CN114212554A - Control method of stacker-reclaimer - Google Patents
Control method of stacker-reclaimer Download PDFInfo
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- CN114212554A CN114212554A CN202111547741.8A CN202111547741A CN114212554A CN 114212554 A CN114212554 A CN 114212554A CN 202111547741 A CN202111547741 A CN 202111547741A CN 114212554 A CN114212554 A CN 114212554A
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- 238000000034 method Methods 0.000 title claims abstract description 78
- 239000000463 material Substances 0.000 claims abstract description 263
- 239000004576 sand Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 6
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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
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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 provides a control method of a stacker-reclaimer, which comprises the following steps: setting the angle alpha between the material taking initial position of the material taking arm and the track1‑δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the track2‑δ,α2+δ](ii) a Setting a power threshold value P of a material taking bucket wheel at a material taking initial position and a material taking end positionS(ii) a Detecting the actual rotation angle alpha of the take-off armSCalculating the actual output power P of the reclaiming bucket wheelR(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1‑δ,α1+δ]Or [ alpha ]2‑δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel. The invention solves the problem of material taking efficiency of the stacker-reclaimer in the prior art.
Description
Technical Field
The invention relates to the technical field of material taking of a stacker-reclaimer, in particular to a control method of the stacker-reclaimer.
Background
In the material taking process of the stacker-reclaimer, a rotary bucket wheel at the front end of a control arm support contacts the operation material surface of a material pile, and the rotary motion is combined, so that a bucket tooth cuts the material surface from the side surface, and the cut material is transferred to a belt and then conveyed to the next station. In the process, the arm support drives the bucket wheel to rotate circularly around the rotation center, so that materials on the section of the material layer are cut continuously, after the bucket wheel mechanism reaches the material layer boundary, the travelling mechanism of the bucket wheel stacker-reclaimer advances the driving equipment for a certain distance to ensure that after the bucket wheel and the material layer can cut a certain amount of materials in the rotation process, the bucket wheel and the material layer continue to rotate circularly towards the material layer boundary on the other side, and the material is taken continuously in a reciprocating circulation mode.
Therefore, when the stacker-reclaimer automatically reclaims materials, the control of the material reclaiming turning-back angle is related to the operation efficiency and the equipment safety during material reclaiming operation; in the rotary material taking process, if the turning angle is too large, the bucket wheel exceeds the boundary of an actual material layer, so that the idle running time of the bucket wheel away from the operation material surface is increased, the material taking operation efficiency is reduced, and the energy consumption is increased; if the turning angle is too small, the layer of materials cannot be taken out completely, so that the materials which are not taken out exist at the boundaries of the two ends of the operation material surface, a continuous buttress wall is formed, and the risk of arm support collision is caused; meanwhile, when the equipment advances after the secondary rotation, the bucket wheel pushes the material pile to directly enter the vehicle and is inserted into the material pile, so that the mechanical loss of the equipment is increased, the service life of the equipment is shortened, and the risk of stuffy bucket stopping caused by too deep cutting depth of the bucket wheel is also possible; therefore, during the automatic material taking process of the stacker-reclaimer, the turning-back angle needs to be accurately controlled, so that the high efficiency and the safety of automatic material taking are ensured.
The control of the material taking turn-back angle of the existing stacker-reclaimer is completely manually set by an operator to turn back the angle value, then the stacker-reclaimer automatically turns back at the corresponding position according to a set value, the angle precision of manual setting is low, if the set angle value is not accurate, the long-time idle phenomenon of a bucket wheel or the generation of a stack wall can occur, in addition, because the material pile is not in a completely regular shape, in the material taking operation process, the position of turning back at every time is completely different, the operation requirement can be met by real-time adjustment, and when the originally set turn-back angle and the actual value have great deviation, the safety risk can be caused by great influence on the material taking operation efficiency.
Disclosure of Invention
The invention mainly aims to provide a control method of a stacker-reclaimer, which is used for solving the problem of the material taking efficiency of the stacker-reclaimer in the prior art.
