CN114933178A - Material taking control method and control system for stable flow of scraper reclaimer - Google Patents
Material taking control method and control system for stable flow of scraper reclaimer Download PDFInfo
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- CN114933178A CN114933178A CN202210610359.5A CN202210610359A CN114933178A CN 114933178 A CN114933178 A CN 114933178A CN 202210610359 A CN202210610359 A CN 202210610359A CN 114933178 A CN114933178 A CN 114933178A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
- B65G19/22—Impellers, e.g. push-plates, scrapers; Guiding means therefor
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Feeding Of Articles To Conveyors (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of intelligent loading and unloading, in particular to a material taking control method and a material taking control system for stabilizing flow of a scraper reclaimer, wherein the material taking control method comprises the following steps: acquiring the material surface length of a material to be taken operation surface; calculating the time t required for the scraper to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface to be taken and the advancing speed of the scraper; and controlling the reclaimer to walk for a distance of one scraper width along the width direction of the charge level within the time t that the scraper rotates from the front edge of the charge level to the back edge of the charge level. The material taking machine controls the material taking machine to travel by the width of the scraper in the time from the front edge of the charge level to the back edge of the charge level, so that the material can be effectively ensured to just fill the whole width of the scraper when each scraper reaches the back edge of the charge level, the materials scraped by the scrapers can completely fall into the hopper, the efficiency is highest, the maximum efficiency of material taking can be realized, and the stability of material flow is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent loading and unloading, in particular to a material taking control method and a material taking control system for a scraper reclaimer to stabilize flow.
Background
In the strip-shaped stock yard, the cross section of the coal pile is generally a triangle or a combination of a plurality of triangles, when taking materials, the material taking arm support is close to an inclined plane of the triangle stock pile for operation, the coal is scraped by the scraper and enters the hopper at the root part of the material taking machine, and the coal is transported out of the coal yard by the conveyor belt. When the material taking operation is carried out, the material taking depth and the material taking walking speed of the material taking scraper are two key factors which directly influence the instantaneous material taking flow, and under the manual operation mode, the walking speed of the material taking machine is fixed, the material taking depth can be controlled only through manual operation, the material taking depth of the scraper is increased or reduced through the upper computer interface current value and video monitoring, and the purpose of stable material taking amount is achieved.
Along with the reduction of the coal quantity, the inclination angle of the coal pile is reduced, and because the fluidity of the coal at different angles is different and the length of the working face is not fixed, the material taking quantity is not constant under the condition of different size piles only depending on the material taking depth, and the operation stability and efficiency are influenced by the large and small material taking quantity. For example, the material taking walking speed is too fast, then the material has partly can exceed the scraping width of scraper blade, and this part of material can not fall into the hopper, and the scraper blade does useless work, causes the electric quantity waste, otherwise if the material taking walking speed is too slow, then the material can not fill up whole scraper blade width, and the scraper blade can not make full use of, and the volume of getting the material at every turn is not enough, seriously influences the stability of getting material efficiency and volume of getting the material.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that the operation stability and efficiency are affected by the fact that the material taking quantity of the scraper reclaimer in the prior art is not constant under the condition of different material piles only depending on the material feeding depth and the material taking quantity is large or small, so that the material taking control method and the control system for stabilizing the flow of the scraper reclaimer with stable material flow and higher material taking efficiency are provided.
In order to solve the above problem, in a first aspect, the present invention provides a material taking control method for a scraper reclaimer, including the steps of:
acquiring the material surface length of a material to be taken operation surface;
calculating the time t required for the scraper to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface to be taken and the advancing speed of the scraper;
and controlling the reclaimer to walk for a distance of one scraper width along the width direction of the charge level within the time t that the scraper rotates from the front edge of the charge level to the back edge of the charge level.
OptionallySetting the length of the material surface of the operation surface to be taken as L and the advancing speed of the scraper blade as V 0 The time t required for the scraper to rotate from the front edge of the charge level to the back edge of the charge level is L/V 0 。
Optionally, the controlling the reclaimer that the distance of a scraper width is walked along the charge level width direction in the time t that the scraper rotates from the charge level front edge to the charge level back edge specifically includes:
setting the width of the scraper blade as W, then the traveling speed V of the reclaimer along the width direction of the material G ＝W/t；
Making t equal to L/V 0 Substitution into V G When W/t, V can be calculated G ＝W*V 0 L, when the scraping plate begins to rotate to scrape the material, the material taking machine is controlled to drive the scraping plate to rotate by V G ＝W*V 0 The traveling speed of/L is along the width direction of the charge level.
