CN108639777B - Automatic material taking system for bar-shaped stock ground - Google Patents
Automatic material taking system for bar-shaped stock ground Download PDFInfo
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- CN108639777B CN108639777B CN201810179522.0A CN201810179522A CN108639777B CN 108639777 B CN108639777 B CN 108639777B CN 201810179522 A CN201810179522 A CN 201810179522A CN 108639777 B CN108639777 B CN 108639777B
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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
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
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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
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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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
Technical Field
The invention belongs to the technical field of intelligent loading and unloading, and particularly relates to an automatic material taking system for a bar-shaped stock ground.
Background
At present, bulk materials are stacked and taken by adopting stacking and taking equipment in iron and steel enterprises and mine enterprises, while the stacking and taking equipment of most domestic enterprises adopts manual operation to complete operation tasks, so that the labor intensity is high, the working time is long, the bulk material stacking often causes high dust pollution, and the physical and psychological health of operators working for a long time is greatly damaged. In the prior art, because the bulk cargo piling operation is usually continuous operation, the labor intensity of operators in an operation room is higher; meanwhile, as the flying dust is inevitably generated in the bulk material piling and taking process, continuous vibration and noise exist in the equipment in the operation process, so that the operator works in the dust, vibration and noise environment for a long time, and the occupational diseases are very easy to cause harm to the physical health of people. In the manual operation mode, 1-2 operators are required to be equipped for each operation shift of each device for operation, when the number of devices is large, the labor cost is high, the operation efficiency of the devices mainly depends on the experience of the operators, and in recent years, due to the fact that the operation environment is poor, recruitment of professional young operators is difficult, and the operation efficiency of non-professional operators is low. In addition, during manual operation, safety accidents such as collision and the like are easy to happen due to factors such as personnel fatigue and the like, equipment damage and even personal injury are caused, and great shutdown loss is caused. What is more critical is that during manual operation, the stockpiling randomness of the stockyard is larger, the stockpiling shape is irregular, the utilization rate and the material taking efficiency of the stockyard are reduced, meanwhile, the positions and the quantity of different varieties of materials stacked are not effectively tracked and managed, and the use by a user is not facilitated.
In summary, it is desirable to provide an automatic intelligent strip-shaped stock ground automatic material taking system capable of realizing high-efficiency and high-precision operation.
Disclosure of Invention
The invention aims to provide an automatic intelligent strip stock ground automatic material taking system capable of realizing high-efficiency and high-precision operation.
The above purpose is realized by the following technical scheme: 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, the travelling mechanism can move along a track arranged in the strip-shaped stock ground, the detection module at least comprises a pile-shaped detection sensor for detecting geographical topographic characteristics 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 the material taking operation and carries out the material taking operation, and 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, obtains a control result through control operation, and 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 invention can be used for unmanned material taking operation in a bar stock yard, and can realize the full-process automatic material taking operation of large bulk material stock yards under the condition that no operation driver is on site. The invention can fully ensure the utilization rate of the stock yard, exert the material taking capability and other functions of the material taking equipment, and the material taking equipment is operated and monitored by a non-operator driver, and a central control room is not required to be controlled by personnel in the whole process, thereby overcoming the defects of low automation degree, high labor intensity of operators, low operation efficiency and low site utilization rate of the existing bulk stock yard.
Preferably, the further technical scheme is as follows: 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, and the control system controls the material taking machine to perform corresponding action operation and complete material taking operation. The arrangement is convenient for an operator to input commands to remotely control and monitor the working process of the invention.
The further technical scheme is as follows: the reclaimer is provided with a transmission control system, the control system comprises a central control unit arranged in a central control room and an automatic reclaimer operation control unit in the transmission control system, and the central control unit is in communication connection with the automatic reclaimer operation control unit.
The further technical scheme is as follows: the detection module is in still including setting up radar wave charge level indicator in the frame, radar wave charge level indicator is used for measuring the distance of the stockpile of reclaimer below apart from the frame. Therefore, the radar wave level gauge can be used as an emergency sensor when the pile detector fails, and the operation efficiency of the device is guaranteed.
The further technical scheme is as follows: the reclaimer is scraper reclaimer, extracting mechanism is scraper blade mechanism, scraper blade reclaimer's both sides all are equipped with running gear, the running gear of scraper blade reclaimer's both sides all is equipped with position measuring device, the heap shape detection sensor sets up in the frame.
