CN118083605A - Piling method of blending piling machine - Google Patents
Piling method of blending piling machine Download PDFInfo
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- CN118083605A CN118083605A CN202311656321.2A CN202311656321A CN118083605A CN 118083605 A CN118083605 A CN 118083605A CN 202311656321 A CN202311656321 A CN 202311656321A CN 118083605 A CN118083605 A CN 118083605A
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- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a stacking method of a blending stacker, which relates to the technical field of material conveying and comprises the following steps: s1, obtaining a stacker running speed V according to a first objective function; s2, segmenting the top of the stacking according to the length L of each segment to obtain an actual target stacking height h L, obtaining delta h according to a second objective function, and substituting the delta h into the first objective function in the step S1 so as to achieve the purpose of adjusting the stacking running speed V.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a stacking method of a blending stacker.
Background
The raw material field is a field for receiving, storing, processing and uniformly mixing ferrous metallurgy raw materials and fuels. Storage sites (sites for storing raw materials) of modern large-scale raw material sites include ore sites, coal sites, auxiliary raw material sites and blending sites; not only stores the external iron ore, iron ore concentrate, pellet, manganese ore, limestone, dolomite, serpentine, silica, coking coal and power coal, but also stores a part of sinter, pellet and the recycle in iron and steel plants, such as iron scale, blast furnace dust, crushed coke, sinter powder, ore-homogenizing end materials and the like. The stacker is commonly used for stacking materials in a stock yard, particularly in a mixing stock yard, the stacker is used for uniformly stacking materials while walking, so that a scheme of proportionally distributing materials is achieved.
The existing mixing material pile mainly adopts a herringbone shape to pile, the material pile point of the mode is on the longitudinal central line of the material pile, the mixing material pile machine moves from one end to the other end at a certain speed along the length of the material pile, and a layer of material pile is completed in the process. The first layer of mixed material is a small material with an isosceles triangle cross section, and the second layer of mixed material is covered on the small triangle, so that the materials are piled up layer by layer at a time, and each layer of material forms a herringbone walking similar to the herringbone piling when seen from the cross section except the first layer of material.
But because the material loading flow can change in the material piling process, the pile top of the material pile is uneven, and finally the phenomenon of empty digging or material blocking of the reclaimer is caused, and further, the material loading flow of the mixed material belt which is discharged from a material yard is influenced to be unstable, and the subsequent production is influenced.
Based on this, it is necessary to propose a stacking method of a blending stacker to solve or at least alleviate the above-mentioned drawbacks.
Disclosure of Invention
The invention mainly aims to provide a stacking method of a blending stacker, which aims to solve the existing technical problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a stacking method of a blending stacker comprises the following steps:
S1, obtaining a stacker running speed V according to a first objective function;
objective function one:
Wherein Δh is the difference between the height of the target pile and the current height h of the pile, h is the current height of the pile, θ is the preset repose angle according to the height of the target pile, and W t is the flow rate of the feeding device at the current moment;
S2, segmenting the top of the stacking according to the length L of each segment to obtain an actual target stacking height h L, obtaining delta h according to a second objective function, and substituting the delta h into the first objective function in the step S1 so as to achieve the purpose of adjusting the stacking running speed V;
Objective function two:
Preferably, the method further comprises the following steps:
S100, modeling a material pile:
(1) Manually dividing a first stacking area when no material exists, acquiring a blanking point of the material through a pitch angle of a cantilever of a stacker and the speed of a cantilever belt, and acquiring a repose angle theta according to the material characteristics;
acquiring the volume of the material according to the material characteristics and the weight of the discharged material weighed by the cantilever belt scale; establishing a material pile model according to the blanking point, the repose angle theta and the volume;
(2) Then according to the pile model, obtaining the ridge line of the pile, selecting the line segment conforming to the pile height on the ridge line as a second pile area
Preferably, the specific content of the step S1 includes:
Step 1000, obtaining the current height h of the material pile, and obtaining the section area S 1 of the current material pile according to an objective function:
Step 1001, calculating the cross-sectional area S 2 of the target pile, and obtaining the area difference delta S;
ΔS＝S2-S1；
Step 1002, calculating a material volume DeltaV required by a target stacking;
ΔV＝ΔS×V×t；
Step 1003, obtaining an objective function I of the running speed V according to the used conveying equipment and the functions in the steps;
ΔV＝Wt×t。
Preferably, the current height h of the stockpile in the step S1 is detected by a layer thickness gauge at the position of a discharge hole of a large arm of the mixing and stocking machine.
