A boom deviation rectifying device for a bucket wheel machine and a method thereof

Abstract

This invention relates to the field of large bulk material handling machinery, specifically to a device and method for correcting the deviation of a movable beam in a bucket wheel excavator. The device comprises a movable beam, a trolley, a traveling wheel frame with electromagnets, a magnetorheological elastomer pad, a main drive hydraulic cylinder, cross-connected antagonistic hydraulic cylinders, and a controller. The system calculates the resistance-thrust-stiffness mismatch index through the controller. When the index exceeds a threshold, the electromagnets are triggered to generate an upward suction force to reduce the contact normal pressure on the traveling wheels, and simultaneously reduce the elastic modulus of the pad to release lateral restraint. Its core principle is to utilize electromagnetic attraction and a variable stiffness pad to synergistically reduce drag, which, in conjunction with the main drive hydraulic cylinder, pushes the movable beam for lateral repositioning. This invention abandons the traditional rigid lateral pushing method under heavy loads, significantly reducing the thrust required for lateral repositioning, effectively solving the problems of easy stick-slip jumping and stress concentration, and achieving smooth deviation correction.

Description

Technical Field

[0001] This invention relates to the field of large bulk material handling machinery, specifically to a device and method for correcting the deviation of a movable beam of a bucket wheel excavator. Background Technology

[0002] Large bucket wheel excavators are widely used in environments involving bulk material conveying and loading / unloading. The movable beam, as the main component bearing alternating eccentric loads, often experiences lateral deviation during continuous operation due to factors such as uneven track settlement, local elevation differences, and changes in operating loads, requiring displacement correction. To correct this deviation, existing solutions generally employ a rigid lateral thrust architecture, relying on hydraulic cylinders and other drive components to directly apply strong lateral thrust for repositioning. While this solution has some repositioning capability under light loads, its high dependence on rigid force boundaries and the fact that static friction at the wheel-rail interface is much higher than sliding friction under heavy loads easily lead to localized stress concentration during thrust transmission. Furthermore, forced lateral thrust is often accompanied by high-frequency and irregular stick-slip bouncing, which can induce parasitic overturning moments around the longitudinal axis of the movable beam, causing wear on the hydraulic cylinder rod ends, seal failure, and structural cracking, making it difficult to support stable and continuous correction and structural attitude self-compensation for heavy-load movable beams.

[0003] Therefore, how to reduce the lateral correction resistance of the movable beam and eliminate stick-slip jumping phenomenon, thereby improving the stability of correction and repositioning and structural safety, has become an urgent technical problem to be solved. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a device and method for correcting the deviation of the movable beam of a bucket wheel excavator. Specifically, the technical solution of the present invention is as follows: A device for correcting the deviation of a movable beam in a bucket wheel excavator includes: Movable beam; trolley, located below the movable beam; A track surface is laid beneath the trolley; The traveling wheel frame is mounted on the bottom of the trolley via a hinge shaft, and contains traveling wheels that are supported on the track surface. These traveling wheels are connected to the traveling motor. A main drive hydraulic cylinder is connected between the trolley and the movable beam to provide lateral thrust; An electromagnet is fixed to the bottom of the wheel frame, with its magnetic poles facing the track surface and maintaining a gap, so as to generate an upward electromagnetic attraction. A magnetorheological elastomer pad is placed between the top surface of the traveling wheel frame and the bottom surface of the trolley to dynamically change the support stiffness; The left-side antagonistic hydraulic cylinder and the right-side antagonistic hydraulic cylinder are respectively vertically installed on the lower left and right sides of the movable beam. The cylinder barrels of the two cylinders are fixed to the top surface of the trolley, and the piston rods of the two cylinders press against the bottom surface of the movable beam. Both the left-side antagonistic hydraulic cylinder and the right-side antagonistic hydraulic cylinder are provided with an upper chamber and a lower chamber; A cross-connecting pipe connects the upper and lower chambers of the left-side antagonistic hydraulic cylinder to the lower and upper chambers of the right-side antagonistic hydraulic cylinder, respectively. The controller is connected to and controls the walking motor, main drive hydraulic cylinder, electromagnet, and magnetorheological elastomer pad.

[0005] In some embodiments, the cylinder end of the main drive hydraulic cylinder is fixed to the side wall of the trolley by a pin, and the piston rod end of the main drive hydraulic cylinder is connected to the side wall of the movable beam by a pin.

[0006] In some embodiments, the electromagnet is fixed to the bottom of the wheel frame by bolts.

[0007] In some embodiments, the trolley, the magnetorheological elastomer pad, and the traveling wheel frame are fixed together by bolts.

[0008] In some embodiments, the left-side antagonistic hydraulic cylinder and the right-side antagonistic hydraulic cylinder are respectively located below the load-bearing hinge points provided on the left and right sides of the movable beam.

[0009] In some embodiments, the cross-connecting pipe is a seamless steel pipe, and the interior of the cross-connecting pipe and the cavities of the left-side antagonistic hydraulic cylinder and the right-side antagonistic hydraulic cylinder are filled with hydraulic oil.

[0010] A method for controlling the correction device of the movable beam of a bucket wheel excavator includes: S1. Collect the three-phase current signal of the drive end of the walking motor and the hydraulic oil chamber pressure signal of the main drive hydraulic cylinder. S2. Extract the low-frequency harmonic amplitude from the transient spectrum of the three-phase current signal and the sawtooth wave fluctuation frequency of the high-frequency pulse of the hydraulic oil chamber pressure signal. After performing scale unification processing on the low-frequency harmonic amplitude and the sawtooth wave fluctuation frequency respectively, calculate the resistance-thrust stiffness mismatch index. S3. Determine the relationship between the resistance-thrust stiffness mismatch index and the pre-calibrated threshold value. S4. When the resistance thrust stiffness mismatch index is greater than the set threshold, an excitation current is output to the electromagnet to control the electromagnet to generate an upward electromagnetic attraction force, and the control current input to the magnetorheological elastomer pad is reduced simultaneously, so that the elastic modulus of the magnetorheological elastomer pad is reduced. S5. Control the main drive hydraulic cylinder to perform an extension or retraction action, and push the movable beam to return to its lateral reset. S6. When the resistance thrust stiffness mismatch index is less than or equal to the set threshold, reduce the excitation current of the electromagnet and increase the control current of the magnetorheological elastomer pad.

[0011] In some implementations, in the step of calculating the drag-thrust stiffness mismatch index, the drag-thrust stiffness mismatch index is obtained based on the extracted low-frequency harmonic amplitude and the preset friction state weighting coefficient, as well as the sawtooth wave fluctuation frequency and the structural torsion weighting coefficient.

[0012] In some embodiments, in the step of outputting excitation current to the electromagnet, the excitation current is output to the electromagnet using pulse width modulation technology, and the magnitude of the excitation current is proportional to the difference between the drag-thrust stiffness mismatch index and the set threshold value.