Optionally, the rotating speed n of a driving motor for controlling the reclaimer to walk is set G Running speed V of reclaimer G Is q, i.e. q is n G /V G When the scraper plate starts to rotate to scrape the material, the driving motor is controlled to rotate by n G ＝W*V 0 The rotational speed of/L q runs.
Optionally, the material taking control method further includes the following steps:
judging the calculated traveling speed V of the reclaimer G Whether or not it is less than or equal to the set limit speed V max If yes, controlling the material taking machine to move at the speed V G Walking normally; if not, controlling the reclaimer to use the limit speed V max And (5) walking.
Optionally, the squeegee travel speed V 0 2 pi r n, where n is the rotational speed of the blade drive roller and r is the radius of the blade drive roller.
Optionally, the length direction of the charge level is consistent with the rotation direction of the scraper;
detecting the material surface length of the layer to be operated before scraping each layer of material, and adjusting the traveling speed of the material taking machine according to the detected material surface length of the layer to be operated;
and/or when the material on the current operation layer is scraped, the reclaimer operates within a set distance range at least close to the edges of the two sides of the material pile, the material surface length of the area to be operated is detected once when the reclaimer moves one scraper width, and the traveling speed of the reclaimer is adjusted according to the detected material surface length of the area to be operated.
In a second aspect, the present invention provides a material taking control system of a scraper reclaimer, which adopts the material taking control method of the scraper reclaimer, and the scraper reclaiming control system includes:
the detection module is used for detecting the charge level length of the operation surface to be taken;
the calculation module is used for calculating the time t required by the scraper plate to rotate from the front edge of the charge level to the rear edge of the charge level;
and the control module is used for controlling the reclaimer to walk for a distance of the width of the scraper along the width direction of the charge level within the time t that the scraper rotates from the front edge of the charge level to the back edge of the charge level.
In a third aspect, the present invention provides a scraper reclaimer, which adopts the reclaiming control method of the scraper reclaimer, and the scraper reclaimer includes:
the laser scanner is used for detecting the length of the material surface of the operation surface to be taken;
the upper computer is used for calculating the time t required for the scraper to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface to be taken and the advancing speed of the scraper;
and the PLC is used for controlling the reclaimer to walk for a distance of the width of the scraper plate along the width direction of the charge level within the time t from the front edge of the charge level to the back edge of the charge level.
Optionally, the scraper reclaimer further comprises:
the scraper plate material taking mechanism comprises two scraper plate driving rollers arranged at set intervals, a scraper plate chain arranged on the peripheries of the two scraper plate driving rollers, and a plurality of scraper plates arranged on the scraper plate chain;
the two laser scanners are arranged on the left side and the right side of the scraper mounting arm frame;
the material taking walking cart is suitable for walking along a scraping rail on one side of the storage bin.
The invention has the following advantages:
1. according to the invention, the time t required by the scraper to rotate from the front edge of the charge level to the rear edge of the charge level is calculated by detecting the length of the charge level of the operation surface to be taken, then the scraper is controlled to rotate from the front edge of the charge level to the rear edge of the charge level, the reclaimer walks by the width of one scraper, so that the materials can be effectively ensured to just fill the width of the whole scraper when each scraper reaches the rear edge of the charge level, and at the moment, the materials scraped by the scraper can all fall into the hopper, the efficiency is highest, the maximum efficiency of taking materials can be realized, and the stability of material flow is ensured.
2. The invention drives the scraper to move V by controlling the reclaimer G ＝W*V 0 The walking speed of/L walks along charge level width direction, can make each scraper blade, when changeing the charge level back porch by the charge level forward position, the material just in time fills up whole scraper blade width, the material of scraping on the scraper blade this moment can all fall into the hopper in, high efficiency, can enough avoid the scraper blade to remove too fast, there is some material can exceed scraping of scraper blade and get the width, lead to this part material can not fall into the hopper, the scraper blade does not do the useful work, cause the extravagant problem of electric quantity, can avoid the scraper blade to remove too slowly again, the material can not fill up whole scraper blade width, the scraper blade can not make full use of, it is not enough to get the material volume at every turn, influence and get the problem that material efficiency and material stream are invariable.