In order to achieve the above object, in one aspect of the present invention, there is provided a stacker-reclaimer control method, which is applicable to a stacker-reclaimer, the stacker-reclaimer including a base and a reclaimer arm disposed on the base, a reclaimer bucket wheel being disposed at an end of the reclaimer arm, the base being movably disposed on a rail, a stacker being disposed at a side of the rail, the stacker including a plurality of material layers sequentially disposed in a vertical direction, the reclaimer arm being rotatably disposed with respect to the base so that the reclaimer bucket wheel reclaims materials at each material layer, the stacker-reclaimer control method including: setting the angle alpha between the material taking initial position of the material taking arm and the track1-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the track2-δ,α2+δ](ii) a Setting a power threshold value P of a material taking bucket wheel at a material taking initial position and a material taking end positionS(ii) a Detecting the actual rotation angle alpha of the take-off armSCalculating the actual output power P of the reclaiming bucket wheelR(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel.
Furthermore, one end of the material pile relatively close to the track is taken as a near-track end, and the material pile is relatively close to the trackThe end far away from the track is a far track end, and when the material taking arm rotates from the near track end to the far track end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＜α2δ while being within a predetermined length of time, PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; and controlling the material taking bucket wheel to stop running.
Further, in the process that the material taking arm rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＞α1+ δ while within a predetermined range of time lengths, PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; and controlling the material taking bucket wheel to stop running.
Further, when the material taking arm rotates from the near rail end to the far rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle is within the range of alpha2-δ＜αS＜α2+ δ while PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; and controlling the material taking bucket wheel to stop running.
Further, in the process that the material taking arm rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle is within the range of alpha1+δ＞αS＞α1- δ while PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; and controlling the material taking bucket wheel to stop running.
Further, when the material taking arm rotates from the near rail end to the far rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＞α2+ δ while PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; control material taking hopperThe wheel stops running.
Further, in the process that the material taking arm rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＜α1- δ while PR＜PSJudging whether the material taking arm is located at the material taking initial position or the material taking finishing position of the material layer; and controlling the material taking bucket wheel to stop running.
Further, the control method of the stacker-reclaimer further comprises the following steps: setting a threshold value deltaS(ii) a When the actual rotation angle alphaS＞α2+δ+δSOr alphaS＜α1-δ-δSAnd when the alarm is not sent, a safety alarm is sent.
Further, the material taking bucket wheel is driven to rotate through a hydraulic motor, and the actual output power P is calculatedRThe method comprises the following steps:
wherein T is the hydraulic motor torque, Nm; and n is the rotating speed of the material taking wheel and rpm.
Further, the method for calculating the torque of the hydraulic motor comprises the following steps: t ═ Ts×(p-Δpl-pc)×ηm(ii) a Wherein, TsSpecific torque of the hydraulic motor, Nm/bar; p is the pressure of an oil inlet of the hydraulic motor, and bar; Δ plThe pressure loss is the leakage pressure loss of the hydraulic loop, bar; p is a radical ofcThe pressure of the oil return port of the hydraulic motor is bar.
Further, the multiple material layers comprise a first material layer and a second material layer, and the control method of the stacker-reclaimer further comprises the following steps: recording a boundary angle alpha 3 when the material taking arm is positioned at the material taking end position of the first material layer, and recording an actual rotation angle alpha of the material taking arm in the material taking process of the second material layerSComparing with the boundary angle alpha 3; at the same time, the actual output power PRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel.
By applying the technical scheme of the invention and according to the control method of the stacker-reclaimer provided by the invention, the material taking initial position of the material taking arm 20 on the material layer is setAngle alpha to the track 401-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the rail 402-δ,α2+δ](ii) a Setting a power threshold P for the hopper wheel 30 at the initial and end positions of the material pick-upS(ii) a Detecting the actual angle of rotation alpha of the take-off arm 20SCalculating the actual output power P of the hopper wheel 30R(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel. Set up like this and can be in the turned angle in-process that detects the arm of getting, compare with the angle scope of setting for in the system, simultaneously, because the output power of getting the hopper wheel under idle state is less than the load condition, consequently, the actual output power who gets the hopper wheel compares with the power threshold value of setting for, the two inter combination, judge the actual position of arm of getting, stop or continue the operation with this control to get the hopper wheel, need not the manual regulation and get the turned angle of arm of getting and control the switch of hopper wheel, the empty load rate of getting the hopper wheel has been reduced, the control accuracy to stacker-reclaimer has been improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a control flow diagram of a stacker-reclaimer control method according to the present invention;
fig. 2 shows a reclaiming diagram of a stacker-reclaimer in a stacker-reclaimer control method according to the present invention;
FIG. 3 shows a cross-sectional view A-A according to FIG. 2;
fig. 4 shows a reclaiming status diagram of a reclaiming bucket wheel in a stacker reclaimer control method according to the present invention;
fig. 5 shows a schematic diagram of a hydraulic motor in the stacker-reclaimer control method according to the present invention.
