Portal bucket wheel excavator equipment capable of automatically stacking and retrieving materials and automatic stacking and retrieving method

Abstract

The present invention discloses a gantry bucket wheel excavator equipment capable of automatic stacking and retrieving materials, including a bucket wheel trolley, a movable beam, a bucket wheel trolley, a stacking and retrieving belt conveyor, a retrieving belt conveyor, a mobile belt conveyor, a C-7 belt conveyor, a tail car, a laser coal pan meter, a radar material level meter, a positioning transmitter, and a positioning receiver. The present invention realizes automatic stacking and retrieving materials, and improves the efficiency of stacking and retrieving materials. The present invention also discloses an automatic stacking and retrieving method for the gantry bucket wheel excavator equipment, including an automatic stacking method and an automatic retrieving method. The automatic stacking method is that the bucket wheel trolley and the mobile belt conveyor repeatedly cycle from the starting position to the ending position according to the setting to stack materials, and the automatic retrieving method is that the bucket wheel trolley and the bucket wheel trolley repeatedly cycle from the starting position to the ending position according to the setting to retrieving materials. The present invention has accurate stacking and retrieving materials, does not require manual visual operation, and each mechanism operates in sequence according to the setting, and has high stacking and retrieving efficiency and accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of bucket wheel machines, relates to a portal bucket wheel machine device capable of automatically stacking and retrieving materials, and also relates to an automatic stacking and retrieving method for the portal bucket wheel machine device. Background Art

[0002] The gantry bucket wheel machine is large in size and is often used to stack and retrieve large amounts of coal and other materials. Due to the different working sites and working conditions, the traditional gantry bucket wheel machine requires manual control of the operation, that is, the bucket wheel machine driver manually operates the stacking and retrieval of coal. However, manual operation is often controlled by visual inspection, which is prone to operating errors. The stacking and retrieval working environment is harsh, which is not conducive to the health of the operators. The long operation time can easily cause fatigue to the operators. In addition, due to the large size of the equipment, it is difficult to overhaul and the operators are difficult to find in time, which is prone to safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide a portal bucket wheel excavator device capable of automatically stacking and retrieving materials, thereby realizing automatic stacking and retrieving of materials and improving the efficiency of stacking and retrieving of materials.

[0004] Another object of the present invention is to provide an automatic stacking and reclaiming method for a portal bucket wheel excavator, thereby improving the accuracy of stacking and reclaiming.

[0005] The first technical solution adopted by the present invention is a gantry bucket wheel machine equipment that can automatically stack and reclaim materials, including a gantry bucket wheel machine, the gantry bucket wheel machine includes a bucket wheel trolley, a movable beam, a bucket wheel trolley, a stacking and reclaiming belt conveyor, a reclaiming belt conveyor, a mobile belt conveyor, a belt conveyor and a tail trolley, a bucket wheel is arranged on the bucket wheel trolley, a laser coal meter is arranged on the top of the bucket wheel trolley, a radar level meter is arranged on the bottom of the mobile belt conveyor, the movable beam, the bucket wheel trolley and the mobile belt conveyor are all provided with positioning transmitters, the bucket wheel trolley is respectively provided with positioning receivers matching each positioning transmitter, the bucket wheel trolley is also provided with a positioning transmitter, a positioning receiver matching the positioning transmitter on the bucket wheel trolley is arranged on the outside of the bucket wheel trolley, and the laser coal meter, the radar level meter and the positioning receiver are all connected to the central controller of the bucket wheel machine equipment.

[0006] The first technical solution of the present invention is also characterized in that:

[0007] Positioning transmitter a and positioning transmitter b are respectively arranged at both ends of the movable beam, and positioning receiver a and positioning receiver b are respectively arranged on the top of the bucket wheel vehicle, the positioning receiver a and positioning transmitter a are located in the same vertical direction, and the positioning receiver b and positioning transmitter b are located in the same vertical direction;

[0008] The two ends of the bucket wheel trolley are respectively provided with a positioning transmitter c and a positioning transmitter d, and the bucket wheel trolley is respectively provided with a positioning receiver c and a positioning receiver d on both sides of the bucket wheel trolley, the positioning receiver c is arranged on the side close to the positioning transmitter c and the two are at the same level, and the positioning receiver d is arranged on the side close to the positioning transmitter d and the two are at the same level;