[0013] In some embodiments, the process of reducing the excitation current of the electromagnet and increasing the control current of the magnetorheological elastomer pad in step S6 specifically involves: gradually reducing the excitation current of the electromagnet to zero, and simultaneously increasing the control current of the magnetorheological elastomer pad to its maximum value.

[0014] The present invention has the following beneficial effects: 1. This invention calculates the resistance-thrust stiffness mismatch index through a controller. When the index exceeds a set threshold, it controls an electromagnet to generate an upward electromagnetic attraction force and simultaneously reduces the elastic modulus of the magnetorheological elastomer pad. The electromagnetic attraction force effectively reduces the contact normal pressure of the traveling wheel, and the reduction in the pad modulus releases the lateral restraint. The two work together to significantly reduce the thrust required for the main drive hydraulic cylinder to push the movable beam to lateral reset, solving the problem of stick-slip jumping and stress concentration caused by rigid lateral thrust under heavy load, and achieving smooth correction. 2. This invention features left and right antagonistic hydraulic cylinders on both sides of the movable beam, connected by a cross-connecting pipe. When the movable beam moves laterally and generates a flipping torque that presses down on one side of the piston rod, hydraulic oil enters the opposite side through the cross-connecting pipe to generate a counteracting force, effectively suppressing the parasitic flipping torque and preventing uneven wear and cracking of the equipment. In addition, after correction, by gradually reducing the excitation current of the electromagnet and simultaneously increasing the control current of the magnetorheological elastomer pad, the system can smoothly and quickly restore the rigid load-bearing locking state, improving structural safety. Attached Figure Description The following drawings, which illustrate embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings depict embodiments of this application and their descriptions, serving to explain the principles of this application.

[0015] Figure 1 This is a schematic diagram of the overall structure of the device; Figure 2 This is a schematic diagram of the device's walking wheel frame structure; Figure 3 This is a schematic diagram of the electromagnet and magnetic pole face structure of the device; Figure 4This is a schematic diagram of the structure of the left and right antagonistic hydraulic cylinders of the device; Figure 5 This is a flowchart of the method of the present invention.

[0016] In the diagram: 100, movable beam; 200, trolley; 300, traveling wheel frame; 310, hinge shaft; 320, traveling wheel; 330, track surface; 340, traveling motor; 400, main drive hydraulic cylinder; 410, pin shaft; 500, electromagnet; 510, magnetic pole surface; 600, magnetorheological elastomer pad; 700, left antagonistic hydraulic cylinder; 800, right antagonistic hydraulic cylinder; 810, cylinder barrel; 820, piston rod; 900, cross connecting pipe; 1000, bolt; 1100, load-bearing hinge point. Detailed Implementation

[0017] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0018] Example 1: Combination Figure 1 As shown, a device for correcting the deviation of a movable beam of a bucket wheel excavator includes: Movable beam 100; trolley 200, located below movable beam 100; A track surface 330 is laid beneath the trolley 200; The traveling wheel frame 300 is mounted on the bottom of the trolley 200 via the hinge shaft 310, and contains a traveling wheel 320 supported on the track surface 330. The traveling wheel 320 is connected to the traveling motor 340. The main drive hydraulic cylinder 400 is connected between the trolley 200 and the movable beam 100 to provide lateral thrust; An electromagnet 500 is fixed to the bottom of the wheel frame 300, with its magnetic pole surface 510 facing the track surface 330 and maintaining a gap, so as to generate an upward electromagnetic attraction. A magnetorheological elastomer pad 600 is placed between the top surface of the traveling wheel frame 300 and the bottom surface of the trolley 200 to dynamically change the support stiffness. The left-side antagonistic hydraulic cylinder 700 and the right-side antagonistic hydraulic cylinder 800 are respectively vertically installed on the lower left and right sides of the movable beam 100. The cylinder barrels 810 of the two are fixed to the top surface of the trolley 200, and the piston rods 820 of the two are pressed against the bottom surface of the movable beam 100. Both the left-side antagonistic hydraulic cylinder 700 and the right-side antagonistic hydraulic cylinder 800 are provided with an upper chamber and a lower chamber; The cross-connecting pipe 900 connects the upper and lower chambers of the left antagonistic hydraulic cylinder 700 to the lower and upper chambers of the right antagonistic hydraulic cylinder 800, respectively. The controller connects and controls the walking motor 340, the main drive hydraulic cylinder 400, the electromagnet 500, and the magnetorheological elastomer pad 600. The correction device for the movable beam 100 of the bucket wheel excavator is used to correct the lateral deviation of the movable beam 100 of the large bucket wheel excavator. The movable beam 100 is the main component that bears the alternating eccentric load at the end of the bucket wheel, and the trolley 200 is a load-bearing component located below the movable beam 100, used to transfer the weight of the movable beam 100 and the working load downwards. The traveling wheel frame 300 is mounted on the bottom of the trolley 200 via a hinge shaft 310. The axis of the hinge shaft 310 is set parallel to the longitudinal extension direction of the track, so that the traveling wheel frame 300 has a small-angle swing capability relative to the trolley 200. The swing angle can be set to ±1° to ±5° to adapt to local height differences in the track. The traveling wheel 320 is supported on the track surface 330 and connected to the traveling motor 340. The traveling motor 340 is used to drive the traveling wheel 320 to roll along the track. The main drive hydraulic cylinder 400 is located between the trolley 200 and the movable beam 100. It is used to output lateral thrust when the lateral displacement of the movable beam 100 is detected, so as to push the movable beam 100 to move laterally relative to the trolley 200 by a predetermined distance. The amount of lateral displacement can be set from 3mm to 30mm according to the track gauge deviation. An electromagnet 500 is fixed to the bottom of the wheel frame 300, with its magnetic pole surface 510 facing the rail surface 330 and maintaining a non-contact gap with the rail. This gap can be set from 2mm to 20mm. When the electromagnet 500 is energized, it forms a magnetic attraction with the rail. A support structure extending to the lower side of the wheel frame should be provided, with the electromagnet installed on the support structure and its magnetic pole surface facing upward, so that it generates an upward magnetic attraction force on the bottom of the rail. Through action and reaction forces, the wheel frame obtains an upward lifting force, thereby reducing the contact normal pressure between the wheel and the rail, making it easier for the wheel-rail interface to change from a high static friction state to a low resistance sliding state. A magnetorheological elastomer pad 600 is disposed between the top surface of the traveling wheel frame 300 and the bottom surface of the trolley 200. It not only bears the vertical load transmission, but also changes the elastic modulus of the material when the controller outputs the control current. Its compressive modulus in the hardened state can be set to 2 to 20 times that in the softened state, so that the trolley 200 and the traveling wheel frame 300 maintain the support stiffness required for the rated load under normal load conditions, and provide lateral geometric compliance under the correction condition. The left-side antagonistic hydraulic cylinder 700 and the right-side antagonistic hydraulic cylinder 800 are respectively arranged below the left and right sides of the movable beam 100. Their cylinder barrels 810 are fixed to the top surface of the trolley 200, and the upper end of the piston rod 820 is in contact with the bottom surface of the movable beam 100. The two hydraulic cylinders are connected diagonally through a cross-connecting pipe 900, that is, the lower chamber of one side is connected to the upper chamber of the other side, and the upper chamber of one side is connected to the lower chamber of the other side. This cross hydraulic connection is used to handle the parasitic overturning torque around the longitudinal axis of the movable beam 100 caused by the lateral thrust applied by the main drive hydraulic cylinder 400. When one side of the movable beam 100 is pressed down, the hydraulic cylinder on that side is passively compressed, and the hydraulic oil in the lower chamber enters the upper chamber of the hydraulic cylinder on the opposite side, so that the hydraulic cylinder on the opposite side forms a downward pressure, which suppresses the downward pressure on the upward side of the movable beam 100; the controller is electrically or signal connected to the walking motor 340, the main drive hydraulic cylinder 400, the electromagnet 500 and the magnetorheological elastomer pad 600. The controller can be an industrial programmable controller or an industrial control computer, and the sampling period can be set from 5ms to 50ms; This device incorporates three methods—friction reduction, variable stiffness, and hydraulic self-compensation—within the same structural system, solving the problem that relying solely on rigid lateral pushing is insufficient to move the heavy-duty movable beam 100 and easily leads to localized stress concentration.