Wherein the figures include the following reference numerals:
100. a stacker-reclaimer; 10. a base; 20. a material taking arm; 30. a hopper wheel; 40. a track; 50. a hydraulic motor; 200. stacking; 201. a first material layer; 202. a second material layer; 300. a proximity switch; 301. a purlin; 501. an oil inlet pressure sensor; 502. oil return port pressure sensor.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, the present invention provides a stacker-reclaimer control method, which is suitable for the stacker-reclaimer 100 shown in fig. 2 to 5, the stacker-reclaimer 100 includes a base 10 and a reclaimer arm 20 disposed on the base 10, a reclaimer wheel 30 is disposed at an end of the reclaimer arm 20, the base 10 is movably disposed on a track 40, a stacker 200 is disposed at a side of the track 40, the stacker 200 includes multiple material layers sequentially disposed along a vertical direction, the reclaimer arm 20 is rotatably disposed relative to the base 10, so that the reclaimer wheel 30 reclaims materials at each material layer, the stacker-reclaimer control method includes: the angle [ alpha ] between the material taking initial position of the material taking arm 20 and the track 40 is set1-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the rail 402-δ,α2+δ](ii) a Setting a power threshold P for the hopper wheel 30 at the initial and end positions of the material pick-upS(ii) a Detecting the actual angle of rotation alpha of the take-off arm 20SCalculating the actual output power P of the hopper wheel 30R(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing the two to determine the actual working position of the material taking arm 20 according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel 30.
The invention provides a control method of a stacker-reclaimerBy setting the angle [ alpha ] between the material-taking initial position of the material-taking arm 20 and the rail 401-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the rail 402-δ,α2+δ](ii) a Setting a power threshold P for the hopper wheel 30 at the initial and end positions of the material pick-upS(ii) a Detecting the actual angle of rotation alpha of the take-off arm 20SCalculating the actual output power P of the hopper wheel 30R(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing the two to determine the actual working position of the material taking arm 20 according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel 30. Set up like this and can be in the turned angle in-process that detects reclaimer arm 20, compare with the angle scope of setting for in the system, simultaneously, because reclaimer wheel 30 is less than the load condition at the output under the idle state, consequently, the actual output who gets reclaimer wheel 30 compares with the power threshold value of setting for, the two combines together, judge the actual position of reclaimer arm 20, with this control reclaimer wheel 30 stops or continues the operation, need not the manual regulation rotation angle of reclaimer arm 20 and control the switch of reclaimer wheel 30, the no-load rate of reclaimer wheel 30 has been reduced, the control accuracy to stacker-reclaimer has been improved.
In one embodiment of the present invention, when the end of the material pile relatively close to the rail 40 is a near rail end, and the end of the material pile relatively far from the rail 40 is a far rail end, the method for controlling the stacker-reclaimer further comprises: when the actual rotation angle alphaS＜α2δ while being within a predetermined length of time, PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. Since the material pile is a cone, the angle of the material taking arm 20 at the material taking initial position or the material taking end position of each layer of material layer is different, and therefore, the actual rotation angle alpha is determinedS＜α2After- δ, the actual output power P also needs to be adjustedRAnd a power threshold value PSThe comparison is made to accurately determine the actual position of the take-off arm 20, which facilitates control of the operational state of the hopper wheel 30.
Further, in the process that the material taking arm 20 rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＞α1+ δ while within a predetermined range of time lengths, PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. According to the different rotation directions of the material taking arm 20, the actual rotation angle is compared with different set angles so as to accurately obtain the position of the material taking arm 20.