[0009] Positioning transmitters e and f are respectively arranged at both ends of the mobile belt conveyor, and positioning receivers e and f are respectively arranged on both sides of the mobile belt conveyor on the bucket wheel trolley. Positioning receiver e is arranged on the side close to positioning transmitter e and the two are at the same level, and positioning receiver f is arranged on the side close to positioning transmitter f and the two are at the same level;

[0010] A positioning transmitter g and a positioning transmitter h are respectively arranged at the front and rear ends of the bucket wheel truck, and a positioning receiver g and a positioning receiver h are respectively arranged at the same height close to the positioning transmitter g and the positioning transmitter h.

[0011] The driving motors of the bucket wheel trolley and the bucket wheel cart are both equipped with sound spectrum acquisition devices, which are connected to filtering and shaping data processing devices, and the data processing devices are connected to the central controller of the bucket wheel excavator equipment.

[0012] The movable beam is raised and lowered by winches arranged at the bottom of both ends thereof. An absolute encoder is arranged on the rotating shaft of the wire rope drum of the winch, and the absolute encoder is connected to the central controller of the bucket wheel excavator equipment.

[0013] There are two laser coal measuring instruments, which are arranged in the middle of the top of the bucket wheel trolley.

[0014] Two radar level meters are provided, and the two radar level meters are respectively arranged near the two ends of the mobile belt conveyor.

[0015] The matching positioning transmitter and positioning receiver are UWB positioning devices.

[0016] The second technical solution adopted by the present invention is an automatic stacking and retrieving method for a portal bucket wheel excavator, which performs automatic stacking and retrieving by means of the portal bucket wheel excavator capable of automatic stacking and retrieving of the present invention, including an automatic stacking method and an automatic retrieving method;

[0017] Automatic stacking methods include:

[0018] Obtain the initial position of the bucket wheel trolley, the initial position of the mobile belt conveyor, the initial position of the bucket wheel trolley, the initial height of the movable beam, the initial position of the stacker-reclaimer belt conveyor, and the initial position of the reclaimer belt conveyor;

[0019] According to the distribution of the material pile in the coal yard measured by the two laser coal measuring instruments, the fully automatic material pile setting data is generated. The material pile setting data includes: the material pile starting position A1, the material pile ending position A2, and the bucket wheel machine material pile mode from the left limit T t1 To right limit T t2 , pile height H t , the left, middle and right positions of the mobile belt conveyor for coal stacking are: W1, W2, W3, the stacking direction is: from left to right, then from right to left, for a cycle, the moving distance of the mobile belt conveyor is ΔW, the moving distance of the bucket wheel trolley is ΔA, and the moving distance of the movable beam is ΔH;

[0020] After confirming that the equipment is fault-free, start the gantry bucket wheel machine, the tail car changes to the stacking position, the tail car baffle changes to the stacking position, the movable beam is lifted to the upper limit, the bucket wheel trolley moves to the left limit, and the mobile belt conveyor moves to the left stacking left limit. After each mechanism reaches the preset position, start the mobile belt conveyor, the stacking and reclaiming belt conveyor, and the belt conveyor 1 in sequence;

[0021] The bucket wheel trolley moves to the starting position A1 for stacking, and the movable beam descends to start the stacking operation. During the stacking process, the radar level meter detects the distance between the material pile and the movable beam. When the distance is reduced to the set distance, the mobile belt conveyor moves an inch distance ΔW to reach the next stacking position. When the radar level meter detects that the distance between the movable beam and the material pile is less than the set distance again, the mobile belt conveyor continues to move an inch distance ΔW, and the cycle repeats until it moves to the final stacking position W3.