The further technical scheme is as follows: 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.
The invention can realize the function of the strip stock ground automatic material taking operation without human control, and after the central control room is subjected to simple parameter setting, the control module automatically controls the scraper reclaimer to complete the operation plan without manual remote manual operation intervention midway, and simultaneously realizes the real-time display of the stock ground stock pile distribution and the stock pile shape in the whole material taking operation process and the real-time state monitoring of the reclaiming operation equipment.
The further technical scheme is as follows: after the material taking machine walks from the material taking initial position to the material taking termination position at a preset material taking angle in the material taking operation process, the control module judges whether the material taking operation amount is reached according to data detected by the material taking operation flowmeter, if so, the material taking operation is finished, if not, the control module judges whether the current angle of the scraping plate mechanism is the lowest angle in the operation interval, if so, the material taking operation is finished, if not, the control module calculates the material taking angle of the scraping plate mechanism again according to the updated material pile topographic data and the unfinished material taking operation amount, and the material taking walking initial position and the material taking termination position corresponding to the material taking angle in the material taking process of the scraping plate mechanism, and controls the material taking machine to move until the material taking operation amount is finished and the material taking operation is finished according to the calculation result.
The further technical scheme is as follows: 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 a scraper lifting traction steel wire rope.
The further technical scheme is as follows: the control module stores the received geographical topography data of the stockpiles in a data server in a DEM (digital elevation model) topographic data format, and can convert the geographical topography data of the whole stockpiles into 2D (two-dimensional) or 3D (three-dimensional) heap shapes for display, wherein the 2D or 3D heap shapes at least comprise the material names, the heap shapes and the volume, the heap shape repose angles and the heap shape section map information of all stockpiles in the whole stockpiles. According to the arrangement, the system can record the material statistical information of the full stock ground in real time, and the control module can inquire the material statistical information of the full stock ground, so that the stock checking function of the full stock ground is realized.
The further technical scheme is as follows: the material field divides an area in an effective material piling area into continuous grid curved surfaces by adopting a gridding method, the vertex of each grid unit on the curved surface is provided with 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 material field as a 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, the z value represents the height of the grid vertex on the surface of the material pile, namely the height value of a specific point on the surface of the material pile, and the size of the grid can be adjusted according to the requirement of display precision.
According to the arrangement, in a preset coordinate system, the height value of a specific point on the surface of the material pile can be calculated by giving the abscissa and the ordinate of any point of the material pile, so that all the feature data of the surface of the material pile can be obtained, and then the control module performs related control operation on the material taking equipment based on the data, so that the automatic intellectualization of the material pile is realized. The heap-detection sensor may be a measurement and modeling system including a 3D laser scanner.
The further technical scheme is as follows: the stock ground pile shape and the stock ground pile distribution display adopt a plane display mode, the horizontal position of the stock ground grid vertex adopts a numerical value display mode, the height adopts a color ruler display mode, and the color ruler adopts a gradual change mode. For example, the red color represents that the height is higher, the green part is lower than the red part, the whole height gauge adopts a gradual change mode, and the black part represents 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 stock ground.
The further technical scheme is as follows: in the calculation process of converting the physical and morphological data of the whole material field into 2D or 3D heap shape display, the calculation model of the heap shape volume of the material pile is
In the formula, m and n are the number of grids in a stock ground DEM topographic data format, wherein m is the number of stock ground lines in the DEM topographic data format, n is the number of stock ground columns in the DEM topographic data format, and h is ijAnd V is the height value of the corresponding grid under the ith row and the jth column, and is the pile-shaped volume of the material pile.
The further technical scheme is as follows: the control module obtains 2D or 3D stack shape display including the material name, the stack shape volume, the stack shape repose angle and the stack shape section diagram information of each material stack in the full material field through the calculation module according to the full material field physical and morphological data, and labels the material name of each material stack in the 2D or 3D stack shape display according to the information prestored in the control module.
The further technical scheme is as follows: the scraper reclaimer is characterized in that a discharge belt conveying mechanism is arranged at a discharge opening of the scraper reclaimer, the discharge belt conveying mechanism is a belt conveyor, a blanking point of a belt of the belt conveyor is provided with a buffer carrier roller and a side carrier roller, and the side carrier roller inclines forwards along the belt conveying direction and is arranged at a preset angle. The setting of snub pulley can effectively slow down the impact of material blanking process to the belt, guarantees the stability of transportation, and the setting of side bearing roller will produce relative slip velocity with the belt according to above-mentioned mode in addition, can effectively make the belt reply to belt conveyor's central point and put, so can the limited belt off tracking of avoiding.