In a second embodiment of the present invention, when the end of the pile relatively close to the rail 40 is a near rail end, and the end of the pile relatively far from the rail 40 is a far rail end, the method for controlling the stacker-reclaimer further comprises: when the actual rotation angle is within the range of alpha2-δ＜αS＜α2+ δ while PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. Since the material pile is a cone, the angle of the material taking arm 20 at the material taking initial position or the material taking end position of each layer of material layer is different, and therefore, the actual rotation angle alpha is determined2-δ＜αS＜α2After + δ, the actual output power P also needs to be adjustedRAnd a power threshold value PSThe comparison is made to accurately determine the actual position of the take-off arm 20, which facilitates control of the operational state of the hopper wheel 30.
Further, in the process that the material taking arm 20 rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle is within the range of alpha1+δ＞αS＞α1- δ while PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. The arrangement is such that the system will automatically rotate the actual rotation according to the direction of rotation of the take-off arm 20The angle is compared to different angular ranges to obtain accurate results.
In a third embodiment of the present invention, when the end of the material pile relatively close to the rail 40 is a near rail end, and the end of the material pile relatively far from the rail 40 is a far rail end, the method for controlling the stacker-reclaimer further includes: when the actual rotation angle alphaS＞α2+ δ while PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. Since the material pile is a cone, the angle of the material taking arm 20 at the material taking initial position or the material taking end position of each layer of material layer is different, and therefore, the actual rotation angle alpha is determinedS＞α2After + δ, the actual output power P also needs to be adjustedRAnd a power threshold value PSThe comparison is made to accurately determine the actual position of the take-off arm 20, which facilitates control of the operational state of the hopper wheel 30.
Further, in the process that the material taking arm 20 rotates from the far rail end to the near rail end, the control method of the stacker-reclaimer further comprises the following steps: when the actual rotation angle alphaS＜α1- δ while PR＜PSThen, the material taking arm 20 is judged to be at the material taking initial position or the material taking finishing position of the material layer; the hopper wheel 30 is controlled to stop operating. The arrangement is such that the system automatically compares the actual rotation angle with different angular ranges to obtain an accurate result, depending on the direction of rotation of the take-off arm 20.
In specific implementation, the stacker-reclaimer control method further includes: setting a threshold value deltaS(ii) a When the actual rotation angle alphaS＞α2+δ+δSOr alphaS＜α1-δ-δSAnd when the alarm is not sent, a safety alarm is sent. Therefore, the phenomenon that the rotating angle of the material taking arm 20 is too large can be avoided, and the investigation of an operator is reminded.
Wherein, the material taking bucket wheel 30 is driven to rotate by the hydraulic motor 50, and the actual output power P is calculatedRThe method comprises the following steps:
wherein T is the hydraulic motor torque, Nm;
and n is the rotating speed of the material taking wheel and rpm.
The method for calculating the torque of the hydraulic motor comprises the following steps: t ═ Ts×(p-Δpl-pc)×ηm；
Wherein, TsSpecific torque of the hydraulic motor, Nm/bar;
p is the pressure of an oil inlet of the hydraulic motor, and bar;
Δplthe pressure loss is the leakage pressure loss of the hydraulic loop, bar;
pcthe pressure of the oil return port of the hydraulic motor is bar.
In the specific implementation process, the multiple material layers include a first material layer 201 and a second material layer 202, and the stacker-reclaimer control method further includes: recording a boundary angle alpha 3 when the material taking arm 20 is located at the material taking end position of the first material layer 201, and recording an actual rotation angle alpha of the material taking arm 20 in the material taking process of the second material layer 202SComparing with the boundary angle alpha 3; at the same time, the actual output power PRAnd a power threshold value PSAnd comparing the two to determine the actual working position of the material taking arm 20 according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel 30. Thus, when the second material layer 202 takes materials, the system can automatically correct the boundary angle of the second material layer 202 according to the angle of the material taking arm 20 at the material taking end position of the first material layer 201, so that the control of the turning angle of the material taking arm 20 is closer to the actual material taking situation. The specific torque (specific torque) of the hydraulic motor, that is, the unit torque, can be obtained by referring to a hydraulic motor sample.