[0022] At this time, the bucket wheel trolley moves from A1 by an inching distance ΔA to the end position of the stacking A2, and the mobile belt conveyor continues to stack materials in the opposite direction of the previous direction. With W3 as the starting position, the radar level meter detects the distance between the material pile and the movable beam. When the distance is reduced to the set distance, the mobile belt conveyor moves from W3 to the right by ΔW. When the corresponding radar level meter detects again that the distance between the movable beam and the material pile is less than the set distance, the mobile belt conveyor continues to move to the right by ΔW, and repeats until it moves to W1. The bucket wheel trolley moves ΔA to the direction of A2 again. According to this rule, when the bucket wheel trolley moves to A2, the system stops and the automatic stacking ends.

[0023] Automatic material collection methods include:

[0024] Obtain the initial position of the bucket wheel trolley, the initial position of the mobile belt conveyor, the initial position of the bucket wheel trolley, the initial height of the movable beam, the initial position of the stacker-reclaimer belt conveyor, and the initial position of the reclaimer belt conveyor;

[0025] According to the distribution of the material pile in the coal yard measured by the two laser coal measuring instruments, the fully automatic material pile setting data is generated. The setting data includes: material taking starting position A3, material taking ending position A4, material taking height upper limit Ht3, material taking height lower limit Ht4, bucket wheel trolley left limit W4, right limit W5, material taking direction: from left to right, then from right to left, in a cycle, bucket wheel trolley inch movement distance ΔA3, movable beam inch movement distance ΔH3;

[0026] After confirming that the equipment is fault-free, start the gantry bucket wheel machine, the tail car changes to the reclaiming position, the tail car baffle changes to the reclaiming position, the movable beam is lifted to the upper limit, and the bucket wheel trolley moves to the left limit. After all equipment reaches the preset position, the system starts the belt conveyor 1, the stacker-reclaimer belt conveyor, the reclaimer belt conveyor, and the bucket wheel in sequence;

[0027] The bucket wheel trolley moves to position A3, the movable beam drops to Ht3, the bucket wheel trolley moves to W4, and after the bucket wheel is aligned with the working surface, the bucket wheel rotates to take materials to the reclaiming belt conveyor and the stacking and reclaiming belt conveyor, and then the belt conveyor is transported to the coal conveying section. The bucket wheel trolley moves from W4 to W5 at a constant speed. After reaching W5, the movable beam drops ΔH3, and then the bucket wheel trolley moves to W4 to continue taking materials;

[0028] As the bucket wheel trolley moves back and forth between W4 and W5, the movable beam drops to Ht4. At this time, the bucket wheel trolley moves ΔA3 from A3 to A4, and the bucket wheel trolley continues to move back and forth, and the height of the movable beam remains unchanged;

[0029] When the bucket wheel trolley finally moves to the A4 position, the system stops and the automatic material removal ends.

[0030] The second technical solution of the present invention is also characterized in that:

[0031] The set distance between the material pile and the movable beam is set to 2m.

[0032] When taking materials, the material pile is divided into three layers of upper, middle and lower in height direction for taking materials, and each layer is taken according to the automatic taking method.

[0033] The beneficial effects of the present invention are:

[0034] The gantry bucket wheel excavator equipment capable of automatically stacking and retrieving materials of the present invention can realize unattended automatic stacking and retrieving of materials such as coal by accurately acquiring and controlling the operating positions of the bucket wheel, bucket wheel vehicle, movable beam and various belt conveyors. The stacking and retrieving efficiency is high and the system is safe and reliable, which is of great significance for improving the fuel utilization efficiency of large power plants. The system can save manpower and operators no longer need to operate on site, and can realize precise control remotely through the central controller of the bucket wheel excavator equipment, thereby avoiding waste of materials.

[0035] The automatic stacking and reclaiming method of the portal bucket wheel excavator equipment of the present invention has accurate stacking and reclaiming, does not require manual visual operation, and each mechanism operates in sequence according to the setting, and has high stacking and reclaiming efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a gantry bucket wheel excavator capable of automatically stacking and retrieving materials according to the present invention;

[0037] Figure 2 It is a top view of the portal bucket wheel excavator equipment capable of automatically stacking and retrieving materials according to the present invention.