3. The invention establishes the length L of the charge level, the width W of the scraper and the traveling speed V of the reclaimer G The advancing speed of the blade is V 0 And the mathematical relation between the transformation ratio q can realize the purpose of scraping and taking materials and stabilizing material flow by controlling the walking speed of the material taking machine to the maximum efficiency, the automation and the intelligent degree are higher, and even if the material taking control method of the embodiment is adopted, the efficient and stable operation can be realized by operators with little experience or no experience, and the labor intensity and the cost of the operators are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows a top view of the entire stockyard in the embodiment;
FIG. 2 shows an enlarged view of a portion of the structure of FIG. 1;
FIG. 3 shows a schematic structural view of a blade take off mechanism in an embodiment;
FIG. 4 shows a cross-sectional view in the direction A-A of FIG. 3;
FIG. 5 shows a side view of the scraper reclaimer mechanism and the material in the width direction when the leading scraper comes into contact with the material surface leading edge m in the example;
FIG. 6 shows a side view of the blade take off mechanism and material in the width direction during take off in an embodiment where the leading blade in contact with the material is at a position between the front surface m and the back surface n;
FIG. 7 shows the traveling speed V of the reclaimer in the embodiment G Taking materials according to the weight ratio W/t, and taking a side view of the scraper material taking mechanism and the materials in the width direction when the scraper reaches the back edge n of the material surface;
FIG. 8 shows a side view of the material taking mechanism and the material in the width direction when the traveling speed of the reclaimer is too high and the scraper reaches the rear edge n of the material surface in the embodiment;
FIG. 9 is a side view of the material taking mechanism and the material in the width direction when the walking speed of the reclaimer is too slow and the scraper reaches the rear edge n of the material surface in the embodiment;
FIG. 10 is a first schematic diagram illustrating a material taking principle of a material taking machine when the material is in different forms in the embodiment;
FIG. 11 is a second schematic diagram illustrating a material taking principle of the material taking machine in different forms of the embodiment;
FIG. 12 is a schematic diagram illustrating the principle of the laser scanner detecting the charge level length L in the embodiment
Fig. 13 is a flowchart illustrating an embodiment of a material taking control method of the scraper reclaimer in the embodiment.
Description of reference numerals:
10. a scraper plate material taking mechanism; 11. a squeegee; 11a, a first scraper contacted with the material; 12. a squeegee drive roller;
20. feeding; 21. a material-to-be-taken operation surface; 22. a current operation layer;
30. a laser scanner; 40. a scraper mounting arm frame; 50. taking materials to walk the cart; 60. a scraping rail; 70. and (4) a hopper.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
As shown in fig. 1 to 13, the present embodiment provides a material taking control method for a scraper reclaimer, including the following steps:
s101, acquiring the material surface length of a material-to-be-taken operation surface 21;
s102, calculating the time t required for the scraper 11 to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface 21 to be taken and the scraper advancing speed;
and S103, controlling the reclaimer to walk for a distance of the width of the scraper along the width direction of the charge level in the time t from the front edge of the charge level to the back edge of the charge level in the scraper 11.
This embodiment is through detecting the charge level length of waiting to get material working face 21, calculate scraper blade 11 and rotate to the required time t of charge level back edge by the charge level front edge, control scraper blade 11 is in the time t from the rotation of charge level front edge to charge level back edge, scraper blade width of reclaimer walking, can guarantee effectively that each scraper blade 11 is when arriving the charge level back edge, material 20 can both just fill up whole scraper blade width, the material 20 of scraping on the scraper blade 11 this moment can all fall into hopper 70 in, the efficiency is the highest, thereby can realize the maximum efficiency and get the material, guarantee simultaneously that the material flows stably.
In the method, the scraper 11 of the scraper taking mechanism 10 rotates around the scraper driving roller 12 to advance, and the material 20 is scraped into the hopper 70 at the root of the reclaimer, because the rotating speed of the scraper taking mechanism 10 is constant, the instantaneous taking flow is not influenced, and two factors influencing the instantaneous taking flow of the scraper 11 are the scraping depth and the traveling speed of the reclaimer. However, in order to ensure the flatness of the material taking operation surface, the material taking depth of each operation layer is not changed when the scraper 11 takes the material, and the speed of the scraper 11 is fixed and unchanged for a certain single device, at this time, the material taking walking speed becomes the only influence factor for determining the material taking quantity.
In this embodiment, the reclaimer includes scraper reclaimer 10 and reclaimer walking cart 50, and reclaimer walking cart 50 is suitable for driving scraper reclaimer 10 to move along material 20 width direction, and in this embodiment, the reclaimer walking speed is the walking speed of reclaimer walking cart 50. The scraper 11 rotationally scrapes and takes materials from front to back (arrow direction indicated by the scraper taking direction in fig. 1 to fig. 3) along the length direction of the material surface, and the material taking walking cart 50 drives the scraper taking mechanism 10 to integrally move left and right, so that the whole layer of materials 20 to be scraped is scraped. It should be noted that, during the process of rotating and taking material, only the scraper 11 contacting with the material 20 is an effective working scraper, that is, the scraper 11 in the length L of the material surface in fig. 1 to 3 is an effective working scraper. That is, the distance between the first scraper blade 11a contacting with the material from the charge level front edge m to the charge level back edge n is the effective working surface of the scraper blade material taking mechanism 10, and in the time that the first scraper blade 11a contacting with the material rotates from the charge level front edge m to the charge level back edge n, the material taking walking cart 50 walks for a scraper blade width, so that the maximum efficiency material taking can be realized, and the material flow is ensured to be constant.