In the actual control process, an operator firstly presets the angle ranges of the material taking arm at the material taking initial position and the material taking end position and the material taking flow of the material taking bucket wheel, and then sets a power threshold value PSThe material taking arm 20 is started to rotate, and the material taking operation is started. As shown in fig. 1, the current turning angle is the actual turning angle α of the material-taking arm 20SThe material taking arm 20 takes the materials from the material layer in the boundary areaAngle alpha between initial position and track 401-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the rail 402-δ,α2+δ]。
As shown in fig. 4, the material taking wheel 30 includes a rotating body and a plurality of wheel units disposed on the rotating body, the wheel units are sequentially disposed along a circumferential direction of the rotating body, the rotating body is provided with a plurality of purlins 301 and a hydraulic motor 50, the hydraulic motor 50 is located at a central position of the rotating body, one end of each purlin 301 is connected to the hydraulic motor 50, the other end of each purlin 301 is connected to the wheel unit, the purlins 301 and the wheel units are disposed in one-to-one correspondence, the material taking arm 20 supporting the material taking wheel 30 is provided with a proximity switch 300, the proximity switches 300 are opposite to the rotating body, when the material taking wheel 30 rotates, each purlin 301 passes the proximity switch 300 around the hydraulic motor one by one, each purlin 301 triggers one pulse signal when passing, the time when each purlin 301 passes the proximity switch 300 is recorded, the actual number of the purlins 301 is combined according to a time difference between two adjacent pulse signals, to derive the actual rotational speed of hopper wheel 30. Further, as shown in fig. 5, an oil inlet pressure sensor 501 is provided at an oil inlet of the hydraulic motor 50 to detect a pressure at the oil inlet of the hydraulic motor, and an oil return pressure sensor 502 is provided at an oil return port of the hydraulic motor 50 to detect a pressure at the oil return port of the hydraulic motor.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
according to the control method of the stacker-reclaimer provided by the invention, the angle [ alpha ] between the material taking initial position of the material layer and the track 40 of the material taking arm 20 is set1-δ,α1+δ]And the angle [ alpha ] between the material-taking end position and the rail 402-δ,α2+δ](ii) a Setting a power threshold P for the hopper wheel 30 at the initial and end positions of the material pick-upS(ii) a Detecting the actual angle of rotation alpha of the take-off arm 20SCalculating the actual output power P of the hopper wheel 30R(ii) a Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing the two to determine the actual working position of the material taking arm 20 according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel 30. Set up like this and can be in the turned angle in-process that detects reclaimer arm 20, compare with the angle scope of setting for in the system, simultaneously, because reclaimer wheel 30 is less than the load condition at the output under the idle state, consequently, the actual output who gets reclaimer wheel 30 compares with the power threshold value of setting for, the two combines together, judge the actual position of reclaimer arm 20, with this control reclaimer wheel 30 stops or continues the operation, need not the manual regulation rotation angle of reclaimer arm 20 and control the switch of reclaimer wheel 30, the no-load rate of reclaimer wheel 30 has been reduced, the control accuracy to stacker-reclaimer has been improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A stacker-reclaimer control method is suitable for a stacker-reclaimer (100), wherein the stacker-reclaimer (100) comprises a base (10) and a reclaimer arm (20) arranged on the base (10), a reclaimer wheel (30) is arranged at the end of the reclaimer arm (20), the base (10) is movably arranged on a track (40), a stacker (200) is arranged on the side of the track (40), the stacker (200) comprises a plurality of material layers which are sequentially arranged along the vertical direction, and the reclaimer arm (20) is rotatably arranged relative to the base (10) so that the reclaimer wheel (30) reclaims materials on each material layer, and the stacker-reclaimer control method comprises the following steps:
setting an angle [ alpha ] between the material taking initial position of the material taking arm (20) on the material layer and the track (40)1-δ,α1+δ]And an angle [ alpha ] between the material-taking end position and the rail (40)2-δ,α2+δ]；
Setting a power threshold P of the hopper wheel (30) at the initial position and the end position of the material pick-upS；
Detecting the actual angle of rotation alpha of the take-off arm (20)SCalculating the actual output power P of the hopper wheel (30)R；
Judging the actual rotation angle alphaSWhether or not it is in [ alpha ]1-δ,α1+δ]Or [ alpha ]2-δ,α2+δ]Within the range, while the actual output power P isRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm (20) according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel (30).