Preferably, the W t is calculated after modeling the material conveying equipment by a laser radar.
Preferably, the specific calculation steps of W t are as follows:
1) Weighing the average weight of the transported stacks in a certain time, and recording as M;
2) Combining the mixing density rho, and obtaining W t according to the following function;
The invention has the following beneficial effects:
The material piling device is enabled to reciprocate to discharge in a designated material piling area, namely, a mode that the material piling device walks and is piled evenly is adopted, and materials are mixed evenly in proportion. Because the material pile is continuously accumulated and piled up along with the material piling process, in order to avoid the problems of dust emission, material scattering, specified material piling area and the like caused by too close distance between the material pile and the material outlet, the distance between the material pile and the material outlet needs to be dynamically and adaptively adjusted in the material piling process, and the pitch angle of the large arm is adjusted. The application increases the constraint of the threshold range for spacing adjustment, when the spacing is within the threshold range, the spacing can be not required to be adjusted, if the spacing exceeds the threshold range, the large arm is controlled according to the target pitching angle, so that the large arm rotates to the position corresponding to the target pitching angle, the material pile surface and the discharge opening always keep proper spacing, and when the current material pile height reaches the preset material pile height, namely the material pile area is fully piled, material piling can be stopped. The application can adaptively adjust the distance between the material pile and the discharge opening in the stacking process, ensures the reliability of stacking, does not need manual participation, improves the efficiency and the accuracy of stacking, ensures the safe and stable operation of the on-site stacking device, and realizes unmanned automatic control stacking of the stacking device.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of an overall flow architecture in the present invention;
FIG. 2 is a schematic diagram of a specific flow architecture of step S1 in the present invention;
FIG. 3 is a schematic view of a stockpile area according to the present invention;
fig. 4 is a flow chart of the specific operation steps of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Before understanding the scheme of the application, it is required to understand that the operation of stacking materials in a mixing yard is finished manually at present, so that the labor intensity is high, the working time is long, and some dust pollution of bulk materials can greatly influence the physical and mental health of operators.
During operation, operators manually control the motion stockpiling of the large machine in a cab, the operation work needs to be concentrated for a long time, the labor intensity is high, a plurality of interference factors such as water mist, dust and the like exist on site, the problems of blocking the sight at night and the like are solved, the phenomena of collision and the like are easy to cause, equipment is threatened to safely operate, the stockpiling process of the blending and stockpiling machine is mainly divided into two parts, namely, the front-stage approximate stockpiling is carried out, and the other is realized by repeatedly carrying out the top-of-pile flat material after the approximate material pile is formed.
The stacking method of the blending stacker shown in fig. 1 comprises the following steps:
S1, obtaining a stacker running speed V according to a first objective function;
objective function one:
Wherein Δh is the difference between the height of the target pile and the current height h of the pile, h is the current height of the pile, θ is the preset repose angle according to the height of the target pile, and W t is the flow rate of the feeding device at the current moment;
Specifically, the specific content of step S1 includes: i.e. a specific derivation of the objective function is shown below,
Step 1000, obtaining the current height h of the material pile, and obtaining the section area S 1 of the current material pile according to an objective function:
The current height h of the material pile is acquired through a layer thickness meter arranged at the position of a large arm discharge hole of the blending stacker in the embodiment, and it is to be noted that the blending stacker is currently a main stream device adopted in the market, and the structure of the blending stacker is not designed and optimized, so that detailed description of the specific structure of the blending stacker is omitted.
