A material reclaiming control method for a semi-gantry scraper reclaimer

Abstract

The present invention provides a method for controlling the reclaiming of a semi-gantry scraper reclaimer, the method comprising: step S100, scanning the shape of a stockpile; step S200, dividing the reclaiming intervals according to the scanned stockpile shape, and calculating the maximum corresponding reclaiming pitch angle within each reclaiming interval, wherein the reclaiming pitch angle is the inclination angle of the reclaiming arm relative to the horizontal plane when the scraper reaches the reclaiming point and first contacts the stockpile during the process of rotating and descending along the pitch circle center; step S300, reclaiming within the corresponding reclaiming interval until all reclaiming intervals have been reclaimed. The present invention can avoid the problem of empty scraping caused by different reclaiming pitch angles in adjacent reclaiming intervals, thereby resulting in low reclaiming efficiency and low uniformity of the final mixed material.

Description

Technical Field

[0001] The present invention relates to the technical field of material yard reclaiming, and in particular to a material reclaiming control method for a semi-gantry type scraper reclaimer. Background Art

[0002] Raw materials and fuels are typically transported to steel mills by rail and road. Depending on the type of raw materials, they are transported to the primary stockyard, flux yard, blast furnace stockyard, and coke silo for storage. Based on ironmaking needs, raw materials are collected from various stockyards, mixed in appropriate proportions, and then transported to the blast furnace for ironmaking. The primary stockyard typically uses a semi-gantry scraper reclaimer, which scrapes the raw materials from the silo layer by layer onto a conveyor belt. The conveyor then transports the raw materials to the mixing yard for mixing. To ensure the uniformity of the final mixture, the reclaiming rate must be controlled, with minimal variability.

[0003] At present, the semi-gantry scraper reclaimer mainly moves back and forth in the silo to reclaim materials layer by layer. However, due to the particularity of the pile shape, when reclaiming a layer of material, it is possible that some parts of the pile have material while others do not, resulting in empty scraping by the scraper, which leads to low reclaiming efficiency and low uniformity of the final mixed material.

[0004] Therefore, it is necessary to propose a semi-gantry scraper reclaimer reclaiming control method to achieve the uniformity of the final mixture. Summary of the Invention

[0005] The object of the present invention is to provide a semi-gantry scraper reclaimer reclaiming control method to solve the problem that the existing semi-gantry scraper reclaimer scrapes empty resulting in low uniformity of the final mixed material.

[0006] To solve the above technical problems, the present invention provides a semi-gantry scraper reclaimer reclaiming control method, the method comprising: step S100, scanning the pile shape of the material pile; step S200, dividing the reclaiming intervals according to the scanned pile shape, and calculating the maximum reclaiming pitch angle in each reclaiming interval, the reclaiming pitch angle being the inclination angle of the reclaiming arm relative to the horizontal plane when the scraper first contacts the material pile during the process of the scraper rotating and descending along the pitch circle center when the scraper reaches the reclaiming point; step S300, when there is only one reclaiming interval, reclaiming is directly carried out in the reclaiming interval; when there are multiple reclaiming intervals, reclaiming is carried out in the reclaiming interval with the largest corresponding reclaiming pitch angle until the reclaiming pitch angle of the reclaiming interval drops to the same or similar to the reclaiming pitch angle of the adjacent reclaiming interval, then merging the reclaiming interval with its adjacent reclaiming interval to form a new reclaiming interval, and then selecting the reclaiming interval with the largest reclaiming pitch angle from all the reclaiming intervals as the next reclaiming interval and reclaiming material until all the reclaiming intervals have finished reclaiming.

[0007] Optionally, the step S200 includes: S210, constructing an XY relationship diagram of the reclaimer position-the reclaimer pitch angle, wherein the reclaimer position is the X-axis and the reclaimer pitch angle is the Y-axis; S220, connecting these relationship points in the XY relationship diagram in sequence to obtain the sampling contour line of the material pile, and dividing the reclaiming interval according to the contour line.