[0019] The cylinder end of the main drive hydraulic cylinder 400 is fixed to the side wall of the trolley 200 by a pin 410, and the piston rod end of the main drive hydraulic cylinder 400 is connected to the side wall of the movable beam 100 by a pin 410. The main drive hydraulic cylinder 400 is a double-acting hydraulic cylinder. Its cylinder end is fixed to the ear plate seat on the side wall of the trolley 200 by a pin 410, and its piston rod end is connected to the connecting seat on the side wall of the movable beam 100 by a pin 410. The function of the pin 410 connection is to allow the main drive hydraulic cylinder 400 to undergo angular compensation relative to the trolley 200 and the movable beam 100 during the extension and retraction process, thereby reducing the additional load caused by installation errors, local deformation of the movable beam 100, or changes in posture during correction. The pin 410 can be made of 40Cr quenched and tempered steel. The diameter of the pin 410 can be set from 40mm to 120mm according to the equipment scale. A self-lubricating bushing or a copper-based wear-resistant bushing is set between the pin 410 and the ear plate to ensure the rotation reliability under repeated actions. The installation direction of the main drive hydraulic cylinder 400 corresponds to the predetermined lateral reset direction of the movable beam 100. The center line of the cylinder can be arranged horizontally or form an angle of 0° to 10° relative to the horizontal plane to adapt to the installation space of the trolley 200 and the movable beam 100. The rated stroke of the hydraulic cylinder can be set from 50mm to 300mm, and the rated working pressure can be set from 10MPa to 31.5MPa. Since the cylinder end and piston rod end of the main drive hydraulic cylinder 400 are connected by pins 410, the main drive hydraulic cylinder 400 mainly bears axial force rather than bending moment when outputting lateral thrust, which is conducive to maintaining stable thrust transmission. When this connection method is used in conjunction with the large mass and high rigidity structure of the movable beam 100, it can reduce the problems of uneven wear of the hydraulic cylinder rod end, seal failure and ear plate cracking caused by the rigid fixed end, so that the lateral thrust can be applied more directly to the side wall of the movable beam 100, and achieve repeatable micro-lateral displacement correction.

[0020] Combination Figure 3 As shown, the electromagnet 500 is fixed to the bottom of the walking wheel frame 300 by bolts 1000; The electromagnet 500 is mounted on a mounting base at the bottom of the wheel frame 300 near the track surface 330, and is fixed by bolts 1000. The bolt connection facilitates maintenance and replacement under dust, vibration and impact conditions. The outer shell of the electromagnet 500 can be made of low carbon steel magnetic circuit shell, and the coil is wound with high temperature resistant insulated wire and potted. The protection level can be set to international protection level 54 to 67. The magnetic pole surface 510 is located at the lower end of the electromagnet 500 and faces the track surface 330, so that the magnetic flux path mainly forms a closed magnetic circuit between the electromagnet 500 and the track steel body; a fixed gap is maintained between the electromagnet 500 and the track surface 330, and the gap is set by mounting shims, limit blocks or adjustable brackets, so that the electromagnet 500 and the track do not have mechanical collisions during operation; The bolt 1000 should be fixed at the main load-bearing beam of the traveling wheel frame 300 to ensure that the upward reaction force generated by the electromagnetic attraction is directly transmitted to the support system of the trolley 200 and the movable beam 100 through the traveling wheel frame 300; the number of electromagnets 500 can be set to one or more according to the load-bearing capacity of a single trolley 200, and multiple electromagnets 500 can be distributed laterally or longitudinally along the track. When energized, an attractive force is formed between the magnetic pole surface 510 and the track surface 330, the track is attracted upward, and the electromagnet 500 and the wheel frame 300 are subjected to an equal upward reaction force, thereby reducing the contact pressure between the wheel 320 and the track. This structural feature ensures that the direction of electromagnetic action is consistent with the direction of load reduction, avoiding the introduction of new deviation components by lateral magnetic force; the bolt 1000 fixing method can also withstand the vibration load generated by the cyclic switching of the electromagnet 500, maintain the parallelism between the magnetic pole surface 510 and the track surface 330, and make the load reduction effect repeatable.

[0021] Combination Figure 2As shown, the trolley 200, the magnetorheological elastomer pad 600 and the traveling wheel frame 300 are pressed and fixed together by bolts 1000; The trolley 200, the magnetorheological elastomer pad 600 and the traveling wheel frame 300 are stacked vertically in sequence and tightened and fixed by a number of high-strength bolts 1000. The bolts 1000 can be arranged in a four-point symmetrical arrangement, a six-point circumferential arrangement or a uniform arrangement around the pad to ensure that the magnetorheological elastomer pad 600 is subjected to uniform pressure. The high-strength bolts 1000 can be grade 10.9 or 12.9 fasteners. The preload is set according to the area of ​​the pad and the load, so that the magnetorheological elastomer pad 600 maintains a stable compression under normal operation. The compression rate can be set to 5% to 20%. After being tightened and fixed, the magnetorheological elastomer pad 600 bears the vertical load transmission between the trolley 200 and the traveling wheel frame 300 on the one hand, and restricts the two from uncontrolled separation on the other hand. The magnetorheological elastomer pad 600 is composed of an elastic matrix and magnetic particles, and can be equipped with coils or external magnetic field excitation structures. When the controller adjusts the control current, the particle chain structure inside the magnetorheological elastomer pad 600 changes, causing the equivalent shear modulus and compressive modulus of the pad to change. Since the trolley 200, the pad and the traveling wheel frame 300 are clamped and fixed by bolts 1000, the change in the modulus of the pad can directly affect the support stiffness between the trolley 200 and the traveling wheel frame 300. When the control current increases, the pad hardens, and the relative displacement between the trolley 200 and the traveling wheel frame 300 decreases, making it suitable for normal heavy-load travel. When the control current decreases, the pad softens, allowing controlled micro-displacement and micro-rotation during a short period of lateral correction, thereby releasing structural constraints. The bolt 1000 tightening method can also prevent the pad from lateral movement under alternating loads, ensuring the stability of its variable stiffness action position.