Step 1001, calculating the cross-sectional area S 2 of the target pile, and obtaining the area difference delta S;
ΔS＝S2-S1；
Step 1002, calculating a material volume DeltaV required by a target stacking;
ΔV＝ΔS×V×t；
Step 1003, obtaining an objective function I of the running speed V according to the used conveying equipment and the functions in the steps;
ΔV＝Wt×t；
In this embodiment, the conveying device selects a belt scale, and W t is calculated after modeling the belt material by the laser radar in the present application, but because the stability of the belt scale has errors in the feeding process, in order to improve the accuracy of the stacking method, W t is obtained according to the following function by weighing the average weight M of the belt material fed in a certain time and combining with the mixing density ρ;
It should be noted that, in the foregoing, the certain time refers to a time interval of any period, which is adjusted and selected by a person skilled in the art according to the actual requirement, and the certain time and t in step 1002 and step 1003 are the same time interval, the stacker running speed V is uniform, specifically, in the stacking process, referring to fig. 3, the speed moment between the path from the point a to the point B of the discharge port of the stacker is kept equal, and the belt flow measurement is that the belt flow is fluctuated in the actual production, but not fluctuated particularly, so that an average or integral is needed to determine the flow rate of the material in a period, and the period is that the two-mixing or three-mixing equipment sizes of different owners are different, so that the production conditions are only approximately described and the specific situation is decided.
However, since the flow rate of the discharged material is not kept constant at all times, the height difference exists in different areas at the top of the stack, and based on the problem, the problem is solved by the following step S2,
S2, segmenting the top of the stacking according to the length L of each segment to obtain an actual target stacking height h L, obtaining delta h according to a second objective function, and substituting the delta h into the first objective function in the step S1 so as to achieve the purpose of adjusting the stacking running speed;
Objective function two:
The moving speed of the large arm of the stacker is adjusted in real time through the step S2, namely the traveling speed V of the stacker, so that two datum points A and B of a ridge line of the stacker are caused to be on the same horizontal plane, and the flush of all areas of the top of the stacker is ensured.
Furthermore, in order to ensure that the material pile is a standard herringbone material pile when the material pile is completed, the method further comprises the following steps:
S100, modeling a material pile:
(1) When no material exists, manually dividing a material stacking area, acquiring a material blanking point through a pitch angle of a cantilever of a material stacking machine and the speed of a cantilever belt, and acquiring a repose angle theta according to the material characteristics;
acquiring the volume of the material according to the material characteristics and the weight of the discharged material weighed by the cantilever belt scale; establishing a material pile model according to the blanking point, the repose angle theta and the volume;
(2) Then, according to the material pile model, a ridge line of the material pile is obtained, and a line segment which accords with the height of the material pile is selected on the ridge line to serve as a material pile area; it should be noted that the second stacking area mentioned in (2) and the first stacking area mentioned in (1) differ to some extent, first, the first stacking area in (1) is a space for placing the material, and the second stacking area in (2) is a stacking space for achieving a certain height and not reaching the flatness.
In combination with the actual scene, when the stacker stacks the material piles to the embryonic form, the laser radar installed on the large arm of the blending stacker starts to scan the distance from the large arm to the top of the material piles so as to model the height of the pile, and after that, the height of the material piles is changed each time the stacker walks, the model of the top of the pile is updated in real time, and the invention does not need to suggest a three-dimensional model of the material piles, and mainly needs the height data of the material piles and the flatness of the top of the material piles.