The further technical scheme is as follows: a material guiding component is arranged at the discharge opening of the scraper type reclaimer, the material between the discharge opening and the belt conveyor is transferred through the material guiding component, the belt conveyor is provided with a belt deviation preventing device, the belt deviation preventing device comprises a driving device and a detecting element, the driving device is used for driving the material guiding component to move and changing the relative position of a blanking point of the material guiding component and the belt, the detecting element is used for measuring the distance from the belt deviation preventing device to the side surface of the belt, the detection element, the driving device and the control module are electrically connected, the control module stores initial distance data between the detection element and the side surface of the belt, the detecting element transmits the detected distance data between the detecting element and the side surface of the belt to the control module, the control module compares the received distance data with the pre-stored initial distance data between the detecting element and the side surface of the belt, and controlling the driving device to drive the material guiding component to move according to the comparison result so as to change the included angle between the material guiding component and the horizontal direction. So set up, when detecting the belt and take place the off tracking, through control module control drive arrangement drive guide component motion change its blanking point on the belt, because the blanking point changes and arouses the belt bearing capacity change, make the blanking point be in the central point of belt and put, realize the correction to the belt off tracking, effectively improve production efficiency, reduce the emergence of production accident. Preferably, the detection element is a photosensor or a displacement sensor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an automatic material taking system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a control system of a reclaimer according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating a material taking operation control process of a material taking machine according to an embodiment of the present invention;
FIG. 4 is a schematic view 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 curved surface of a material pile shape according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a reclaimer according to an embodiment of the present invention;
fig. 7 is a schematic view of a structure of the carding device in the direction of K in fig. 6.
In the figure:
0 material pile 11 frame 12 scraper lifting traction steel wire rope
13 scraper blade lift draw gear 14 running gear 15 ejection of compact belt conveyor constructs
16-transmission control system 17 automatic operation control unit 18 pile shape detection sensor of material taking machine
19-radar-wave level gauge 20-angle sensor 21 material taking operation flowmeter
22 position measuring device 24 scraper mechanism 25 grid vertex
26 main material comb 28 conveying chain of comb frame 27
29 transmission shaft 30 rotation comb teeth
Detailed Description
The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.
The embodiment of the invention is as follows, referring to fig. 1 and 2, 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 11, a material taking mechanism and a traveling mechanism 14 arranged on the rack 11, the material taking mechanism is connected with the rack 11, the pitch angle of the material taking mechanism is adjusted through the pitch mechanism, the traveling mechanism 14 can move along a track arranged in the strip-shaped stock ground, the detection module at least comprises a pile-shaped detection sensor 18 for detecting the geographic feature of a material pile 1, a position measuring device 22 for detecting the position of the material taking machine on the track, an angle sensor 20 for detecting the included angle of the material taking mechanism relative to the horizontal plane and a material taking operation flow meter 21 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 the 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 14, the pitching mechanism and the material taking mechanism to perform corresponding action operation according to the control result and complete an operation target.
