reaches the predetermined start position, the control module controls the reclaimer according to the updated topographic data of the pile 1 and the reclaiming operation. Calculate the reclaiming angle of the scraper mechanism 24, and the corresponding reclaiming starting and reclaiming end positions under this reclaiming angle during the reclaiming process of the scraper mechanism 24, and the control module controls the movement of the pitching mechanism according to the calculation results. And drive the scraper mechanism 24 to move, the angle sensor 20 sends the detected information of the angle between the scraper mechanism 24 and the horizontal plane to the control module, and the control module sends the received information of the angle between the scraper mechanism 24 and the horizontal plane. Calculate and compare with the reclaiming angle of the scraper mechanism 24 until the scraper mechanism 24 reaches the predetermined reclaiming angle; the control module controls the scraper mechanism 24 to operate to take the material, and at the same time controls the walking mechanism 14 to reclaim the material along the current reclaiming angle. The starting position walks toward the end position of reclaiming. During the reclaiming process, the reclaiming operation flow meter 21 sends the detected material flow data to the control module, and the control module compares the received material flow data with the set flow. , and adjust the running speed of the walking mechanism 14 to ensure that the actual flow of the reclaimed material is close to the set flow. During the walking and reclaiming process, the shape of the pile 1 in the passing area is updated. When the reclaiming end position of this reclaiming angle is reached, control The module judges according to the data detected by the flow meter 21 of the reclaiming operation. Check whether the total amount of the reclaiming operation is reached, if yes, end the reclaiming operation, if not, the control module calculates the reclaiming angle of the scraper mechanism 24 again according to the updated topographic data of the stockpile 1 and the unfinished amount of the reclaiming operation , and the corresponding reclaiming starting and reclaiming end positions at this reclaiming angle during the reclaiming process of the scraper mechanism 24, and the reclaimer movement is controlled according to the calculation results until the reclaiming operation is completed and the reclaiming operation is ended.

The invention can realize the unmanned control and automatic reclaiming operation function of the strip material yard. After simple parameter setting is performed in the central control room, the control module automatically controls the scraper reclaimer to complete the operation plan, and no manual remote manual operation intervention is required in the middle. , and at the same time realize the real-time display of the distribution of the stock pile 1 and the shape of the stock pile 1 in the material reclaiming process, as well as the real-time status monitoring of the reclaiming operation equipment.

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, as shown in Figure 3, during the reclaiming operation, after the reclaimer completes walking from the reclaiming start position to the reclaiming end position at a predetermined reclaiming angle, the control According to the data detected by the flow meter 21 of the reclaiming operation, the module judges whether the total amount of the reclaiming operation is reached. If yes, the reclaiming operation is ended. If not, it is judged whether the current angle of the scraper mechanism 24 is the lowest angle in the operation interval. , the reclaiming operation is ended, otherwise, the control module calculates the reclaiming angle of the scraper mechanism 24 again according to the updated topographic data of the stockpile 1 and the unfinished amount of the reclaiming operation, and the scraper mechanism 24 is in the process of taking the material. The reclaiming starting and reclaiming end positions are corresponding to the reclaiming angle, and the reclaimer movement is controlled according to the calculation results until the reclaiming operation is completed and the reclaiming operation is ended.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIGS. 1 and 3 , the pitching mechanism is a scraper lifting and pulling device 13 , and the scraper lifting and pulling device 13 lifts and pulls the wire rope 12 by winding and unwinding the scraper. Adjust the pitch angle of the scraper mechanism 24 .

On the basis of the above embodiment, in another embodiment of the present invention, the control module stores the received geographic topography data of the stockpile 1 in the data server in the DEM topographic data format, and can store the geographic topography data of the entire stockyard. By converting into a 2D or 3D pile display, the 2D or 3D pile display at least includes the material name, pile volume, pile repose, and pile section information of each pile 1 in the entire stockyard. In this way, the system can record the material statistics of the whole stockyard in real time, and query the material statistics of the whole stockyard through the control module, so as to realize the function of the whole stockyard.

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, as shown in FIG. 5 , the material yard adopts the gridding method to divide the area within the effective stockpiling area into continuous grid curved surfaces, and each grid cell on the curved surface is divided into continuous grid surfaces. The vertex has a three-dimensional space coordinate value (x, y, z), and the three-dimensional space coordinate value takes a static three-dimensional space point in the material yard as the reference coordinate zero point, where the x and y coordinates represent the surface mesh vertex of the material pile 1 25 is the position value in the horizontal direction, and the z value represents the height of the grid vertex 25 on the surface of the stack 1, that is, the height value of a specific point on the surface of the stack 1. The size of the grid can be adjusted according to the requirements of display accuracy.