In this embodiment, the material taking machine can adjust the traveling speed of the material taking traveling cart 50 by driving the frequency converter according to the difference of the charge level length L, so as to ensure that the scraper 11 travels a distance of one scraper width along the charge level width direction by the scraper 11 within the time t from the front edge m of the charge level to the back edge n of the charge level.
Further, as shown in fig. 1, fig. 2, fig. 10 and fig. 11, in step S101, when the scraper reclaimer is operating, the scraper reclaimer mechanism 10 is close to an inclined material surface of the pile near the root hopper 70, the inclined material surface is the material surface 21 to be reclaimed, the scraper reclaimer mechanism 10 is parallel to the material surface 21 to be reclaimed, and the scraper 11 is controlled to rotate to scrape the material 20 on the material surface and convey the material to the root hopper 70.
Of course, the material to be taken operation surface 21 is not limited to be an inclined surface, and may be a flat material surface horizontally disposed.
In step S102, the "time t required for the scraper 11 to rotate from the front edge of the material level to the back edge of the material level" is the time t required for one scraper 11 on the scraper taking mechanism 10 to rotate from the front edge of the material level, which is initially in contact with the material 20, to the back edge of the material level, and may be, for example, the time t required for the first scraper 11a in contact with the material to rotate from the front edge of the material level to the back edge of the material level, but is not limited to the first scraper, and may also be the second scraper, the third scraper … …, etc., because the time required for each scraper 11 to rotate from the front edge of the material level to the back edge of the material level is the same, and therefore, the present embodiment is not limited thereto.
Optionally, the material level length of the material-waiting operation surface 21 is set to be L, and the scraper advancing speed is set to be V 0 The time t required for the scraper 11 to rotate from the front edge of the charge level to the rear edge of the charge level is L/V 0 Controlling the reclaimer to rotate from the front edge m of the charge level to the back edge n of the charge level within the time t equal to L/V 0 And the distance of one scraper width is traveled along the width direction of the charge level.
Referring to fig. 1 and 2, in the present embodiment, the laser scanners 30 are installed on both sides of the scraper mounting arm support 40, so as to detect the charge level length L, when the reclaimer scrapes the materials 20 in a left-to-right direction, the laser scanner 30 on the right side of the scraper mounting arm support 40 detects the charge level length L, otherwise, when the reclaimer scrapes the materials 20 in a right-to-left direction, the laser scanner 30 on the left side of the scraper mounting arm support 40 detects the charge level length L.
Optionally, the step S103 specifically includes the following steps:
s1031: setting the width of the scraper to W, the traveling speed V of the reclaimer along the width direction of the material 20 G ＝W/t；
S1032: making t equal to L/V 0 Substitution into V G When W/t, V can be calculated G ＝W*V 0 /L；
S1033: when the scraper 11 starts to rotate to scrape the material 20, the material taking machine is controlled to drive the scraper 11 to move in a V shape G ＝W*V 0 The traveling speed of/L is along the width direction of the charge level.
This embodiment drives scraper 11 with V through control reclaimer G ＝W*V 0 /LThe traveling speed of the material taking cart 50 is traveling along the width direction of the material surface, so that the material taking cart can effectively ensure that the material taking cart 50 travels just by the width of one scraper within the time t from the front edge of the material surface to the rear edge of the material surface of the scraper 11, thereby each scraper 11 on the scraper material taking mechanism 10, when changeing the charge level back edge by the charge level forward edge, material 20 just in time fills up whole scraper blade width, scrape the material 20 of getting on scraper blade 11 this moment and can all fall into hopper 70 in, the efficiency is the highest, can enough avoid scraper blade 11 to remove too fast, there is some material 20 can exceed scraping of scraper blade 11 and get the width, lead to this part material 20 can not fall into hopper 70 in, scraper blade 11 is the idle work, cause the extravagant problem of electric quantity, can avoid scraper blade 11 to remove too slowly again, material 20 can not fill up whole scraper blade width, scraper blade 11 can not make full use of, it is not enough to get the material volume at every turn, the influence is got the problem of material efficiency and material flow invariant.