The invention can be used for unmanned material taking operation in strip stock yards, and can realize the full-process automatic material taking operation of the large bulk material pile 1 under the condition that no operation driver is arranged on the site. The invention can fully ensure the utilization rate of the stock ground, exert the material taking capability and other functions of the material taking equipment, and the material taking equipment is operated and monitored by an operator without the operation driver and a central control room does not need personnel to carry out the whole-process control operation, thereby overcoming the defects of low automation degree, high labor intensity of operators, low operation efficiency and low ground utilization rate of the existing bulk cargo stock ground.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 and 4, the control module includes a control system, a stock yard stock pile 1 distribution and stock pile 1 shape display terminal and an operation parameter input and operation state monitoring terminal, the pile shape detection sensor 18 transmits the geographic feature data of the stock pile 1 to the control system, the geographic feature data of the stock pile 1 are displayed in real time through the stock yard stock pile 1 distribution and stock pile 1 shape display terminal, the operation parameter input and operation state monitoring terminal inputs a related material taking operation instruction, and the control system controls the material taking machine to perform corresponding action operation and complete material taking operation. The arrangement is convenient for an operator to input commands to remotely control and monitor the operation process of the invention.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 and 2, the reclaimer is provided with a transmission control system 16, the control system includes a central control unit disposed in a central control room and an automatic reclaimer operation control unit 17 in the transmission control system 16, and the central control unit is in communication connection with the automatic reclaimer operation control unit 17.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the detection module further includes a radar level gauge 19 disposed on the rack 11, and the radar level gauge 19 is used for measuring the distance from the material pile 1 below the reclaimer to the rack 11. Thus, the radar wave level gauge 19 can be used as an emergency sensor when the pile detector fails, and the working efficiency of the invention is guaranteed.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 and fig. 2, the reclaimer is a scraper reclaimer, the reclaimer is a scraper mechanism 24, the traveling mechanisms 14 are disposed on both sides (i.e., the high side and the ground side) of the scraper reclaimer, the traveling mechanisms 14 on both sides of the scraper reclaimer are each provided with a position measuring device 22, and the heap shape detection sensor 18 is disposed on the frame 11.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, material taking operation instruction data including material taking weight, material type, and area position of the material pile 1 is input through the operation parameter input and operation state monitoring terminal according to a material taking operation plan target and material yard space position information, the material taking operation instruction data sends a control command and parameters to the scraper reclaimer through the control module, the scraper reclaimer receives the command to move toward the target position, during the movement, the pile shape detection sensor 18 detects geographical feature of the material pile 1 under the scraper reclaimer and sends the geographical feature to the control module, the control module updates the stored model of the material pile 1 and displays the geographical feature in real time through the distribution of the material pile 1 and the shape display terminal of the material pile 1, and the position measuring device 22 sends the detected position information to the control module, the control module calculates and compares the received position information with the determined start point coordinates, and detects whether the scraper reclaimer reaches a preset start position; when the position measuring device 22 detects that the scraper reclaimer reaches a preset initial position, the control module controls the travelling mechanism 14 to continue moving to a preset end position for travelling, the heap shape detection sensor 18 detects the latest heap shape of the material pile 1 between the preset initial position and the preset end position in the travelling process and sends the latest heap shape to the control module, the control module updates the stored material pile 1 model and displays the latest heap shape through the distribution of the material pile 1 in the stockyard and the shape display terminal of the material pile 1, meanwhile, 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 end coordinate to detect whether the scraper reclaimer reaches the preset end position; when the position measuring device 22 detects that the scraper reclaimer reaches a preset end position, the control module controls the scraper reclaimer to reversely run and return to the preset start position; after the scraper reclaimer reaches a preset initial position, the control module calculates the reclaiming angle of the scraper mechanism 24 according to the updated topographic data of the material pile 1 and the 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 24, the control module controls the pitching mechanism to move and drives the scraper mechanism 24 to move according to the calculation result, the angle sensor 20 sends the information of the detected included angle between the scraper mechanism 24 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 24 and the horizontal plane with the reclaiming angle of the scraper mechanism 24 until the scraper mechanism 24 reaches the preset reclaiming angle; the control module controls the scraper mechanism 24 to operate to take materials, and simultaneously controls the traveling mechanism 14 to travel to a material taking end position along a material taking starting position under the current material taking angle, the material taking operation flowmeter 21 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 operating speed of the traveling mechanism 14 to ensure that the actual flow of the materials is close to the set flow, the shape of the material pile 1 passing through the area is updated in the traveling material taking process, after the material taking end position of the material taking angle is reached, the control module judges whether the total operation amount of the materials is reached according to the data detected by the material taking operation flowmeter 21, if yes, the material taking operation is ended, otherwise, the control module recalculates the material taking angle of the scraper mechanism 24 according to the updated topographic data of the material pile 1 and the unfinished material taking operation amount, and the corresponding material taking walking start position and material taking end position at the material taking angle in the material taking process of the scraping plate mechanism 24, and controls 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.