[0022] Combination Figure 4 As shown, the left antagonistic hydraulic cylinder 700 and the right antagonistic hydraulic cylinder 800 are respectively located below the load-bearing hinge points 1100 provided on the left and right sides of the movable beam 100. The left-side antagonistic hydraulic cylinder 700 and the right-side antagonistic hydraulic cylinder 800 are respectively located directly below or nearly directly below the load-bearing hinge points 1100 on the left and right sides of the movable beam 100. The distance from the load-bearing hinge points 1100 can be controlled within the range of 50mm to 300mm. The load-bearing hinge points 1100 are the areas where the movable beam 100 transmits the main load to the trolley 200. The load is concentrated and has a clear relationship with the displacement response of the movable beam 100 when it rotates around the longitudinal axis. By placing the antagonistic hydraulic cylinder at this position, the overturning tendency of the movable beam 100 during lateral correction can be promptly converted into the axial displacement of the hydraulic cylinder, thus avoiding the force transmission lag or local component deformation absorption when the cylinder is placed far from the load-bearing path. The upper end of the piston rod 820 of the left antagonistic hydraulic cylinder 700 and the right antagonistic hydraulic cylinder 800 can be equipped with a spherical top, a wear-resistant pad, or a rolling support head to form a top-fitting relationship with the bottom surface of the movable beam 100, so as to accommodate the tilting deformation of the bottom surface of the movable beam 100 caused by the load; the cylinder diameter of the hydraulic cylinder can be set to 50mm to 160mm, and the stroke can be set to 10mm to 80mm. Its working displacement is mainly used for overturning compensation rather than actively lifting and lowering the movable beam 100; Since the hydraulic cylinders on both sides are located below the load-bearing hinge point 1100, when one side of the movable beam 100 sinks, the hydraulic cylinder on that side is immediately compressed, and the hydraulic cylinder on the opposite side generates downward pressure simultaneously. The force transmission path is short and the response is direct. This arrangement allows the effect of the antagonistic hydraulic cylinder to focus on suppressing the additional overturning caused by the correction thrust, without significantly changing the original load-bearing boundary conditions of the movable beam 100.

[0023] The cross-connecting pipe 900 is a seamless steel pipe, and the interior of the cross-connecting pipe 900 and the cavities of the left antagonistic hydraulic cylinder 700 and the right antagonistic hydraulic cylinder 800 are filled with hydraulic oil. The cross-connector 900 is made of seamless steel pipe to improve pressure resistance and reduce radial expansion of the pipeline under pressure pulsation. The inner diameter of the cross-connector 900 can be set from 8mm to 25mm, the wall thickness can be set from 2mm to 6mm, and the rated pressure resistance is not less than 1.5 times the maximum working pressure of the antagonistic hydraulic cylinder. The left-side antagonistic hydraulic cylinder 700, the right-side antagonistic hydraulic cylinder 800, and the cross-connecting pipe 900 together form a closed hydraulic power transmission circuit. The circuit is filled with hydraulic oil, and the gas is removed during assembly through an exhaust valve, a vacuum device, or a slow oil filling method. The hydraulic oil can be anti-wear hydraulic oil, and the viscosity grade can be No. 32, No. 46, or No. 68. Using seamless steel pipes and filling the circuit completely with hydraulic oil can reduce the influence of compressible media on the stiffness of force transmission. If there is residual air in the circuit, when the movable beam 100 flips, the volume change caused by the compression of one hydraulic cylinder will be absorbed by the gas compression, resulting in the lag and reduction of the reverse counteracting force generated by the other hydraulic cylinder. With the use of seamless steel pipes, the volume change of hydraulic oil in the circuit is mainly converted into the piston movement of the hydraulic cylinder on the opposite side. Therefore, while the movable beam 100 sinks on one side, a corresponding downward pressure is formed on the opposite side. The cross-connecting pipe 900 can also be equipped with a shut-off valve, pressure gauge interface and exhaust port for filling, maintenance and pressure detection, but it remains open during the correction operation to ensure real-time hydraulic coupling between the hydraulic cylinders on both sides.