For a certain reclaimer equipment, the width W of the blade is fixed and the speed V of travel of the blade is fixed 0 The walking speed V of the reclaimer for reclaiming the materials with the maximum efficiency can be obtained by calculation if the walking speed V is a known determined value G ＝W/t＝W*q/(L/V 0 )＝W*V 0 /L。
The working principle of the reclaimer in this embodiment will be described in detail with reference to fig. 1 to 12:
in fig. 5 to 9: 22a represents the material scraped at the current working layer; 22b represents the material not scraped by the material taking operation layer, as shown in fig. 1 to 3, the scraper 11 runs along the arrow direction indicated by the scraper material taking direction, in fig. 1 to 3 and fig. 10 and 11, point m is the front edge of the material taking operation surface 21, and point n is the rear edge of the material taking operation surface 21.
When the scraping plate 11 rotates from the front edge m of the charge level to the rear edge n of the charge level, the scraping of the materials 20 in the current operation area is finished, the scraping plate 11 is controlled to continuously translate rightward until all the materials 20 in the current operation layer 22 are scraped, so that the whole material taking machine can continuously move leftward or rightward so as to scrape the materials 20 in the adjacent operation area of the current operation layer 22 and keep the material flow continuous; when the scraping of the materials 20 on the current working layer 22 is completed, the scraper 11 is controlled to descend to continue scraping the materials 20 on the next working layer.
In actual operation, the effective working stroke of the scraper 11 is from point m to point n, because the space above m is free of the material 20 and the scraper 11 is idling. For each flight 11, starting from point m, the material 20 is contacted, and as the reclaimer moves to the right (and similarly to the left), the flights 11 move to the right simultaneously, and for each flight 11, the material 20 gradually fills the entire flight width from m to n (where point m is the point where the flight 11 starts to reclaim material and point n is the position of the blanking hopper 70) (as shown in fig. 5-7). For each screed 11, when reaching point n, the screed 11 travels a distance of just one screed width, and the material 20 just fills the entire screed width, as shown in fig. 7, when the scraped material 20 just falls completely into the hopper 70, with maximum efficiency. If the screed 11 moves too fast, as shown in fig. 8, a portion of material 20 (shown as a shaded portion) may exceed the scraping width of the screed 11, and this portion of material 20 may not fall into the hopper 70, and the screed 11 does no work, resulting in wasted power. As shown in fig. 9, if the scraper 11 moves too slowly, the material 20 scraped by the scraper 11 cannot fill the whole width, the scraper 11 cannot be fully used, the material taking amount is insufficient each time, the rated value cannot be reached, and the material taking efficiency is affected.
Optionally, the rotating speed n of a driving motor for controlling the reclaimer to walk is set G And the traveling speed V of the reclaimer G Is q, i.e. q is n G /V G When the scraper 11 starts to rotate to scrape the material 20, the driving motor is controlled to n G ＝W*V 0 A rotational speed of/L × q.
Inputting the formula into PLC control through programming language, automatically acquiring input value L according to detection sensors such as laser scanner 30 to obtain output value of frequency converter, outputting the given value to frequency converter of driving motor in bus communication mode, and controlling material taking walking speed V through speed change of frequency converter G Material taking walking speed V G And automatically adjusting according to L, thereby forming effective closed-loop control.
In the above scheme, the driving motor serves as a driver to provide driving force for the movement of the material taking walking cart 50, and the rotating speed of the driving motor is reduced by dividing the rotating speed by the speed reducerThe rotating speed of the travelling wheels is obtained, and the travelling speed V of the reclaimer can be obtained by multiplying the rotating speed of the travelling wheels by the circumference of the wheels G Q is the transformation ratio between the rotating speed and the traveling speed of the motor, and the traveling speed V of the reclaimer can be controlled by controlling the rotating speed of the driving motor G And the distance traveled.
Specifically, the transformation ratio q is a comprehensive transformation ratio after the driving motor is transmitted to the material taking walking wheel through a transmission mechanism such as a speed reducer. And setting a speed reduction ratio N:1 of the speed reducer and the diameter d of the wheel, rotating m circles of the driving motor, rotating 1 circle of the wheel of the material taking walking cart 50, and then enabling the material taking walking cart 50 to walk for a distance of pi x d. Suppose a motor speed n G The unit is rpm, the walking distance L1 of the cart 50 for one minute of material taking is equal to (n) G 1/N) pi d, the distance traveled during time t is exactly the blade width W, i.e., W ═ N (N) G t/N) pi d, then the rotation speed N of the driving motor G ＝(W/π*d)*N/t＝W/t*(N/π*d)＝V G And (N/pi) d, wherein the q is N/pi d, and the comprehensive change value q for the determined equipment is an already determined value and does not change when the mechanical design is selected.
Optionally, the material taking control method further includes the following steps:
judging the calculated traveling speed V of the reclaimer G Whether or not it is less than or equal to the set limit speed V max If yes, controlling the material taking machine to move at the speed V G Normal walking; if not, controlling the reclaimer to use the limit speed V max And (5) walking.