In this way, in the predetermined coordinate system, the abscissa and ordinate of any point of the pile 1 can be given to calculate the height value of a specific point on the surface of the pile 1, so as to obtain all the topographic features of the surface of the pile 1. data, and then the control module performs relevant control operations on the reclaiming equipment based on the data, so as to realize the automatic and intelligentization of the stacking. The stack detection sensor 18 may be a measurement and modeling system including a 3D laser scanner.

On the basis of the above embodiment, in another embodiment of the present invention, the shape of the stock yard and the distribution of the stock pile 1 are displayed in a plane display mode, the horizontal position of the vertices 25 of the stock yard grid is displayed by numerical value, the height is displayed by a color ruler, and the color is displayed by a color scale. The ruler adopts a gradient method. For example, the redder the color, the higher the height, the green part is lower than the red part, the whole height scale adopts the gradient method, and the black part means that the height of the grid point is less than or equal to the zero plane value in the Z direction (height direction) of the material yard .

式中，m和n为料场DEM地形数据格式下的网格数，其中，m为DEM地形数据格式下的料场行数，n为DEM地形数据格式下的料场列数，h_ij为第i行j列下的所对应的网格高度值，V为料堆1的堆形体积。On the basis of the above embodiment, in another embodiment of the present invention, in the calculation process of converting the geographic topography data of the whole material yard into 2D or 3D pile shape display, the calculation model of the pile shape volume of the material pile 1 is:

where m and n are the grid numbers in the DEM terrain data format, where m is the number of rows in the DEM terrain data format, n is the number of columns in the DEM terrain data format, and h _ij is The corresponding grid height value under the i-th row and j column, V is the pile-shaped volume of the material pile 1.

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, the control module obtains the material name, pile shape volume, pile shape of each material pile 1 in the whole material yard through the calculation module through the geographical topography data of the whole material yard. The 2D or 3D pile-shaped display of the angle of repose and the pile-shaped profile information, and the material names are marked for each material pile 1 in the 2D or 3D pile-shaped display according to the information pre-stored in the control module.

On the basis of the above embodiment, in another embodiment of the present invention, the discharge port of the scraper type reclaimer is provided with a discharge belt conveying mechanism 15, and the discharge conveying mechanism is a belt conveyor, and the belt A buffer idler and a side idler are arranged at the blanking point of the belt of the belt conveyor, and the side idler is inclined forward along the conveying direction of the belt at a predetermined angle. The setting of the buffer idler can effectively slow down the impact of the material blanking process on the belt and ensure the stability of transportation. In addition, the side idler is set according to the above method to generate a relative sliding speed with the belt, which can effectively promote the belt to return to the belt conveyor. the center position, so that the belt can be limited to avoid misalignment.

On the basis of the above embodiment, in another embodiment of the present invention, the discharge port of the scraper type reclaimer is provided with a material guide member, and the material between the discharge port and the belt conveyor passes through the guide member. The belt conveyor is provided with a belt anti-deviation device, and the belt anti-deviation device includes a driving device for driving the material guide member to move and changing the relative position of the material guide member’s blanking point and the belt and a detection element for measuring the distance between itself and the side of the belt, the detection element and the driving device are electrically connected to the control module, the control module stores the initial distance data between the detection element and the side of the belt, the detection element The detected distance data between it and the side of the belt is transmitted to the control module, the control module compares the received distance data with the pre-stored initial distance data between the detection element and the side of the belt, and controls the drive device to drive the guide according to the comparison result. The movement of the material member changes its angle with the horizontal direction. In this way, when it is detected that the belt is deviated, the control module controls the drive device to drive the material guide member to move to change its blanking point on the belt. Due to the change of the blanking point, the belt bearing capacity changes, so that the blanking point is in the belt. The center position of the belt can realize the correction of the belt deviation, effectively improve the production efficiency and reduce the occurrence of production accidents. Preferably, the detection element is a photoelectric sensor or a displacement sensor.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIG. 6 and FIG. 7 , the reclaimer includes a comb frame 26 and a main rake and a comb rake arranged on the comb frame 26 , the reclaimer also includes a drive device for driving the main rake to move the comb and a transmission mechanism for driving the comb rake to rotate the comb.