[0024] Example 2: Please see Figure 5 A method for controlling the correction device of the movable beam of a bucket wheel excavator, comprising: S1. Collect the three-phase current signal from the drive end of the walking motor 340 and the hydraulic oil chamber pressure signal from the main drive hydraulic cylinder 400. S2. Extract the low-frequency harmonic amplitude from the transient spectrum of the three-phase current signal and the sawtooth wave fluctuation frequency of the high-frequency pulse of the hydraulic oil chamber pressure signal. After performing scale unification processing on the low-frequency harmonic amplitude and the sawtooth wave fluctuation frequency respectively, calculate the resistance-thrust stiffness mismatch index. S3. Determine the relationship between the drag-thrust stiffness mismatch index and the pre-calibrated threshold value. S4. When the resistance-thrust stiffness mismatch index is greater than the set threshold, an excitation current is output to the electromagnet 500 to control the electromagnet 500 to generate an upward electromagnetic attraction force, and the control current input to the magnetorheological elastomer pad 600 is reduced simultaneously, so that the elastic modulus of the magnetorheological elastomer pad 600 is reduced. S5. Control the main drive hydraulic cylinder 400 to perform the extension or retraction action, and push the movable beam 100 to return to its lateral reset. S6. When the resistance-thrust stiffness mismatch index is less than or equal to the set threshold, reduce the excitation current of the electromagnet 500 and increase the control current of the magnetorheological elastomer pad 600. This control method is executed by the controller and is suitable for non-stop correction during the operation of the bucket wheel excavator; the three-phase current signal of the drive end of the travel motor 340 is obtained through the Hall current sensor, current transformer or the built-in sampling module of the driver, and the sampling frequency can be set from 1kHz to 10kHz. The hydraulic oil chamber pressure signal of the main drive hydraulic cylinder 400 is acquired through a pressure sensor. The pressure sensor can be arranged in the rodless chamber, rod chamber, or main pipeline connected to the hydraulic cylinder of the main drive hydraulic cylinder 400. The sampling frequency can be set from 1kHz to 20kHz. The controller performs synchronous sampling, noise reduction, and spectrum analysis on the three-phase current signal to extract the low-frequency harmonic amplitude in the transient spectrum. The low-frequency band can be set from 1Hz to 50Hz. The low-frequency harmonic amplitude reflects the driving load fluctuation of the traveling wheel 320 when there is uneven track settlement, interference between the local wheel flange and the track side, or sudden change in rolling resistance; the controller filters and performs time differentiation processing on the hydraulic oil chamber pressure signal to identify the sawtooth wave fluctuation frequency in the high-frequency pulse, and the high-frequency band can be set from 10Hz to 300Hz; the sawtooth wave fluctuation frequency reflects the stress pulsation state when the main drive hydraulic cylinder 400 pushes the movable beam 100 and the movable beam 100 releases local stick slip. The controller calculates the drag-thrust stiffness mismatch index based on the low-frequency harmonic amplitude and sawtooth wave fluctuation frequency, and compares the index with a set threshold. The threshold can be obtained through no-load commissioning, rated load test and track deviation test, and can be set to a normalized value of 0.6 to 0.9, or calibrated separately according to the unnormalized dimensions. When the resistance-thrust stiffness mismatch index is greater than the set threshold, it indicates that the matching relationship between the lateral correction resistance of the movable beam 100, the wheel-rail friction state, and the stiffness of the support structure has entered an unfavorable range. At this time, the controller outputs excitation current to the electromagnet 500, causing the electromagnet 500 to generate an upward electromagnetic attraction. The excitation current can be continuously adjusted within the range of 0A to the rated current. Synchronous with the output excitation current, the controller reduces the control current of the magnetorheological elastomer pad 600, causing the magnetorheological elastomer pad 600 to transition from a high-modulus state to a low-modulus state; the resistance thrust stiffness mismatch index is greater than the set threshold, indicating that the current correction resistance is too large and is prone to stick-slip jumping, so the controller performs the above-mentioned linkage operation; the electromagnet 500 generates an upward electromagnetic attraction, which partially offsets the force transmitted from the movable beam 100 to the track, thereby significantly reducing the wheel-rail normal pressure and static friction. At the same time, the control current of the magnetorheological elastomer pad 600 is reduced to soften it, which causes the constraint stiffness between the trolley 200 and the traveling wheel frame 300 to decrease and release the lateral restraint. Based on the above logic, the friction reduction method and the variable stiffness structure are triggered simultaneously, and the thrust required for the lateral reset of the movable beam 100 is reduced accordingly, so that the main drive hydraulic cylinder 400 can push the movable beam 100 more smoothly. After the friction reduction effect and the low stiffness state of the pad are formed, the controller controls the main drive hydraulic cylinder 400 to extend or retract according to the direction of deviation, pushing the movable beam 100 to return to the lateral reset direction of the track centerline; the action speed of the main drive hydraulic cylinder 400 can be set from 1mm / s to 20mm / s to avoid excessive speed causing new vibrations; when the main drive hydraulic cylinder 400 outputs lateral thrust, due to the difference in the height of the thrust line of action and the center of mass of the movable beam 100, the movable beam 100 will generate a turning torque around the longitudinal axis; If the left piston rod 820 is pressed down, the hydraulic oil in the lower chamber of the left antagonistic hydraulic cylinder 700 enters the upper chamber of the right antagonistic hydraulic cylinder 800 through the cross-connecting pipe 900, causing the right piston rod 820 to form a downward pressure; if the right piston rod 820 is pressed down, the hydraulic oil is transmitted in the opposite direction to the upper chamber of the left hydraulic cylinder, forming a downward pressure on the left side; this passive hydraulic force transmission process does not require an external power source, and its output force is related to the squeezing force caused by the skewness of the movable beam 100, which can suppress the tilting of the opposite side during lateral correction; During the reset process, the controller continuously updates the resistance-thrust stiffness mismatch index. When the index is less than or equal to the set threshold, the controller reduces the excitation current of the electromagnet by 500 and increases the control current of the magnetorheological elastomer pad by 600, so that the system can restore a higher load-bearing stiffness. Through this method, the correction action is only triggered when the risk of stick-slip and stiffness mismatch is detected, avoiding the impact of maintaining a low friction and low stiffness state on load-bearing safety in the long term. Among them, the physical meaning of the resistance-thrust stiffness mismatch index is a comprehensive criterion for quantifying whether the degree of wheel-rail resistance fluctuation and the degree of structural torsional release caused by the main drive thrust are both too high during the current lateral correction process. This index does not simply represent the size of the motor load, nor does it simply represent the strength of the hydraulic shock. Instead, it is used to characterize whether the movable beam 100 is in an unfavorable correction state at the current moment, which is difficult to move smoothly laterally and is prone to stick-slip jumps and local torsion. The logical function of setting the threshold is to serve as the boundary for switching control modes. When the index exceeds the threshold, the controller enters the friction reduction and softening coordinated control range. When the index falls back to the threshold or below, the controller exits the friction reduction and softening state and resumes load locking. The specific calculation process can be executed in the following order: Step 1, the controller synchronously samples the three-phase current signal and organizes it in a control window. The control window can be set from 50ms to 500ms. In this window, the power frequency fundamental wave and obvious high-frequency electromagnetic noise are first filtered out, and then the low-frequency component used to reflect the fluctuation of the driving load is obtained. Step 2: The controller extracts amplitude features from the low-frequency components. The amplitude features are preferentially adopted from the amplitude of the dominant low-frequency peak within the window, or a weighted average of the amplitudes of multiple low-frequency peaks can be adopted. The output result is used as the low-frequency harmonic amplitude input. Step 3: The controller performs bandpass filtering on the hydraulic oil chamber pressure signal within the same time window and identifies the number of peak-to-valley alternations in the continuous pressure pulses. The sawtooth wave fluctuation frequency is calculated by converting the time interval between adjacent peaks of the same type. If no more than two consecutive valid pulses are identified in the current window, the sawtooth wave fluctuation frequency of the window is recorded as zero or the previous valid value is retained. Step 4: The controller performs scale unification processing on the low-frequency harmonic amplitude and sawtooth wave ripple frequency respectively, and then inputs them into the drag-thrust stiffness mismatch index calculation module. Step 5: After the index is calculated, it is first compared with the set threshold, and then the comparison result is output to the execution control module. The execution control module decides whether to increase the excitation of the electromagnet 500, decrease the control current of the magnetorheological elastomer pad 600, and drive the main drive hydraulic cylinder 400 to perform the lateral reset action. The threshold setting can be determined by a phased calibration method. Baseline data is collected when the equipment is traveling in a straight line under no load and without any correction action to obtain the index baseline under normal friction and normal structural response conditions. Then, the test is repeated under rated load, known track deviation and known lateral thrust conditions, and the corresponding index intervals when obvious stick-slip, pressure pulse enhancement or discontinuous lateral movement of the moving beam 100 are recorded. The transition value between the upper limit of the normal interval and the lower limit of the abnormal interval is selected as the threshold setting. For different specifications and models of equipment, the controller can call the calibration table corresponding to the equipment model and directly read the corresponding threshold. After such setting, the source of the threshold is clear and is related to the wheel-rail conditions, load level and hydraulic system characteristics of the specific equipment. To avoid control jitter, the controller can be further configured with continuous judgment rules. That is, the electromagnet 500 excitation enhancement and pad softening are triggered only when the drag-thrust stiffness mismatch index is greater than the set threshold for multiple consecutive sampling periods; the rigid load-bearing locking state is restored only when the index is less than or equal to the set threshold for multiple consecutive sampling periods. The number of cycles used for continuous judgment can be set to 2 to 10 control cycles. The above processing ensures that the signal flow, calculation logic and control triggering relationship have a clear causal chain, which is beneficial for engineering implementation. To verify the effectiveness of the above control method, the applicant conducted a comparative experiment. Under the working conditions of rated load of 1500t and local track height difference of 20mm, when using the traditional rigid lateral push method, the main drive hydraulic cylinder 400 needs to output a pressure of 25MPa to overcome static friction, and the lateral movement is accompanied by high frequency and irregular stick-slip jump, with a sawtooth wave fluctuation frequency of 45Hz. Using the method of this invention, when the resistance-thrust stiffness mismatch index reaches the set threshold of 0.75, the linkage control is triggered, the electromagnet 500 outputs an 80A excitation current, the pad modulus is reduced to 10% of the original, the main drive hydraulic cylinder 400 only needs 12MPa pressure to achieve smooth lateral movement, and the sawtooth wave fluctuation frequency is reduced to below 5Hz. The experimental data fully demonstrates the significant effect of the combined friction reduction and variable stiffness of this scheme on reducing correction resistance and eliminating stick-slip. The causal relationship between the means and the effect is clear and has solid practical basis.