For preventing the speed regulation process from taking the material and walking speed V G Exceeding the maximum allowable speed to avoid equipment damage caused by overspeed, and limiting the maximum speed output value, i.e. the limit speed V in the PLC program max Safety and efficiency are both considered.
Optionally, the material taking walking speeds V of different working floors G Corresponding limit speed V max In contrast, in the conventional case, for the same material 20 (such as coal, iron ore, limestone, etc.), the length L of each layer of charge level corresponds to the inclination angle α, and the adjustment stage is repeated according to the length L of each layer of charge level and the inclination angle αThe secondary test determines the corresponding limit speed V max Determining the length L, the inclination angle alpha and the corresponding V of the charge level max The data is stored in the controller, and when the material 20 is actually dug, the corresponding limit speed V is matched according to the detected length L of the material surface and the detected inclination angle alpha max Then the calculated traveling speed V of the reclaimer is judged and executed G Whether or not it is less than or equal to the set limit speed V max The step (2).
Optionally, Vmax ═ L × Emax, Emax is a proportionality coefficient, for each determined device, during field test, the length L of the charge level of each layer of material 20 dug corresponds to the inclination angle α of the stack, after multiple tests, the Emax corresponding to each layer of material 20 can be obtained, and the Emax corresponding to each layer can be stored in the PLC controller for long-term use.
Optionally, the scraper material taking mechanism 10 includes two scraper driving rollers 12 arranged at set intervals, a scraper chain arranged at the periphery of the two scraper driving rollers 12, and a plurality of scrapers 11 arranged on the scraper chain, wherein the scraper advancing speed V is 0 Where n is the rotational speed of the blade drive cylinder 12 and r is the radius of the blade drive cylinder 12.
In the actual process of digging and taking the materials 20, the length L of the material surface of each layer of materials 20 is changed, so the length of the material surface of the layer to be operated is detected before each layer of materials 20 is scraped, and the traveling speed V of the material taking machine is adjusted according to the detected length of the material surface of the layer to be operated G That is, when the material 20 on the next working floor is dug, the material-taking traveling cart 50 adjusts the traveling speed V G Thereby realizing digging the material 20 of the whole coal pile with maximum efficiency and ensuring the continuous and stable material flow.
For the same operation layer, the length L of the material surface is greatly changed at different positions, particularly at the edge position of the material pile, so when the material 20 of the current operation layer 22 is scraped, the material surface length of the operation waiting area is detected every time the material taking machine moves by one width of the scraper at least when the material taking machine operates in a set distance range close to the two side edges of the material pile, and the walking speed of the material taking machine is adjusted according to the detected material surface length of the operation waiting area, so that the material taking efficiency and the material flow are ensured to be constant.
Specifically, the operation layer to be taken is divided into a plurality of operation areas, when the reclaimer operates in a set distance range close to the two side edges of the stockpile, the numerical change of the charge level length L is detected in real time, and the traveling speed V of the reclaimer is correspondingly adjusted according to the charge level length L G And in the time t that the scraper blade 11 is rotated to the charge level back edge by the charge level front edge of different operation regions, the reclaimer can walk the distance of a scraper blade width along the charge level width direction, and the stability of maximum efficiency material taking and material taking flow is ensured.
Alternatively, taking the reclaimer digs the material 20 from left to right as an example, when the reclaimer digs the material 20 in the middle area of the current working layer 22, the reclaimer may travel within a set distance range near the left edge of the material pile according to the travel speed V of the reclaimer determined last time G Walking at a constant speed until the material is close to the right edge of the material pile within a set distance range, and then readjusting the walking speed V according to the detected length L of the material surface G 。
Of course, when the material 20 in the middle area of the current operation layer 22 is dug, the numerical value change of the material level length L in the middle area of the current operation layer 22 can be detected in real time, and the traveling speed V of the reclaimer is correspondingly adjusted according to the material level length L G 。
Preferably, because material 20 is when being close to the position of both sides edge, charge level length L changes very greatly, and middle zone charge level length L is comparatively mild, and is unchangeable almost, consequently in order to practice thrift the cost, this embodiment is digging when getting the material 20 on current operation layer 22, and the material taking machine mainly is adjusting under the operating mode that is close to the operation of stockpile edge and is getting walking speed V of expecting walking cart 50 G
In the embodiment, the material level length L, the scraper width W and the traveling speed V of the reclaimer are established G The advancing speed of the blade is V 0 And the mathematical relation between the transformation ratio q can realize the purpose of scraping and taking materials and stabilizing material flow at the maximum efficiency by controlling the walking speed of the material taking machine, the automation and the intelligent degree are higher, and even if the material taking control method of the embodiment is adopted, operators with no experience or little experience can take materialsPersonnel can also realize high-efficient stable operation, reduce operating personnel intensity of labour and cost.