[0008] Optionally, the step S230 of dividing the material collection interval according to the contour line includes: defining a continuous line with a Y-axis coordinate difference of the highest point and the lowest point within ±M° as a horizontal material surface, and defining a line with a continuously rising or falling Y-axis coordinate value as an inclined material surface; when the sampling contour line includes two inclined material surfaces with intersecting top ends, merging the material collection intervals where the two inclined material surfaces are located into one material collection interval; when the sampling contour line includes a horizontal material surface, dividing the material collection interval where the horizontal material surface is located into one material collection interval; when the horizontal material surface intersects with an inclined material surface located below it, merging the material collection interval where the inclined material surface is located into the material collection interval where the horizontal material surface is located; when the top end of the inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is not greater than N°, dividing the material collection interval where the inclined material surface is located into one material collection interval; when the top end of the inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, not collecting materials in the material collection interval where the inclined material surface is located.

[0009] Optionally, in step S300, the process of picking up materials in the corresponding picking interval includes: measuring the distance d between the scraper and the material pile by a distance measuring device installed on the picking arm; when d is greater than a set value, it is determined that the scraper has reached the edge of the picking interval, and the semi-gantry scraper picking machine is controlled to turn back and the picking arm is rotated down a set angle, so that the scraper moves back and forth in the picking interval to pick up materials until the picking of the material interval is completed.

[0010] Optionally, in step S300, the process of picking up materials in the corresponding picking interval also includes: measuring the distance between the scraper and the obstacle by a distance measuring device installed on the picking arm; when the distance between the scraper and the obstacle is less than a set value, controlling the semi-gantry scraper picker to move back and forth, and controlling the picking arm to rotate down a set angle, so that the scraper can pick up materials back and forth in the picking interval until the picking of materials in the picking interval is completed.

[0011] Optionally, in step S300, the preparation process before material collection in the corresponding material collection interval includes: step S320, driving the scraper to rotate to the initial material collection posture through the winch device, so that the semi-gantry scraper reclaimer moves to the initial material collection position, and the initial material collection position is the boundary of the target material collection interval adjacent to the semi-gantry scraper reclaimer.

[0012] Optionally, it also includes: step S400, controlling the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle, thereby controlling the material reclaiming rate, and using the material reclaiming flow size as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle.

[0013] Optionally, the moving speed of the semi-gantry scraper reclaimer is controlled by the inverter output frequency f, which is calculated according to the following formula:

[0014]

[0015] In the above formula, f std is the normal reclaiming rate of the semi-gantry scraper reclaimer, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, F avg It is the average reclaiming rate of the semi-gantry scraper reclaimer in the first 5 seconds.

[0016] Optionally, after taking a layer of material, the actual value of the scraper's single-step descending angle is automatically adjusted according to the total amount of material taken in that layer. The actual value A of the scraper's single-step descending angle is calculated according to the following formula:

[0017]

[0018] In the above formula, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, t is the reclaiming time of the semi-gantry scraper reclaimer at this layer, A set W is the setting value of the scraper single-step descending angle, layer The total amount of material taken for this layer.

[0019] Optionally, the step S100 includes: step S110, determining whether the pile shape data of the material pile is known; if unknown, lifting the scraper to the highest position by the winch device, moving the semi-gantry scraper reclaimer across the entire material pile and capturing the pile shape by the image acquisition device.

[0020] The present invention provides a semi-gantry scraper reclaimer reclaiming control method, which has the following beneficial effects:

[0021] The present application scans the shape of the material pile; divides the material picking intervals according to the scanned pile shape, and calculates the material picking pitch angle corresponding to each material picking point in each material picking interval, the material picking pitch angle being the inclination angle of the material picking arm relative to the horizontal plane when the scraper first contacts the material pile during the process of the scraper rotating and descending along the pitch circle center when the scraper reaches the material picking point; when there is only one material picking interval, the material is picked up directly in the material picking interval; when there are multiple material picking intervals, the material picking interval with the largest corresponding material picking pitch angle is selected to pick up material until the material picking pitch angle of the material picking interval drops to the same or similar to the material picking pitch angle of the adjacent material picking interval, and then the material picking interval and its adjacent material picking interval are merged to form a new material picking interval, and then the material picking interval with the largest material picking pitch angle is selected from all the material picking intervals as the next material picking interval and picked up Material is taken until all the material taking intervals have finished taking materials, that is to say, after the material is taken from the material taking interval with the largest material taking pitch angle corresponding to the material taking interval until its material taking pitch angle is close to that of the adjacent material taking interval, the material taking interval with the largest material taking pitch angle corresponding to the material taking interval is selected within the material taking interval as the next material taking interval, until all the material taking intervals have finished taking materials. Therefore, compared with the prior art of taking a layer of material from all the material taking intervals at the same material taking pitch angle each time, and taking a layer of material from all the material taking intervals at a relatively low material taking pitch angle again after taking a layer of material, the material taking control method of the semi-gantry scraper reclaimer in this embodiment can avoid the problem of empty scraping due to the different material taking pitch angles of adjacent material taking intervals, thereby resulting in low material taking efficiency and low uniformity of the final mixed material. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a front view of a semi-gantry scraper reclaimer in the first embodiment of the present invention;