[0025] In the step of calculating the drag-thrust stiffness mismatch index, the drag-thrust stiffness mismatch index is obtained based on the extracted low-frequency harmonic amplitude and the preset friction state weighting coefficient, as well as the sawtooth wave oscillation frequency and the structural torsion weighting coefficient. The drag-thrust stiffness mismatch index is used to unify two types of heterogeneous signals from the travel drive side and the hydraulic correction side into a comparable criterion; after the controller obtains the low-frequency harmonic amplitude, it first performs scale unification processing on the amplitude, which can be done by normalizing the rated current, normalizing the extreme value of the sliding window, or normalizing the empirical calibration value. After obtaining the sawtooth wave fluctuation frequency, the controller performs the same form of scaling on the frequency value; in order to make the index adaptable to different equipment and different rated power, the controller sets the friction state weighting coefficient and the structural torsion weighting coefficient respectively. The friction state weighting coefficient is used to characterize the importance of the influence of track resistance changes on the traveling wheel 320, and the structural torsion weighting coefficient is used to characterize the importance of structural torsion release when the main drive hydraulic cylinder 400 pushes the movable beam 100; the two weighting coefficients can be determined by experimental calibration, and the sum of the two can be set to 1, or they can be set independently to any positive number; In specific calculations, the controller multiplies the low-frequency harmonic amplitude by the friction state weighting coefficient to obtain the friction characterization quantity; it multiplies the sawtooth wave ripple frequency by the structural torsion weighting coefficient to obtain the torsion characterization quantity; then it adds the friction characterization quantity and the torsion characterization quantity to obtain the drag-thrust stiffness mismatch index; if normalization is used, the index calculation formula can correspond to a dimensionless quantity, which is convenient for comparison with a unified threshold; for example, the friction state weighting coefficient can be set to 0.4 to 0.7, and the structural torsion weighting coefficient can be set to 0.3 to 0.6; When the equipment is in a state of uneven track but small correction thrust, the amplitude of low frequency harmonics increases while the frequency of sawtooth wave fluctuation is low, which is within the preset normal fluctuation range; when the equipment is simultaneously experiencing wheel-rail stick-slip and structural torsional release, both characteristic quantities increase synchronously and the exponent increases rapidly, which is more conducive to identifying the moment when it is necessary to switch to the friction reduction and softening state. The purpose of this calculation method is to avoid misjudgment caused by relying solely on displacement measurement or a single pressure signal, so that changes in electrical load and stress release on the hydraulic side can jointly participate in the correction judgment; the purpose of scale unification processing is to eliminate the influence of different dimensions and inconsistent numerical ranges of low-frequency harmonic amplitude and sawtooth wave fluctuation frequency, so that the two input quantities can be compared within the same judgment framework. Taking rated value normalization as an example, the controller can use the upper limit of the low-frequency harmonic reference respectively. and sawtooth wave frequency reference upper limit Processing is carried out, among which, The upper limit of the allowable low-frequency harmonic amplitude during the rated load test can be taken. The upper limit of the allowable sawtooth wave fluctuation frequency in the correction test can be taken; after normalization, it can be obtained as follows:

[0026] ;

[0027] in, The low-frequency harmonic amplitude extracted in the current window. The frequency of the sawtooth wave extracted in the current window. and These represent the dimensionless characterization values ​​for the friction side and the torsion side, respectively; This is the upper limit of the low-frequency harmonic reference. This is the upper limit of the sawtooth wave frequency reference; after obtaining and Then, the controller synthesizes the data according to predetermined weights; if a linear weighting method is used, the drag-thrust stiffness mismatch index I can be expressed as: ; In the formula, The friction state weighting coefficient is used. This is the structural torsional weighting coefficient. The drag-thrust stiffness mismatch index; and between, and The expression between the two terms represents a multiplication operation. This formula is only used to illustrate the synthesis relationship between the two types of signals in the control logic. Its focus is on first completing feature extraction, then completing scale unification, and performing weighted summation, rather than directly mapping the original signals using undisclosed internal logic. To ensure the algorithm's feasibility, and All parameters can be preset in the controller parameter table through testing, or automatically recorded by the controller during the initial commissioning of the equipment; If the current A is greater than Or the current F is greater than Then the corresponding or The amplitude can be limited to 1, or it can be allowed to exceed the limit in a small range of 1 to 1.2 to improve sensitivity; if the sensor’s instantaneous distortion causes an abnormal surge in A or F, the controller can first perform median filtering or continuous window consistency check before participating in the exponential calculation. Through the above steps, the friction state weighting coefficient and the structural torsion weighting coefficient not only have clear physical meanings, but also the source of the pre-calculation data, the calculation order and the use of the results are clearly defined. In terms of hardware implementation and data flow, the raw current and pressure analog signals collected by the underlying sensors are digitized by the analog-to-digital conversion module and stored in the controller's ring first-in-first-out buffer; the feature extraction algorithm module reads data frames in batches from the buffer according to the set control window, calculates the M and T values, and then transmits them to the weighted calculation module through the internal high-speed data bus. The weighted calculation module performs weighted summation. If M or T encounters a non-numerical or infinitely large abnormal value due to reasons such as sensor disconnection, the fault tolerance mechanism is triggered, the current exponent I is forcibly set below the safety threshold, and a hardware fault flag is reported. The calculated exponent I is written to the shared memory area for the execution control module to read in the next control cycle, thereby ensuring that the interaction logic between algorithm modules is fully programmable and the data flow is clear.