Example two
As shown in fig. 1 to 12, the present embodiment provides a material taking control system of a scraper reclaimer, and the material taking control method of the scraper reclaimer according to the above embodiments includes:
the detection module is used for detecting the charge level length of the operation surface 21 to be taken;
the calculation module is used for calculating the time t required by the scraper 11 to rotate from the front edge of the charge level to the rear edge of the charge level;
and the control module is used for controlling the reclaimer to walk for a distance of one scraper width along the width direction of the charge level within the time t that the scraper 11 rotates from the front edge of the charge level to the back edge of the charge level.
EXAMPLE III
As shown in fig. 1 to 12, the present embodiment provides a scraper reclaimer, and a reclaiming control method of the scraper reclaimer according to the above embodiments is provided, where the scraper reclaimer includes:
the laser scanner 30 is used for detecting the material surface length of the material-to-be-taken operation surface 21;
the upper computer is used for calculating the time t required for the scraper 11 to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface 21 to be taken and the scraper advancing speed;
and the PLC is used for controlling the reclaimer to walk for a distance of the width of the scraper plate along the width direction of the charge level within the time t from the front edge of the charge level to the back edge of the charge level of the scraper plate 11.
Further, when the scraper 11 starts to rotate to scrape the material 20, the PLC controls the material taking machine to drive the scraper 11 to V G ＝W*V 0 The traveling speed of the/L is along the width direction of the charge level, wherein: w is the width of the scraper, L is the length of the material surface of the operation surface 21 to be taken, and V 0 Is the squeegee travel speed.
Further, when the scraper 11 starts to rotate to scrape the material 20, the driving motor is controlled to n G ＝W*V 0 Rotation of/LqFast running, wherein: w is the width of the scraper, L is the length of the material surface of the operation surface 21 to be taken, and V 0 The running speed of the scraper is taken as the rotating speed n of the driving motor is taken as q G Running speed V of reclaimer G The transformation ratio of (2).
As shown in fig. 1, 2, and 10 to 12, in the present embodiment, the detection principle of the laser scanner 30 is as follows:
the light transmitter of the laser scanner 30 emits rays, the rays are reflected back when encountering the material 20, the light receiver of the laser scanner 30 receives the reflected signals, and the distance from the laser scanner 30 to the material 20 can be calculated according to the light speed and the running time/2. The light emitter of the laser scanner 30 is rotated so that the emitted ray is a plane, and the distances from all positions on the plane to the scanner can be measured, so that the effective material surface length L can be calculated according to an algorithm. The angle range of the scanning ray is set according to actual conditions of different equipment and stockyards, the slope alpha of the stockpile can be obtained according to the highest point and the lowest point of the stockpile (the lowest point is constant), invalid data is filtered according to the slope alpha of the stockpile and the highest point of the stockpile, and data of the actual stockpile L can be obtained.
Specifically, because the laser scanner 30 and the data processor in the background are always in operation, and each second is sending a ray and receiving a transmission signal and recording time, at this time, the upper computer (computer) calculates the position of each reflection point on the surface of the material 20 according to the light speed and the reflection time (calculates the distance between the transmission point and the scanner, and performs position conversion according to the installation position of the scanner and the angle of the transmission ray to obtain the actual coordinates of the reflection point, and eliminates invalid points according to a filtering algorithm, such as the reflection point with an abrupt slope change or an abruptly increased or decreased position), and connects the effective reflection points into a line, so as to obtain L.
Optionally, the scraper reclaimer further includes a scraper reclaiming mechanism 10, a scraper mounting arm frame 40, and a reclaiming walking cart 50. The scraper material taking mechanism 10 comprises two scraper driving rollers 12 arranged at a set interval, a scraper chain arranged on the peripheries of the two scraper driving rollers 12 and a plurality of scrapers 11 arranged on the scraper chain; the scraper mounting arm frames 40 are used for mounting the scraper material taking mechanism 10, and the number of the laser scanners 30 is two, and the two laser scanners are mounted on the left side and the right side of each scraper mounting arm frame 40; the reclaiming walking cart 50 is adapted to travel along a scraping track 60 on one side of the bin.
In the above solution, the scraping track 60 is parallel to the width direction of the material surface, and the material taking walking cart 50 is adapted to drive the whole material taking machine to walk along the scraping track 60 (i.e. the width direction of the operation surface 21 to be taken).