[0023] Figure 2 1 is a side view of a semi-gantry scraper reclaimer in embodiment 1 of the present invention;

[0024] Figure 3 1 is a top view of the semi-gantry scraper reclaimer in the first embodiment of the present invention;

[0025] Figure 4 This is a front view of a discharge trolley provided on a silo in an embodiment of the present invention;

[0026] Figure 5 This is a left side view of a discharge trolley provided on a silo according to an embodiment of the present invention;

[0027] Figure 6 2 is a top view of a discharge trolley disposed on a silo in an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 100-silo; 110-high beam; 120-low beam;

[0030] 210-half gantry; 220-retrieving arm; 240-discharging chute; 250-hoisting device; 260-image acquisition device; 270-feeding belt; 280-distance measuring device;

[0031] 310-unloading trolley; 320-conveyor belt; 330-laser scanner. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0035] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0037] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0038] Example 1

[0039] refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 This is a front view of the semi-gantry scraper reclaimer in the first embodiment of the present invention. Figure 2 1 is a side view of a semi-gantry scraper reclaimer in embodiment 1 of the present invention. Figure 3 1 is a top view of a semi-gantry scraper reclaimer in the first embodiment of the present invention. This embodiment provides a semi-gantry scraper reclaimer, which is installed on the silo 100. The silo 100 has a high beam 110 and a low beam 120. The high beam 110 is higher than the low beam 120 and the high beam 110 is parallel to the low beam 120. There is a silo for holding the material pile between the high beam 110 and the low beam 120. The semi-gantry scraper reclaimer includes a semi-gantry 210, a reclaiming arm 220, a scraper, a discharge chute 240, a winch 250, an image acquisition device 260 and a feeder. Belt 270, the high end of the half gantry 210 is arranged on the high beam 110, the low end of the half gantry 210 is arranged on the low beam 120, the picking arm 220 is rotatably connected to the low end of the gantry, the scraper is arranged on the picking arm 220 and is used to scrape the material to the discharge chute 240, the discharge chute 240 is used to transfer the material to the feeding belt 270, the hoisting device 250 is used to drive the picking arm 220 to rotate relative to the half gantry 210, and the image acquisition device 260 is arranged on the half gantry 210 to scan the pile shape of the material pile.

[0040] The semi-gantry scraper reclaimer further includes a distance measuring device 280 disposed on the reclaiming arm 220. Typically, the distance measuring device 280 is a radar, and the radar can be located downwardly from the reclaiming arm 220, or on both sides of the reclaiming arm 220. Multiple groups of the distance measuring devices 280 can be distributed along the length of the reclaiming arm 220.

[0041] Example 2

[0042] This embodiment provides a semi-gantry scraper reclaimer material reclaiming control method using the semi-gantry scraper reclaimer in the first embodiment to reclaim materials, the method comprising:

[0043] Step S100, scanning the shape of the pile;

[0044] Step S200: Divide the material collection intervals according to the scanned pile shape, and calculate the maximum material collection pitch angle in each material collection interval. The material collection pitch angle is the inclination angle of the material collection arm 220 relative to the horizontal plane when the scraper reaches the material collection point and the scraper rotates and descends along the pitch circle center.

[0045] Step S300: when there is only one material-picking interval, the material is directly picked up in the material-picking interval; when there are multiple material-picking intervals, the material-picking interval with the largest pitch angle is selected to pick up the material, until the pitch angle of the material-picking interval drops to the same or similar to the pitch angle of the adjacent material-picking interval, and then the material-picking interval and its adjacent material-picking interval are merged to form a new material-picking interval. After that, the material-picking interval with the largest pitch angle is selected from all the material-picking intervals as the next material-picking interval and material is picked up, until all the material-picking intervals have finished picking up the material.