Further, in order to facilitate understanding of the specific working principle of the method, the specific operation steps of the method are as follows, and are described with reference to fig. 4:
step SS0, starting;
Step SS1, initializing a stacker system, and setting key parameters required by a target material pile, wherein the key parameters comprise a running area, a material pile repose angle theta and a segmentation length L;
step SS2, carrying out first running by a stacker to obtain a stacking top model of a current material stack;
Step SS3, calculating a target stacker height difference delta h of each section of walking interval according to the stacker top model obtained in the step SS2 and combining key parameters in the step SS 1;
Step SS4, calculating the running speeds V of different sections in the next running according to the target stacker height difference delta h and key parameters;
Step SS5, carrying out next running to carry out stacking, and measuring the stacking height data of the material stack after running while carrying out the stacking; it should be noted that the essence of the "next travel" here is that the stacking is performed according to the travel speed obtained in step SS 4;
step SS6, comparing whether the material pile after running reaches a preset stacking height and flatness;
and step SS7, ending.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The stacking method of the blending stacker is characterized by comprising the following steps of:
S1, obtaining a stacker running speed V according to a first objective function;
objective function one: Wherein Δh is the difference between the height of the target pile and the current height h of the pile, h is the current height of the pile, θ is the preset repose angle according to the height of the target pile, and W t is the flow rate of the feeding device at the current moment;
S2, segmenting the top of the stacking according to the length L of each segment to obtain an actual target stacking height h L, obtaining delta h according to a second objective function, and substituting the delta h into the first objective function in the step S1 so as to achieve the purpose of adjusting the stacking running speed V;
Objective function two:
2. the stacking method of the blending stacker of claim 1, further comprising the steps of:
S100, modeling a material pile:
(1) Manually dividing a first stacking area when no material exists, acquiring a blanking point of the material through a pitch angle of a cantilever of the stacker and the speed of a cantilever belt, and acquiring a repose angle theta according to the material characteristics;
acquiring the volume of the material according to the material characteristics and the weight of the discharged material weighed by the cantilever belt scale; establishing a material pile model according to the blanking point, the repose angle theta and the volume;
(2) And then, according to the pile model, acquiring a ridge line of the pile, and selecting a line segment which accords with the pile height on the ridge line as a second pile area.
3. The stacking method of the blending and stacking machine according to claim 1, wherein the specific content of step S1 includes:
Step (1000), obtaining the current height h of the material pile, and obtaining the section area S 1 of the current material pile according to an objective function:
step (1001), calculating the cross-sectional area S 2 of the target material pile, and obtaining the area difference delta S;
ΔS＝S2-S1；
step (1002), calculating the material volume DeltaV required by the target stacking;
ΔV＝ΔS×V×t；
Step (1003), according to the used conveying equipment, combining the functions in the steps to obtain an objective function I of the running speed V;
ΔV＝Wt×t。
4. The stacking method of the blending stacker as claimed in claim 1, wherein the current height h of the stack in the step S1 is detected by a layer thickness gauge at a position of a discharge port of a large arm of the blending stacker.
5. The method of any one of claims 1-4, wherein the W t is calculated by modeling a material handling device with a lidar.
6. The stacking method of the blending stacker of claim 5, wherein the specific calculation steps of W t are as follows:
1) Weighing the average weight of the transported stacks in a certain time, and recording as M;
2) Combining the mixing density rho, and obtaining W t according to the following function;
7. The stacking method of the blending stacker of claim 6, further comprising the steps of:
SS1, initializing a stacker system, namely setting key parameters required by a target material pile;
and (4) carrying out first running by the SS2 and stacker to obtain a stacking top model of the current material stack.
8. The method of claim 7, wherein the destination key parameters include a travel area, a pile repose angle θ, and a segment length L.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311656321.2A CN118083605A (en) | 2023-12-05 | 2023-12-05 | Piling method of blending piling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311656321.2A CN118083605A (en) | 2023-12-05 | 2023-12-05 | Piling method of blending piling machine |
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| CN118083605A true CN118083605A (en) | 2024-05-28 |
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| CN202311656321.2A Pending CN118083605A (en) | 2023-12-05 | 2023-12-05 | Piling method of blending piling machine |
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