[0038] In the figure, 1. bucket wheel trolley, 2. movable beam, 3. bucket wheel trolley, 4. stacking and reclaiming belt conveyor, 5. reclaiming belt conveyor, 6. mobile belt conveyor, 7. bucket wheel, 8. laser coal disc meter, 9. radar level meter, 10. positioning transmitter a, 11. positioning transmitter b, 12. positioning receiver a, 13. positioning receiver b, 14. positioning transmitter c, 15. positioning transmitter d, 16. positioning receiver c, 17. positioning receiver d, 18. positioning transmitter e, 19. positioning transmitter f, 20. positioning receiver e, 21. positioning receiver f, 22. positioning transmitter g, 23. positioning transmitter h, 24. positioning receiver g, 25. positioning receiver h. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] The portal bucket wheel excavator equipment capable of automatically stacking and retrieving materials of the present invention is as follows: Figure 1-2 As shown, it includes a gantry bucket wheel machine, which includes a bucket wheel trolley 1, a movable beam 2, a bucket wheel trolley 3, a stacking and reclaiming belt conveyor 4, a reclaiming belt conveyor 5, a mobile belt conveyor 6, a belt conveyor 1 and a tail car. A bucket wheel 7 is arranged on the bucket wheel trolley 3. Two laser coal disc meters 8 are arranged at the middle position of the top of the bucket wheel trolley 1. Radar level meters 9 are arranged at the bottom of the mobile belt conveyor 6, respectively, near both ends of the mobile belt conveyor 6. Positioning transmitters are arranged on the movable beam 2, the bucket wheel trolley 3, and the mobile belt conveyor 6. Positioning receivers matching each positioning transmitter are respectively arranged on the bucket wheel trolley 1. A positioning transmitter is also arranged on the bucket wheel trolley 1. A positioning receiver matching the positioning transmitter on the bucket wheel trolley 1 is arranged on the outside of the bucket wheel trolley 1. The laser coal disc meter 8, the radar level meter 9, and the positioning receiver are all connected to the central controller of the bucket wheel machine equipment.

[0041] The two ends of the movable beam 2 are respectively provided with a positioning transmitter a10 and a positioning transmitter b11, and the top of the bucket wheel cart 1 is respectively provided with a positioning receiver a12 and a positioning receiver b13, the positioning receiver a12 and the positioning transmitter a10 are located in the same vertical direction, and the positioning receiver b13 and the positioning transmitter b11 are located in the same vertical direction;

[0042] The two ends of the bucket wheel trolley 3 are respectively provided with a positioning transmitter c14 and a positioning transmitter d15, and the bucket wheel trolley 1 is respectively provided with a positioning receiver c16 and a positioning receiver d17 on both sides of the bucket wheel trolley 3, the positioning receiver c16 is arranged on the side close to the positioning transmitter c14 and the two are at the same level, and the positioning receiver d17 is arranged on the side close to the positioning transmitter d15 and the two are at the same level;

[0043] The two ends of the mobile belt conveyor 6 are respectively provided with a positioning transmitter e18 and a positioning transmitter f19, and the bucket wheel trolley 1 is respectively provided with a positioning receiver e20 and a positioning receiver f21 on both sides of the mobile belt conveyor 6, the positioning receiver e20 is arranged on the side close to the positioning transmitter e18 and the two are at the same level, and the positioning receiver f21 is arranged on the side close to the positioning transmitter f19 and the two are at the same level;

[0044] The front and rear ends of the bucket wheel cart 1 are respectively provided with a positioning transmitter g22 and a positioning transmitter h23, and a positioning receiver g24 and a positioning receiver h25 are respectively provided at the same height close to the positioning transmitter g22 and the positioning transmitter h23.

[0045] The matching positioning transmitter and positioning receiver are UWB positioning devices.

[0046] The driving motors of the bucket wheel trolley and the bucket wheel cart are both equipped with a sound spectrum acquisition device, which is connected to a filtering and shaping data processing device, and the data processing device is connected to the central controller of the bucket wheel equipment. During the material taking process, friction and vibration will occur when the bucket wheel 7 contacts the material pile. Affected by coal quality, weather and other factors, the hardness and viscosity of the material pile are different. When the bucket wheel is operating, the body vibration will also change accordingly. When the coal quality is harder and the viscosity is higher, the bucket wheel vibrates more. When the coal quality is softer and the viscosity is lower, the bucket wheel vibrates less. The sound spectrum acquisition device collects the sound of the driving motor, which is filtered and shaped by the data processing device, and compared with the waveforms of each working condition in the audio library to analyze whether the audio signal waveform is normal. Once an abnormal situation is found, the bucket wheel is interlocked to stop, and the equipment operation audio when the fault occurs is played to ensure the safe operation of the bucket wheel.