2. The stacker-reclaimer controlling method according to claim 1, wherein an end of the pile relatively close to the rail (40) is a near rail end, and an end of the pile relatively far from the rail (40) is a far rail end, and during the rotation of the reclaimer arm (20) from the near rail end toward the far rail end, the stacker-reclaimer controlling method further comprises:
when the actual rotation angle alphaS＜α2δ while being within a predetermined length of time, PR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
3. The stacker-reclaimer machine control method according to claim 2, wherein said stacker-reclaimer machine control method further comprises, during rotation of said reclaimer arm (20) from said distal rail end toward said proximal rail end:
when the actual rotation angle alphaS＞α1+ δ while within a predetermined range of time lengths, PR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
4. The stacker-reclaimer controlling method according to claim 1, wherein an end of the pile relatively close to the rail (40) is a near rail end, and an end of the pile relatively far from the rail (40) is a far rail end, and during the rotation of the reclaimer arm (20) from the near rail end toward the far rail end, the stacker-reclaimer controlling method further comprises:
when the range of the actual rotation angle is alpha2-δ＜αS＜α2+ δ while PR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
5. The stacker-reclaimer machine control method according to claim 4, wherein said stacker-reclaimer machine control method further comprises, during rotation of said reclaimer arm (20) from said distal rail end toward said proximal rail end:
when the range of the actual rotation angle is alpha1+δ＞αS＞α1- δ while PR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
6. The stacker-reclaimer controlling method according to claim 1, wherein an end of the pile relatively close to the rail (40) is a near rail end, and an end of the pile relatively far from the rail (40) is a far rail end, and during the rotation of the reclaimer arm (20) from the near rail end toward the far rail end, the stacker-reclaimer controlling method further comprises:
when the actual rotation angle alphaS＞α2+ delta, whilePR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
7. The stacker-reclaimer machine control method according to claim 6, wherein said stacker-reclaimer machine control method further comprises, during rotation of said reclaimer arm (20) from said distal rail end toward said proximal rail end:
when the actual rotation angle alphaS＜α1- δ while PR＜PSWhen the temperature of the water is higher than the set temperature,
judging whether the material taking arm (20) is located at the material taking initial position or the material taking finishing position of the material layer;
and controlling the material taking bucket wheel (30) to stop running.
8. The stacker-reclaimer machine control method according to claim 1, characterized in that the stacker-reclaimer machine control method further comprises:
setting a threshold value deltaS；
When the actual rotation angle alphaS＞α2+δ+δSOr alphaS＜α1-δ-δSAnd when the alarm is not sent, a safety alarm is sent.
9. Stacker-reclaimer control method, according to claim 1, characterized in that said reclaimer wheel (30) is driven in rotation by a hydraulic motor (50), calculating said actual output power PRThe method comprises the following steps:
wherein T is the hydraulic motor torque, Nm;
and n is the rotating speed of the material taking bucket wheel and rpm.
10. The stacker-reclaimer control method of claim 9, wherein the method of calculating the hydraulic motor torque is:
T＝Ts×(p-Δpl-pc)×ηm；
wherein, TsSpecific torque of the hydraulic motor, Nm/bar;
p is the pressure of an oil inlet of the hydraulic motor, and bar;
Δplthe pressure loss is the leakage pressure loss of the hydraulic loop, bar;
pcthe pressure of the oil return port of the hydraulic motor is bar.
11. The stacker-reclaimer control method according to claim 1, wherein the plurality of the material layers include a first material layer (201) and a second material layer (202), the stacker-reclaimer control method further comprising:
recording a boundary angle alpha when the material taking arm (20) is positioned at the material taking end position of the first material layer (201)3The actual rotation angle alpha of the material taking arm (20) in the material taking process of the second material layer (202)SAngle alpha to boundary3Comparing; at the same time, the actual output power PRAnd a power threshold value PSAnd comparing, and determining the actual working position of the material taking arm (20) according to the judgment result and the comparison result so as to control the running state of the material taking bucket wheel (30).
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| CN115520681A (en) * | 2022-08-23 | 2022-12-27 | 中建材智能自动化研究院有限公司 | Continuous herringbone stock control method for circular stock yard stock machine |
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