The invention can realize the function of the strip stock ground for unmanned control automatic material taking operation, after simple parameter setting is carried out in the central control room, the control module automatically controls the scraper reclaimer to complete the operation plan without manual remote manual operation intervention midway, and simultaneously realizes the real-time display of the distribution of the stock ground stock piles 1 and the shape of the stock piles 1 in the whole material taking operation process and the real-time state monitoring of the material taking operation equipment.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, after the material taking machine travels from the material taking starting position to the material taking ending position at a predetermined material taking angle during the material taking operation, the control module judges whether the total amount of material taking operation is reached or not according to the data detected by the material taking operation flowmeter 21, if so, finishing the material taking operation, judging whether the current angle of the scraping plate mechanism 24 is the lowest angle in the operation interval or not if the current angle is not the lowest angle in the operation interval, if so, finishing the material taking operation, if not, the control module calculates the material taking angle of the scraping plate mechanism 24 again according to the updated topographic data of the material pile 1 and the unfinished material taking operation amount, and the corresponding material taking walking starting position and material taking ending position at the material taking angle in the material taking process of the scraper mechanism 24, and controlling the reclaimer to move according to the calculation result until the reclaiming operation is finished and the reclaiming operation is finished.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 and 3, the pitch mechanism is a blade elevating traction device 13, and the blade elevating traction device 13 adjusts the pitch angle of the blade mechanism 24 by unwinding the blade elevating traction wire 12.
On the basis of the above embodiment, in another embodiment of the present invention, the control module stores the received geographical topographic data of the stockpile 1 in a DEM topographic data format in the data server, and may convert the full-yard topographic data into a 2D or 3D heap-shaped display, where the 2D or 3D heap-shaped display at least includes the material name, the heap-shaped volume, the heap-shaped repose angle, and the heap-shaped profile information of each stockpile 1 in the full-yard. According to the arrangement, the system can record the material statistical information of the full stock ground in real time, and the control module can inquire the material statistical information of the full stock ground, so that the stock checking function of the full stock ground is realized.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 5, the stock yard divides the area in the effective stock piling area into continuous mesh curved surfaces by using a gridding method, a vertex of each mesh unit on the curved surface has a three-dimensional spatial coordinate value (x, y, z), the three-dimensional spatial coordinate value takes a certain stationary three-dimensional spatial point in the stock yard as a zero point of reference coordinate, where the x and y coordinates represent a position value of a mesh vertex 25 on the surface of the stock pile 1 in the horizontal direction, the z value represents a height of the mesh vertex 25 on the surface of the stock pile 1, that is, a height value of a specific point on the surface of the stock pile 1, and the size of the mesh can be adjusted according to the requirement of display accuracy.
According to the arrangement, in a preset coordinate system, the horizontal coordinate and the vertical coordinate of any point of the material pile 1 are given, so that the height value of the specific point on the surface of the material pile 1 can be calculated, all the surface feature data of the material pile 1 can be obtained, and then the control module performs related control operation on the material taking equipment based on the data, so that the automatic intellectualization of the material pile is realized. The heap-shaped 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 stock ground pile shape and the distribution display of the stock ground pile 1 adopt a plane display mode, the horizontal position of the stock ground grid vertex 25 adopts a numerical value display mode, the height adopts a color ruler display mode, and the color ruler adopts a gradual change mode. For example, the red color represents that the height is higher, the green part is lower than the red part, the whole height gauge adopts a gradual change mode, and the black part represents 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 stock ground.
On the basis of the above embodiment, in another embodiment of the present invention, in the calculation process of converting the full stockyard geographic topography data into 2D or 3D heap shape display, the calculation model of the heap shape volume of the stockpile 1 is 
In the formula, m and n are the number of grids in a stock ground DEM topographic data format, wherein m is the number of stock ground lines in the DEM topographic data format, n is the number of stock ground columns in the DEM topographic data format, and h isijAnd V is the height value of the corresponding grid under the ith row and the jth column, and is the pile-shaped volume of the material pile 1.
On the basis of the above embodiment, in another embodiment of the present invention, the control module obtains, through the calculation module, 2D or 3D stack shape display including the material name, the stack shape volume, the stack shape repose angle, and the stack shape profile information of each stack 1 in the full yard, and labels the material name of each stack 1 in the 2D or 3D stack shape display according to information prestored in the control module.
On the basis of the above embodiment, in another embodiment of the present invention, a discharge belt conveying mechanism 15 is disposed at a discharge opening of the scraper reclaimer, the discharge belt conveying mechanism is a belt conveyor, a blanking point of a belt of the belt conveyor is provided with a buffer roller and a side roller, and the side roller is tilted forward along a belt conveying direction by a predetermined angle. The setting of snub pulley can effectively slow down the impact of material blanking process to the belt, guarantees the stability of transportation, and the setting of side bearing roller will produce relative slip velocity with the belt according to above-mentioned mode in addition, can effectively make the belt reply to belt conveyor's central point and put, so can the limited belt off tracking of avoiding.