[0028] In the step of outputting excitation current to electromagnet 500, excitation current is output to electromagnet 500 through pulse width modulation technology. The magnitude of the excitation current is proportional to the difference between the resistance-thrust stiffness mismatch index and the set threshold. When the controller supplies power to the electromagnet 500, it uses pulse width modulation to adjust the average excitation current. The pulse width modulation carrier frequency can be set from 1kHz to 20kHz, and the duty cycle range can be set from 5% to 95%. The controller calculates the difference between the drag-thrust stiffness mismatch index and the set threshold in real time, and uses this difference as the basis for adjusting the excitation intensity of the electromagnet 500. The difference between the drag-thrust stiffness mismatch index and the threshold directly reflects the severity of the current system deviating from the stable correction state. Based on this, the controller adopts a control strategy in which the magnitude of the excitation current is proportional to the difference. The larger the difference, the more obvious the mismatch between the current wheel-rail resistance and structural stiffness, and the higher the risk of stick-slip resistance. A larger excitation current needs to be output proportionally to generate a stronger electromagnetic attraction, thereby providing a greater normal load reduction effect. Conversely, the smaller the difference, the closer the system is to the safe sliding range. The electromagnetic attraction needs to be reduced accordingly to avoid excessive load reduction that would lead to the complete loss of wheel-rail static friction. The controller can use a linear proportional relationship to map the difference to the target excitation current, or it can use a piecewise linear relationship to avoid frequent jitter when the difference is small; this proportional causal adjustment mechanism enables the electromagnetic load reduction effect to dynamically track the resistance change and ensure the stability of the correction process. For example, when the difference between the drag-thrust stiffness mismatch index and the threshold is between 0 and 0.1, the duty cycle can be controlled between 10% and 30%; when the difference is between 0.1 and 0.3, the duty cycle can be controlled between 30% and 70%; when the difference is greater than 0.3, the duty cycle can be controlled between 70% and 95%. The controller updates the duty cycle in each control cycle and verifies whether the actual excitation current reaches the target value through the current sensor. Using pulse width modulation technology instead of a fixed current method allows for continuous adjustment of the electromagnetic attraction force based on the real-time mismatch degree, thereby adapting the reduction in wheel-rail normal pressure to the current correction requirements. This can avoid excessive unloading during slight misalignment and provide sufficient normal unloading effect under high resistance stick-slip conditions, enabling the main drive hydraulic cylinder 400 to obtain more stable lateral thrust conditions. In the specific control process, the controller first reads the resistance-thrust stiffness mismatch index of the current control cycle, and then compares it with the set threshold to obtain the deviation amount. If the deviation amount is less than or equal to zero, the electromagnet excitation is not increased by 500, and the current duty cycle is maintained or the duty cycle is gradually reduced according to the recovery procedure. If the deviation amount is greater than zero, the excitation enhancement process is entered. The excitation enhancement process first uses a lookup table or proportional conversion to obtain the target duty cycle, and then the pulse width modulation drive module outputs the corresponding pulse signal to the electromagnet 500 coil. The input of this process is the mismatch index and the set threshold. The processing result is the target duty cycle or the target excitation current. The output flows to the electromagnet 500 drive circuit and the actual current verification link. The logic chain is clear. "Proportional" means that within the preset working range, the greater the mismatch index exceeds the set threshold, the greater the target excitation current, and the two maintain a monotonically increasing relationship. To prevent the electromagnet 500 from overheating or the attraction force from being too strong due to differences in track material, the controller can set an upper limit for the target excitation current, which can be 80% to 100% of the rated current of the electromagnet 500. At the same time, the minimum effective excitation current lower limit can be set. The lower limit can be 10% to 20% of the rated current to avoid the coil being in an ineffective switching state when the duty cycle is too low. If the actual detected current deviates from the target excitation current beyond the allowable range, the controller can correct the duty cycle in the next control cycle or directly enter the conservative control mode to limit the action speed of the main drive hydraulic cylinder 400. To avoid frequent switching of the electromagnet 500 when the mismatch index fluctuates near the threshold, the controller can be set with a proportional adjustment dead zone and a duty cycle change slope limit. The dead zone can be set to 0.01 to 0.03 above the threshold, and the duty cycle of the previous cycle remains unchanged when within this range. The duty cycle change slope can be limited to increase or decrease by 2% to 10% per control cycle. With the above supplementary limitations, the input source of the pulse width modulation output, the proportional adjustment process, the output result, and its destination in the actuator are all clearly explained. In terms of data flow, after the execution control module reads the mismatch index from the shared memory area, it calculates the digital quantity of the target duty cycle through the built-in proportional control algorithm, and sends the digital quantity to the independent pulse width modulation hardware generator through the serial peripheral interface or internal integrated circuit bus. The pulse width modulation generator converts digital signals into square wave drive signals with corresponding duty cycles, which are then input to a power amplifier circuit composed of an insulated gate bipolar transistor or a metal-oxide-semiconductor field-effect transistor to control the average voltage of the 500 coil of the electromagnet. This hardware configuration ensures that the response time from the completion of the exponential calculation to the output of the PWM signal is within 1ms, perfectly matching the sampling control cycle of 5ms to 50ms, and achieving a high real-time electromagnetic load shedding response.