[0047] The movable beam 2 is raised and lowered by the winches installed at the bottom of both ends. An absolute encoder is installed on the rotating shaft of the wire rope drum of the winch, and the absolute encoder is connected to the central controller of the bucket wheel equipment. The absolute encoder runs synchronously with the drum, and the height change of the movable beam is calculated by monitoring the number of turns of the drum. A positioning transmitter is also installed on the movable beam 2. The positioning device and the absolute encoder are redundant to ensure the accurate and reliable height of the movable beam. When the height of the movable beam is less than 2.8 meters, the winch is stopped by interlocking to avoid the derailment of the bucket wheel trolley due to the low height of the movable beam.

[0048] Due to the harsh working environment, rotating machinery is prone to bearing overheating, which seriously threatens the safety of the equipment. Install an infrared thermal imaging camera pan / tilt on the rotating equipment platform, set the relative position of each device, and update the position every 10 minutes to cyclically monitor the temperature of each rotating device. When an abnormal temperature is found, an alarm signal is sent to the central controller, the corresponding equipment is interlocked and stopped, and the fault location and alarm information are displayed on the upper computer screen.

[0049] The automatic stacking and retrieving method of the portal bucket wheel excavator equipment of the present invention is to automatically stack and retrieving materials through the portal bucket wheel excavator equipment capable of automatically stacking and retrieving materials of the present invention, including an automatic stacking method and an automatic retrieving method;

[0050] Automatic stacking methods include:

[0051] Obtain the initial position of the bucket wheel trolley 3, the initial position of the mobile belt conveyor 6, the initial position of the bucket wheel trolley 1, the initial height of the movable beam 2, the initial position of the stacking and reclaiming belt conveyor 4, and the initial position of the reclaiming belt conveyor 5;

[0052] According to the distribution of the material pile in the coal yard measured by the two laser coal measuring instruments 8, the fully automatic material pile setting data is generated. The material pile setting data includes: the material pile starting position A1, the material pile ending position A2, and the bucket wheel machine material pile mode from the left limit T t1 To right limit T t2 , pile height H t , the left, middle and right positions of the mobile belt conveyor 6 coal piles are: W1, W2, W3, the stacking direction: from left to right, then from right to left, for circulation, the mobile belt conveyor 6 inches moving distance ΔW, the bucket wheel trolley 1 inch moving distance ΔA, the movable beam 2 inches moving distance ΔH;

[0053] After confirming that the equipment is fault-free, start the gantry bucket wheel machine, the tail car changes to the stacking position, the tail car baffle changes to the stacking position, the movable beam 2 is lifted to the upper limit, the bucket wheel trolley 3 moves to the left limit, and the mobile belt conveyor 6 moves to the left stacking left limit. After each mechanism reaches the preset position, start the mobile belt conveyor 6, the stacking and reclaiming belt conveyor 4, and the belt conveyor 1 in sequence;

[0054] The bucket wheel trolley 1 moves to the starting position A1 of the stacking, and the movable beam 2 descends to start the stacking operation. During the stacking process, the radar level meter 9 detects the distance between the stockpile and the movable beam 2. When the distance is reduced to 2m, the mobile belt conveyor 6 moves an inch distance ΔW to reach the next stockpile position. When the radar level meter 9 detects that the distance between the movable beam 2 and the stockpile is less than 2m again, the mobile belt conveyor 6 continues to move an inch distance ΔW, and the cycle repeats until it moves to the final stockpile position W3.