When the reclaiming device of the present invention reciprocates toward the material pile 1 during reclaiming, the comb teeth distributed on the main material rake and the combing rake move the material on the reclaiming surface to make it fall to the reclaiming surface. The bottom of the material surface is transported away by the continuously running reclaiming device until the material is transported to the material conveying device. The invention is suitable for the operation of viscous materials, and has a good loosening effect on the materials with strong viscosity, and solves the reduction of the operation capacity due to the poor material flow when the traditional structure material rake is used in the operation of materials with strong viscosity. Digging resistance increases and so on.

On the basis of the above-mentioned embodiment, in another embodiment of the present invention, as shown in Fig. 6 and Fig. 7 , the comb rake includes several sets of drive shafts 29 and autorotation comb teeth 30 for combing, the drive shaft 29 and autorotation The comb teeth 30 are connected, and the transmission mechanism includes a conveyor chain 28 surrounding the comb frame 26 and a motor that drives the conveyor chain 28 to move. The motor drives the conveyor chain 28 to drive the transmission shaft 29 to rotate, thereby driving the rotation comb teeth. 30 rotates the comb along the drive shaft 29.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in FIGS. 6 and 7 , the main material rake includes a plurality of main material comb teeth 27, and the main material comb teeth 27 are at least evenly distributed on the comb material. On the combing surface of the frame 26, the driving device package drives the main comb teeth 27 to reciprocate for combing.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (7)

1. An automatic material taking system for a strip-shaped stock ground comprises a material taking machine, a control module and a detection module, wherein the material taking machine comprises a rack, a material taking mechanism and a travelling mechanism arranged on the rack, the material taking mechanism is connected with the rack, the pitching angle of the material taking mechanism is adjusted through the pitching mechanism, and the travelling mechanism can move along a track arranged in the strip-shaped stock ground, the automatic material taking system is characterized in that the detection module at least comprises a pile shape detection sensor for detecting the geographical feature of a material pile, a position measuring device for detecting the position of the material taking machine on the track, an angle sensor for detecting the included angle of the material taking mechanism relative to the horizontal plane and a material taking operation flowmeter for detecting the weight flow of materials taken by the material taking mechanism from the strip-shaped stock ground, the control module controls the material taking machine to move to a target position according to a material taking operation target and performs material taking operation, the detection module transmits detected data information to the control module, the control module combines the acquired data information with a material taking operation target instruction to obtain a control result through control operation, and the control module controls the traveling mechanism, the pitching mechanism and the material taking mechanism to perform corresponding action operation according to the control result and complete an operation target; the control module comprises a control system, a stock yard stock pile distribution and shape display terminal and an operation parameter input and operation state monitoring terminal, the pile shape detection sensor transmits detected stock pile geographical feature data to the control system, the stock pile geographical feature data are displayed in real time through the stock yard stock pile distribution and shape display terminal, relevant material taking operation instructions are input through the operation parameter input and operation state monitoring terminal, a material taking machine is controlled by the control system to perform corresponding action operation, and material taking operation is completed; the reclaimer is a scraper reclaimer, the reclaiming mechanism is a scraper mechanism, traveling mechanisms are arranged on two sides of the scraper reclaimer, the traveling mechanisms on two sides of the scraper reclaimer are provided with position measuring devices, and the heap shape detection sensor is arranged on the rack; according to the material taking operation plan target and the material yard space position information, material taking operation instruction data including material taking weight, material variety and material pile area position is input through the operation parameter input and operation state monitoring terminal, the material taking operation instruction data sends control commands and parameters to the scraper reclaimer through the control module, the scraper reclaimer receives a command to move towards a target position, the pile shape detection sensor detects the geographic feature of a material pile below the scraper reclaimer and sends the geographic feature to the control module during the movement, the control module updates the stored stock pile model and displays the stock pile model in real time through a stock ground stock pile distribution and stock pile shape display terminal, meanwhile, the position measuring device sends the detected position information to the control module, and the control module calculates and compares the received position information with the determined starting point coordinate to detect whether the scraper reclaimer reaches a preset starting position; when the position measuring device detects that the scraper reclaimer reaches a preset initial position, the control module controls the traveling mechanism to continue moving to a preset end position to travel, the pile shape detection sensor detects the latest pile shape between the preset initial position and the preset end position in the traveling process and sends the latest pile shape to the control module, the control module updates a stored pile model and displays the latest pile shape through a stock yard pile distribution and pile shape display terminal, meanwhile, the position measuring device sends the detected position information to the control module, and the control module calculates and compares the received position information with the determined end coordinate to detect whether the scraper reclaimer reaches the preset end position; when the position measuring device detects that the scraper reclaimer reaches a preset ending position, the control module controls the scraper reclaimer to reversely run and return to the preset starting position; after the scraper reclaimer reaches a preset initial position, the control module calculates the reclaiming angle of the scraper mechanism according to the updated stock pile topographic data and reclaiming operation amount, and the reclaiming walking initial position and the reclaiming ending position corresponding to the reclaiming angle in the reclaiming process of the scraper mechanism, the control module controls the pitching mechanism to move and drives the scraper mechanism to move according to the calculation result, the angle sensor sends the detected information of the included angle between the scraper mechanism and the horizontal plane to the control module, and the control module calculates and compares the received information of the included angle between the scraper mechanism and the horizontal plane with the reclaiming angle of the scraper mechanism until the scraper mechanism reaches the preset reclaiming angle; the control module controls the scraper mechanism to operate to take materials, and simultaneously controls the traveling mechanism to travel to a material taking termination position along a material taking starting position under the current material taking angle, the material taking operation flowmeter sends detected material flow data to the control module in the material taking process, the control module compares the received material flow data with a set flow and adjusts the traveling speed of the traveling mechanism to ensure that the actual flow of the taken materials is close to the set flow, the shape of a material pile passing through an area is updated in the traveling material taking process, after the material taking termination position of the material taking angle is reached, the control module judges whether the total operation amount of the taken materials is reached according to the data detected by the material taking operation flowmeter, if yes, the material taking operation is ended, otherwise, the control module calculates the material taking angle of the scraper mechanism again according to the updated topography data of the material pile and the unfinished material taking operation amount, and the corresponding material taking walking starting position and material taking ending position under the material taking angle in the material taking process of the scraping plate mechanism, and controlling the material taking machine to move according to the calculation result until the material taking operation amount is finished and the material taking operation is finished.