[0029] The process of reducing the excitation current of the electromagnet 500 and increasing the control current of the magnetorheological elastomer pad 600 in step S6 is as follows: gradually reduce the excitation current of the electromagnet 500 to zero, and simultaneously increase the control current of the magnetorheological elastomer pad 600 to the maximum value. When the controller determines that the resistance-thrust stiffness mismatch index has fallen back to within the set threshold and the high-frequency pulse in the hydraulic oil chamber pressure signal has become flat, the controller executes subsequent control to restore the rigid load-bearing locked state. To avoid a sudden drop in electromagnetic attraction caused by directly cutting off the power supply, the excitation current of the electromagnet 500 is gradually reduced to zero using a ramp-down method. The descent time can be set from 0.2s to 5s, so that the normal positive pressure of the traveling wheel 320 on the track can be restored smoothly, preventing the instantaneous change in contact pressure from causing new mechanical impact or micro-slippage. Meanwhile, in order to quickly restore load-bearing stability, the control current of the magnetorheological elastomer pad 600 is increased to the maximum value, so that it changes from a softened state to a high-modulus hardened state within a preset response time. The above steps of gradually restoring normal pressure and instantaneously restoring support stiffness work together to enable the system state after the correction to safely and seamlessly switch from a low-friction, low-modulus state back to a normal rigid load-bearing locked state. By gradually reducing the excitation current of the electromagnet 500 to zero and simultaneously increasing the control current of the magnetorheological elastomer pad 600 to its maximum value, the system can be restored from a low-friction, low-modulus state to a normal load-bearing state after the correction is completed. After the electromagnetic attraction force returns to zero, the wheel-rail contact restores its designed load-bearing capacity. After the magnetorheological elastomer pad 600 hardens, the micro-motion degree of freedom of the traveling wheel frame 300 relative to the trolley 200 is compressed, and the movable beam 100 maintains an additional displacement within the set tolerance range under the subsequent excavation and rotation loads. The controller can continue to monitor the three-phase current and hydraulic pressure signals during this state. Once the resistance-thrust-stiffness mismatch index rises again, the load reduction and softening control will be re-executed. Through the above processing, the switching between the correction action and the load lock state has clear triggering conditions and executable current control paths.

[0030] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A deviation rectifying device for a movable beam of a bucket wheel machine, characterized in that include: Movable beam (100); trolley (200), located below the movable beam (100); A track surface (330) is laid under the trolley (200); The traveling wheel frame (300) is mounted on the bottom of the trolley (200) via a hinge shaft (310), and contains a traveling wheel (320) supported on the track surface (330). The traveling wheel (320) is connected to the traveling motor (340). A main drive hydraulic cylinder (400) is connected between the trolley (200) and the movable beam (100) to provide lateral thrust; An electromagnet (500) is fixed to the bottom of the wheel frame (300), with its magnetic pole face (510) facing the track surface (330) and maintaining a gap, so as to generate an upward electromagnetic attraction. A magnetorheological elastomer pad (600) is placed between the top surface of the traveling wheel frame (300) and the bottom surface of the trolley (200) to dynamically change the support stiffness; The left-side antagonistic hydraulic cylinder (700) and the right-side antagonistic hydraulic cylinder (800) are respectively vertically installed on the lower left and right sides of the movable beam (100). The cylinder barrels (810) of the two are fixed to the top surface of the trolley (200), and the piston rods (820) of the two are pressed against the bottom surface of the movable beam (100). Both the left-side antagonistic hydraulic cylinder (700) and the right-side antagonistic hydraulic cylinder (800) are provided with an upper chamber and a lower chamber; A cross-connecting pipe (900) connects the upper and lower chambers of the left antagonistic hydraulic cylinder (700) to the lower and upper chambers of the right antagonistic hydraulic cylinder (800), respectively. The controller is connected to control the walking motor (340), the main drive hydraulic cylinder (400), the electromagnet (500), and the magnetorheological elastomer pad (600).

2. The movable boom correction device for a bucket wheel machine according to claim 1, characterized in that The cylinder end of the main drive hydraulic cylinder (400) is fixed to the side wall of the trolley (200) by a pin (410), and the piston rod end of the main drive hydraulic cylinder (400) is connected to the side wall of the movable beam (100) by a pin (410).

3. The movable boom deviation correction device for a bucket wheel machine according to claim 1, characterized in that The electromagnet (500) is fixed to the bottom of the walking wheel frame (300) by bolts (1000).

4. The movable boom correction device for a bucket wheel machine according to claim 1, characterized in that The trolley (200), the magnetorheological elastomer pad (600), and the walking wheel frame (300) are pressed and fixed together by bolts (1000).

5. The movable boom correction device for a bucket wheel machine according to claim 1, characterized in that The left-side antagonistic hydraulic cylinder (700) and the right-side antagonistic hydraulic cylinder (800) are respectively located below the load-bearing hinge points (1100) provided on the left and right sides of the movable beam (100).

6. The movable boom correction device for a bucket wheel machine according to claim 1, characterized in that The cross-connecting pipe (900) is a seamless steel pipe, and the interior of the cross-connecting pipe (900) and the cavities of the left antagonistic hydraulic cylinder (700) and the right antagonistic hydraulic cylinder (800) are filled with hydraulic oil.

7. A control method of a boom deviation correction device of a bucket wheel machine, applied to the boom deviation correction device of the bucket wheel machine according to claim 1, characterized in that, include: S1. Collect the three-phase current signal of the drive end of the walking motor (340) and the hydraulic oil chamber pressure signal of the main drive hydraulic cylinder (400); S2. Extract the low-frequency harmonic amplitude from the transient spectrum of the three-phase current signal and the sawtooth wave fluctuation frequency of the high-frequency pulse of the hydraulic oil chamber pressure signal. After performing scale unification processing on the low-frequency harmonic amplitude and the sawtooth wave fluctuation frequency respectively, calculate the resistance-thrust stiffness mismatch index. S3. Determine the relationship between the resistance-thrust stiffness mismatch index and the pre-calibrated threshold value. S4. When the resistance thrust stiffness mismatch index is greater than the set threshold, an excitation current is output to the electromagnet (500) to control the electromagnet (500) to generate an upward electromagnetic attraction force, and the control current input to the magnetorheological elastomer pad (600) is reduced simultaneously, so that the elastic modulus of the magnetorheological elastomer pad (600) is reduced. S5. Control the main drive hydraulic cylinder (400) to perform an extension or retraction action, and push the movable beam (100) to return to its lateral reset. S6. When the resistance thrust stiffness mismatch index is less than or equal to the set threshold, reduce the excitation current of the electromagnet (500) and increase the control current of the magnetorheological elastomer pad (600).

8. The control method according to claim 7, characterized by, In the step of calculating the drag-thrust stiffness mismatch index, the drag-thrust stiffness mismatch index is obtained based on the extracted low-frequency harmonic amplitude and the preset friction state weighting coefficient, as well as the sawtooth wave fluctuation frequency and the structural torsion weighting coefficient.

9. The control method according to claim 7, characterized by, In the step of outputting excitation current to the electromagnet (500), the excitation current is output to the electromagnet (500) through pulse width modulation technology. The magnitude of the excitation current is proportional to the difference between the resistance-thrust stiffness mismatch index and the set threshold value.

10. The control method according to claim 7, characterized by, The process of reducing the excitation current of the electromagnet (500) and increasing the control current of the magnetorheological elastomer pad (600) in step S6 is as follows: gradually reduce the excitation current of the electromagnet (500) to zero, and simultaneously increase the control current of the magnetorheological elastomer pad (600) to the maximum value.

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