[0055] At this time, the bucket wheel trolley 1 moves from A1 by an inch distance ΔA to the end position of the stacking A2, and the mobile belt conveyor 6 continues to stack materials in the opposite direction to the previous direction, with W3 as the starting position. The radar level meter 9 detects the distance between the material pile and the movable beam 2. When the distance is reduced to 2m, the mobile belt conveyor 6 moves from W3 to the right by ΔW. When the corresponding radar level meter 9 detects again that the distance between the movable beam 2 and the material pile is less than 2m, the mobile belt conveyor 6 continues to move to the right by ΔW, and the cycle repeats until it moves to W1. The bucket wheel trolley 1 moves ΔA to the direction of A2 again. According to this rule, when the bucket wheel trolley 1 moves to A2, the system stops and the automatic stacking ends.

[0056] Automatic material collection methods include:

[0057] Obtain the initial position of the bucket wheel trolley 3, the initial position of the mobile belt conveyor 6, the initial position of the bucket wheel trolley 1, the initial height of the movable beam 2, the initial position of the stacking and reclaiming belt conveyor 4, and the initial position of the reclaiming belt conveyor 5;

[0058] According to the distribution of the material pile in the coal yard panned by the two laser coal panning instruments 8, the fully automatic stacking setting data is generated, and the setting data includes: the starting position A3 of the material taking, the ending position A4 of the material taking, the upper limit Ht3 of the material taking height, the lower limit Ht4 of the material taking height, the left limit W4 of the bucket wheel trolley 3, the right limit W5, the material taking direction: from left to right, then from right to left, and so on, the bucket wheel trolley 1 inch moving distance ΔA3, the movable beam 2 inch moving distance ΔH3;

[0059] After confirming that the equipment is fault-free, start the gantry bucket wheel machine, the tail car changes to the reclaiming position, the tail car baffle changes to the reclaiming position, the movable beam 2 is lifted to the upper limit, and the bucket wheel trolley 3 moves to the left limit. After all equipment reaches the preset position, the system starts the belt conveyor 1, the stacking and reclaiming belt conveyor 4, the reclaiming belt conveyor 5, and the bucket wheel 7 in sequence;

[0060] The bucket wheel trolley 1 moves to the A3 position, the movable beam 2 drops to Ht3, the bucket wheel trolley 3 moves to W4, and after the bucket wheel 7 is aligned with the working surface, the bucket wheel 7 rotates to take materials to the reclaiming belt conveyor 5 and the stacking and reclaiming belt conveyor 4, and then the belt conveyor 1 transports the materials to the coal conveying section, and the bucket wheel trolley 3 moves from W4 to W5 at a constant speed. After reaching W5, the movable beam 2 drops by ΔH3, and then the bucket wheel trolley 3 moves to W4 to continue taking materials;

[0061] As the bucket wheel trolley 3 moves back and forth between W4 and W5, the movable beam 2 drops to Ht4. At this time, the bucket wheel trolley 1 moves ΔA3 from A3 to A4, the bucket wheel trolley 3 continues to move back and forth, and the height of the movable beam 2 remains unchanged;

[0062] When the bucket wheel trolley 1 finally moves to the A4 position, the system stops and the automatic material removal ends.

[0063] When taking materials, the material pile is divided into three layers in height direction: upper, middle and lower layers for taking materials. Each layer is taken according to the automatic taking method. The bucket wheel trolley 1 is set according to the gradient of the three layers. From top to bottom, the moving range tends to decrease, and each layer is 5 meters less, to ensure that the gradient of the material pile working surface is flat.