On the basis of the above embodiment, in another embodiment of the invention, the discharge opening of the scraper reclaimer is provided with a material guiding member, the material between the discharge opening and the belt conveyor is transferred through the material guiding member, the belt conveyor is provided with a belt deviation preventing device, the belt deviation preventing device comprises a driving device for driving the material guiding member to move and changing the relative position of the blanking point of the material guiding member and the belt and a detecting element for measuring the distance between the detecting element and the side surface of the belt, the detecting element and the driving device are electrically connected with the control module, the control module stores initial distance data between the detecting element and the side surface of the belt, the detecting element transmits the detected distance data between the detecting element and the side surface of the belt to the control module, and the control module compares the received distance data with the pre-stored initial distance data between the detecting element and the side surface of the belt, and controlling the driving device to drive the material guiding component to move according to the comparison result so as to change the included angle between the material guiding component and the horizontal direction. So set up, when detecting the belt and take place the off tracking, through control module control drive arrangement drive guide component motion change its blanking point on the belt, because the blanking point changes and arouses the belt bearing capacity change, make the blanking point be in the central point of belt and put, realize the correction to the belt off tracking, effectively improve production efficiency, reduce the emergence of production accident. Preferably, the detection element is a photosensor or a displacement sensor.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 6 and 7, the reclaimer includes a material combing frame 26, and a main material rake and a material combing rake disposed on the material combing frame 26, and the reclaimer further includes a driving device for driving the main material rake to move and comb the material, and a transmission mechanism for driving the material combing rake to rotate and comb the material.
When the material taking device reciprocates towards the material pile 1 during material taking, the comb teeth distributed on the main material rake and the material combing rake stir the material on the material taking surface to enable the material to fall to the bottom of the material taking surface and be carried away by the material taking device which continuously operates until the material is conveyed to the material conveying device to be conveyed out. The invention is suitable for viscous material operation occasions, has good loosening effect on materials with strong viscosity, and solves the problems of reduced operation capability, increased excavation resistance and the like caused by unsmooth material flow in the occasions of the operation of the material with strong viscosity by adopting the rake with the traditional structure.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 6 and 7, the comb rake includes a plurality of sets of transmission shafts 29 and rotation comb teeth 30 for combing, the transmission shafts 29 are connected to the rotation comb teeth 30, the transmission mechanism includes a transmission chain 28 encircling the comb frame 26 and a motor for driving the transmission chain 28 to move, and the motor drives the transmission chain 28 to drive the transmission shafts 29 to rotate, so as to drive the rotation comb teeth 30 to rotate the combing along the transmission shafts 29.
On the basis of the above embodiments, in another embodiment of the present invention, as shown in fig. 6 and fig. 7, the main material rake includes a plurality of main material comb teeth 27, the main material comb teeth 27 are at least uniformly distributed on the carding surface of the carding frame 26, and the driving device drives the main material comb teeth 27 to reciprocate to comb the material.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered 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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| CN110239968B (en) * | 2019-06-21 | 2021-08-24 | 中冶赛迪重庆信息技术有限公司 | Real-time flow control method and system for scraper reclaimer |
| CN111470334B (en) * | 2020-04-16 | 2021-11-02 | 无锡中科电气设备有限公司 | Angle control method and device for semi-portal scraper reclaimer and storage medium |
| CN111470333A (en) * | 2020-04-16 | 2020-07-31 | 无锡中科电气设备有限公司 | Material pile scanning method and device of semi-portal scraper reclaimer and storage medium |
| CN113506058A (en) * | 2021-06-28 | 2021-10-15 | 邯郸钢铁集团有限责任公司 | Online automatic material distribution calculation method for output materials of stock yard |
| CN114933178A (en) * | 2022-05-31 | 2022-08-23 | 华电重工股份有限公司 | Material taking control method and control system for stable flow of scraper reclaimer |
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| CN101104480B (en) * | 2006-07-14 | 2011-01-19 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN104310077B (en) * | 2014-10-13 | 2016-09-07 | 湖南长重机器股份有限公司 | A kind of semi-door type scratch board reclaimer |
| CN104724506B (en) * | 2015-04-14 | 2016-03-02 | 上海东源计算机自动化工程有限公司 | A kind of automatic material stacking and fetching system for bulk storage yard |
| CN204872944U (en) * | 2015-07-29 | 2015-12-16 | 北京创诺威科技有限公司 | System is loaded in material active transport |
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