At the edge of the material pile, due to the reason of material flow landslide, the heights of the material piles on the left and right sides of the scraper material taking mechanism 10 are different, and the L values are different, so in this embodiment, one laser scanner 30 is respectively installed on the left and right sides of the scraper installation arm support 40, and the L values on the left and right sides of the scraper material taking mechanism 10 are respectively obtained.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (10)
1. A material taking control method of a scraper reclaimer is characterized by comprising the following steps:
acquiring the material surface length of a material to be taken operation surface;
calculating the time t required for the scraper to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface to be taken and the advancing speed of the scraper;
and controlling the reclaimer to walk for a distance of one scraper width along the width direction of the charge level within the time t that the scraper rotates from the front edge of the charge level to the back edge of the charge level.
2. The material taking control method of the scraper reclaimer of claim 1, wherein the material level length of the operation surface to be taken is set to L, and the scraper traveling speed is set to V 0 The scraper is arranged on the material surfaceThe time t needed by the front edge rotating to the rear edge of the charge level is L/V 0 。
3. The reclaiming control method of the scraper reclaimer of claim 2, wherein the step of controlling the reclaimer to walk a distance of one scraper width in the material surface width direction within the time t from the front edge of the material surface to the rear edge of the material surface comprises the steps of:
setting the width of the scraper blade as W, then the traveling speed V of the reclaimer along the width direction of the material G ＝W/t；
Making t equal to L/V 0 Substituted into V G When W/t, V can be calculated G ＝W*V 0 L, when the scraping plate begins to rotate to scrape the material, the material taking machine is controlled to drive the scraping plate to rotate by V G ＝W*V 0 The traveling speed of/L is along the width direction of the charge level.
4. The material discharge control method for the scraper reclaimer of claim 3, wherein the rotation speed n of the drive motor for controlling the travel of the reclaimer is set G Running speed V of reclaimer G Has a transformation ratio of q, i.e. q is n G /V G When the scraper plate starts to rotate to scrape the material, the driving motor is controlled to rotate by n G ＝W*V 0 The rotational speed of/L q runs.
5. The material taking control method of the scraper reclaimer of claim 3, wherein the material taking control method further comprises the steps of:
judging the calculated traveling speed V of the reclaimer G Whether or not it is less than or equal to the set limit speed V max If yes, controlling the material taking machine to move at the speed V G Normal walking; if not, controlling the reclaimer to use the limit speed V max And (5) walking.
6. The reclaiming control method for a scraper reclaimer according to any one of claims 2 to 4, wherein the scraper traveling speed V is 0 2 pi r n, where n is the speed of rotation of the squeegee drive roller and r isThe flight drives the radius of the drum.
7. The material taking control method of the scraper reclaimer of claim 6, wherein the material surface length direction is consistent with the rotation direction of the scraper;
detecting the material surface length of a layer to be operated before scraping each layer of material, and adjusting the traveling speed of the reclaimer according to the detected material surface length of the layer to be operated;
and/or when the material on the current operation layer is scraped and the reclaimer operates at least in a set distance range close to the edges of the two sides of the material pile, the material surface length of the area to be operated is detected once when the reclaimer moves one scraper width, and the traveling speed of the reclaimer is adjusted according to the detected material surface length of the area to be operated.
8. A material taking control system of a scraper reclaimer, characterized in that the material taking control method of the scraper reclaimer of any one of claims 1 to 7 is adopted, the scraper reclaiming control system comprises:
the detection module is used for detecting the charge level length of the operation surface to be taken;
the calculation module is used for calculating the time t required by the scraper plate to rotate from the front edge of the charge level to the rear edge of the charge level;
and the control module is used for controlling the reclaimer to walk for a distance of the width of the scraper along the width direction of the charge level within the time t that the scraper rotates from the front edge of the charge level to the back edge of the charge level.
9. A scraper reclaimer, characterized in that, the reclaiming control method of the scraper reclaimer of any one of claims 1 to 7 is adopted, the scraper reclaimer comprises:
the laser scanner is used for detecting the length of the material surface of the operation surface to be taken;
the upper computer is used for calculating the time t required for the scraper to rotate from the front edge of the charge level to the rear edge of the charge level according to the charge level length of the operation surface to be taken and the advancing speed of the scraper;
and the PLC is used for controlling the reclaimer to walk for a distance of the width of the scraper plate along the width direction of the charge level within the time t that the scraper plate rotates from the front edge of the charge level to the back edge of the charge level.
10. The flight reclaimer of claim 9, further comprising:
the scraper plate material taking mechanism comprises two scraper plate driving rollers arranged at set intervals, a scraper plate chain arranged on the peripheries of the two scraper plate driving rollers, and a plurality of scraper plates arranged on the scraper plate chain;
the two laser scanners are arranged on two sides of the scraper mounting arm frame;
the material taking walking cart is suitable for walking along a scraping rail on one side of the storage bin.
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