Claims

1. An automatic stacking and retrieving method for a gantry bucket wheel excavator, which is characterized in that: A gantry bucket wheel machine capable of automatically stacking and reclaiming materials comprises a gantry bucket wheel machine, the gantry bucket wheel machine comprising a bucket wheel trolley (1), a movable beam (2), a bucket wheel trolley (3), a stacking and reclaiming belt conveyor (4), a reclaiming belt conveyor (5), a mobile belt conveyor (6), a belt conveyor 1 and a tail trolley, the bucket wheel trolley (3) being provided with a bucket wheel (7), the top of the bucket wheel trolley (1) being provided with a laser coal meter (8), the bottom of the mobile belt conveyor (6) being provided with a radar material level meter (9), the movable beam (2), the bucket wheel trolley (3) and the mobile belt conveyor (6) being provided with positioning transmitters, the bucket wheel trolley (1) being provided with positioning receivers matching the positioning transmitters, the bucket wheel trolley (1) being also provided with a positioning transmitter, the outside of the bucket wheel trolley (1) being provided with a positioning receiver matching the positioning transmitter on the bucket wheel trolley (1), the laser coal meter (8), the radar material level meter (9) and the positioning receiver being connected to a central controller of the bucket wheel machine equipment; A positioning transmitter a (10) and a positioning transmitter b (11) are respectively arranged at both ends of the movable beam (2); a positioning receiver a (12) and a positioning receiver b (13) are respectively arranged on the top of the bucket wheel vehicle (1); the positioning receiver a (12) and the positioning transmitter a (10) are located in the same vertical direction, and the positioning receiver b (13) and the positioning transmitter b (11) are located in the same vertical direction; The bucket wheel trolley (3) is provided with a positioning transmitter c (14) and a positioning transmitter d (15) at both ends thereof, and the bucket wheel trolley (1) is provided with a positioning receiver c (16) and a positioning receiver d (17) at both sides thereof, wherein the positioning receiver c (16) is provided on a side close to the positioning transmitter c (14) and the two are located at the same level, and the positioning receiver d (17) is provided on a side close to the positioning transmitter d (15) and the two are located at the same level; The two ends of the mobile belt conveyor (6) are respectively provided with a positioning transmitter e (18) and a positioning transmitter f (19); the bucket wheel trolley (1) is respectively provided with a positioning receiver e (20) and a positioning receiver f (21) on both sides of the mobile belt conveyor (6); the positioning receiver e (20) is provided on a side close to the positioning transmitter e (18) and the two are located at the same level; the positioning receiver f (21) is provided on a side close to the positioning transmitter f (19) and the two are located at the same level; The bucket wheel vehicle (1) is provided with a positioning transmitter g (22) and a positioning transmitter h (23) at the front and rear ends thereof, respectively, and a positioning receiver g (24) and a positioning receiver h (25) are provided at the same height near the positioning transmitter g (22) and the positioning transmitter h (23); The driving motors of the bucket wheel trolley and the bucket wheel trolley are both equipped with a sound spectrum acquisition device, the sound spectrum acquisition device is connected to a filtering and shaping data processing device, and the data processing device is connected to a central controller of the bucket wheel excavator equipment; The movable beam (2) is raised and lowered by winches arranged at the bottom of both ends thereof, an absolute value encoder is arranged on the rotating shaft of the wire rope drum of the winch, and the absolute value encoder is connected to the central controller of the bucket wheel excavator equipment; Two laser coal counting instruments (8) are provided, and the two laser coal counting instruments (8) are arranged at the middle position of the top of the bucket wheel trolley (1); Two radar level meters (9) are provided, and the two radar level meters (9) are respectively provided near two ends of the moving belt conveyor (6); The matching positioning transmitter and positioning receiver are UWB positioning devices; Including automatic stacking method and automatic material taking method; The automatic stacking method comprises: Obtaining the initial position of the bucket wheel trolley (3), the initial position of the mobile belt conveyor (6), the initial position of the bucket wheel trolley (1), the initial height of the movable beam (2), the initial position of the stacking and reclaiming belt conveyor (4), and the initial position of the reclaiming belt conveyor (5); According to the distribution of the material pile in the coal yard collected by the two laser coal collecting instruments (8), fully automatic material pile setting data is generated, and the material pile setting data includes: the material pile starting position A1, the material pile ending position A2, and the bucket wheel machine material pile mode from the left limit position T t1 To right limit T t2 , pile height H t , the left, middle and right positions of the mobile belt conveyor (6) for piling coal are: W1, W2, W3, the piling direction is: from left to right, then from right to left, in a cycle, the mobile belt conveyor (6) moves