2. The automatic reclaiming system for a strip yard according to claim 1 wherein the detection module further comprises a radar wave level gauge disposed on the rack for measuring the distance of the stockpile below the reclaimer from the rack.

3. The automatic material taking system for the strip-shaped stock ground according to claim 1, wherein after the material taking machine walks from the material taking starting position to the material taking ending position at a preset material taking angle in the material taking operation process, the control module judges whether the total amount of material taking operation is reached according to the data detected by the material taking operation flowmeter, if so, finishing the material taking operation, if not, judging whether the current angle of the scraping plate mechanism is the lowest angle in the operation interval, if so, finishing the material taking operation, if not, calculating the material taking angle of the scraping plate mechanism again by the control module according to the updated topographic data of the material pile and the unfinished material taking operation amount, and the corresponding material taking walking starting position and material taking ending position under the material taking angle in the material taking process of the scraping plate mechanism, and controlling the reclaimer to move according to the calculation result until the reclaiming operation is finished and the reclaiming operation is finished.

4. The automatic reclaiming system for the strip-shaped stock ground according to any one of claims 1 to 3, wherein the pitching mechanism is a scraper elevating traction device, and the scraper elevating traction device adjusts the pitching angle of the scraper mechanism by winding and unwinding a scraper elevating traction steel wire rope.

5. The automatic reclaiming system for strip stockyard according to claim 4 wherein the control module stores the received stockpile geographic topography data in the data server in a DEM (digital elevation model) topographic data format, and converts the whole stockpile geographic topography data into 2D or 3D heap-shaped display, wherein the 2D or 3D heap-shaped display at least comprises the material name, the heap-shaped volume, the heap-shaped repose angle and the heap-shaped section map information of each stockpile in the whole stockyard.

6. The automatic reclaiming system for the strip stock yard as claimed in claim 5, wherein the stock yard divides the area in the effective stock piling area into continuous grid curved surfaces by a gridding method, the vertex of each grid unit on the curved surface has a three-dimensional space coordinate value (x, y, z), the three-dimensional space coordinate value takes a certain static three-dimensional space point in the stock yard as a zero point of reference coordinate, wherein the x and y coordinates represent the position value of the grid vertex on the stock piling surface in the horizontal direction, the z value represents the height of the grid vertex on the stock piling surface, namely the height value of a specific point on the stock piling surface, and the size of the grid can be adjusted according to the requirement of display accuracy.

7. The automatic material taking system for the strip-shaped stock ground as claimed in claim 6, wherein the stock ground pile shape and the stock pile distribution are displayed in a plane display mode, the horizontal position of the top point of the stock ground grid is displayed in a numerical value mode, the height is displayed in a color ruler mode, and the color ruler is displayed in a gradual change mode.

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