by an inch distance ΔW, the bucket wheel trolley (1) moves by an inch distance ΔA, and the movable beam (2) moves by an inch distance ΔH; After confirming that the equipment is fault-free, start the gantry bucket wheel machine, the tail car is changed to the stacking position, the tail car baffle is changed to the stacking position, the movable beam (2) is lifted to the upper limit position, the bucket wheel trolley (3) moves to the left limit position, and the mobile belt conveyor (6) moves to the left stacking left limit position. After each mechanism reaches the preset position, start the mobile belt conveyor (6), the stacking and reclaiming belt conveyor (4), and the belt conveyor 1 in sequence; The bucket wheel trolley (1) moves to the starting position A1 for stacking, and the movable beam (2) descends to start the stacking operation. During the stacking process, the radar level meter (9) detects the distance between the material pile and the movable beam (2). When the distance is reduced to a set distance, the movable belt conveyor (6) moves an inch distance ΔW to reach the next stacking position. When the radar level meter (9) detects again that the distance between the movable beam (2) and the material pile is less than the set distance, the movable belt conveyor (6) continues to move an inch distance ΔW, and the cycle repeats until it moves to the final stacking position W3. At this time, the bucket wheel trolley (1) moves from A1 by an inching distance ΔA to the end position of the stacking A2, and the mobile belt conveyor (6) continues to stack the materials in the opposite direction to the previous direction, with W3 as the starting position. The radar level meter (9) detects the distance between the material pile and the movable beam (2). When the distance is reduced to the set distance, the mobile belt conveyor (6) moves from W3 to the left by ΔW. When the corresponding radar level meter (9) detects again that the distance between the movable beam (2) and the material pile is less than the set distance, the mobile belt conveyor (6) continues to move to the left by ΔW, and the cycle repeats until it moves to W1. The bucket wheel trolley (1) moves again in the direction of A2 by ΔA. According to this rule, when the bucket wheel trolley (1) moves to A2, the system stops and the automatic stacking ends. The automatic material taking method comprises: Obtaining the initial position of the bucket wheel trolley (3), the initial position of the mobile belt conveyor (6), the initial position of the bucket wheel trolley (1), the initial height of the movable beam (2), the initial position of the stacking and reclaiming belt conveyor (4), and the initial position of the reclaiming belt conveyor (5); According to the distribution of the material pile in the coal yard collected by the two laser coal collecting devices (8), the fully automatic material pile setting data is generated, and the setting data includes: the material collection starting position A3, the material collection ending position A4, the material collection height upper limit Ht3, the material collection height lower limit Ht4, the bucket wheel trolley (3) left limit W4, the right limit W5, the material collection direction: from left to right, then from right to left, and so on, the bucket wheel trolley (1) inch movement distance ΔA3, the movable beam (2) inch movement distance ΔH3; After confirming that the equipment is fault-free, the gantry bucket wheel machine is started, the tail car is changed to the material reclaiming position, the tail car baffle is changed to the material reclaiming position, the movable beam (2) is lifted to the upper limit position, and the bucket wheel trolley (3) moves to the left limit position. After all the equipment reaches the preset position, the system starts the belt conveyor 1, the stacking and reclaiming belt conveyor (4), the reclaiming belt conveyor (5), and the bucket wheel (7) in sequence; The bucket wheel trolley (1) moves to position A3, the movable beam (2) drops to Ht3, the bucket wheel trolley (3) moves to W4, and after the bucket wheel (7) is aligned with the working surface, the bucket wheel (7) rotates to take materials to the taking material belt conveyor (5) and the stacking and taking material belt conveyor (4), and then the belt conveyor is transported to the coal conveying section, and the bucket wheel trolley (3) moves from W4 to W5 at a constant speed. After reaching W5, the movable beam (2) drops ΔH3, and then the bucket wheel trolley (3) moves to W4 to continue taking materials; As the bucket wheel trolley (3) moves back and forth between W4 and W5, the movable beam (2) drops to Ht4. At this time, the bucket wheel trolley (1) moves ΔA3 from A3 to A4, the bucket wheel trolley (3) continues to move back and forth, and the height of the movable beam (2) remains unchanged; When the bucket wheel trolley (1) finally moves to position A4, the system stops and the automatic material removal ends.

2. The automatic stacking and reclaiming method of a gantry bucket wheel excavator according to claim 1, characterized in that: The set distance between the material pile and the movable beam is set to 2m.

3. The automatic stacking and reclaiming method of a portal bucket wheel excavator according to claim 1, characterized in that: When taking materials, the material pile is divided into three layers of upper, middle and lower in height direction for taking materials, and each layer is taken according to the automatic taking method.

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