[0046] The present application scans the shape of the material pile; divides the material picking intervals according to the scanned pile shape, and calculates the material picking pitch angle corresponding to each material picking point in each material picking interval, the material picking pitch angle being the inclination angle of the material picking arm 220 relative to the horizontal plane when the scraper first contacts the material pile during the process of the scraper rotating and descending along the pitch circle center when the scraper reaches the material picking point; when there is only one material picking interval, the material is picked up directly in the material picking interval; when there are multiple material picking intervals, the material picking interval with the largest corresponding material picking pitch angle is selected to pick up material until the material picking pitch angle of the material picking interval drops to the same or similar to the material picking pitch angle of the adjacent material picking interval, and then the material picking interval and its adjacent material picking interval are merged to form a new material picking interval, and then the material picking interval with the largest material picking pitch angle is selected from all the material picking intervals as the next material picking interval and Material is taken until all the material taking intervals have been taken, that is to say, after the material is taken from the material taking interval with the largest material taking pitch angle corresponding to the material taking interval until its material taking pitch angle is close to that of the adjacent material taking interval, the material taking interval with the largest material taking pitch angle corresponding to the material taking interval is selected within the material taking interval as the next material taking interval, until all the material taking intervals have been taken, therefore, compared with the prior art in which a layer of material in all the material taking intervals is taken at the same material taking pitch angle each time, and after a layer of material is taken, a layer of material in all the material taking intervals is taken at a relatively low material taking pitch angle again, the material taking control method of the semi-gantry scraper reclaimer in this embodiment can avoid the problem of empty scraping due to the different material taking pitch angles of adjacent material taking intervals, thereby resulting in low material taking efficiency and low uniformity of the final mixed material.

[0047] Among them, the reclaiming point is the corresponding position point of the semi-gantry scraper reclaimer when it moves within the reclaiming interval.

[0048] Select the material-picking interval with the largest material-picking pitch angle to pick up materials until the material-picking pitch angle of the material-picking interval drops to the same or similar level as the adjacent material-picking interval. When there are two adjacent material-picking intervals, select the material-picking interval with the larger material-picking pitch angle and use this interval as the material-picking interval to be merged with the material-picking interval with the largest material-picking pitch angle.

[0049] The material picking interval with the largest pitch angle is selected for picking, and the pitch angle of the picking interval is kept constant until the pitch angle of the picking interval decreases to the same or similar to the pitch angle of the adjacent picking interval. Similar pitch angles are considered to be similar when the difference in pitch angles is within ±P°. In this embodiment, P is preferably 2.

[0050] In this embodiment, the shape of the pile is scanned in real time by an image acquisition device 260. The image acquisition device 260 may be a laser scanner. In other embodiments, other image acquisition devices 260 may be used, such as an infrared scanner, a camera, etc.

[0051] The step S100 includes:

[0052] Step S110, determine whether the pile shape data of the material pile is known. If unknown, lift the scraper to the highest position through the hoisting device 250, move the semi-gantry scraper reclaimer across the entire material pile and capture the pile shape through the image acquisition device 260.

[0053] The step S200 includes:

[0054] S210, constructing an XY relationship diagram of the reclaimer position and the reclaimer pitch angle, wherein the reclaimer position is the X-axis and the reclaimer pitch angle is the Y-axis;

[0055] S220 , connecting these relationship points in sequence in the XY relationship diagram to obtain a sampling contour line of the stockpile, and dividing the sampling intervals according to the contour line.

[0056] Among them, the image acquisition device 260 follows the scraper to move back and forth in the X-axis direction to collect three-dimensional data of the material pile. A column of dot matrix data can be obtained for each X-coordinate. The dot matrix corresponding to each sampling coordinate of the X-axis is used to find the material collection point, and the inclination angle of the material collection point relative to the horizontal plane is used as the Y-axis coordinate value.

[0057] The step S220 of dividing the material taking interval according to the contour line includes:

[0058] The line with the difference between the highest point and the lowest point's Y-axis coordinates within ±M° is defined as the horizontal material surface, and the line with the Y-axis coordinate values ​​continuously rising or falling is defined as the inclined material surface;

[0059] When the sampling contour line includes two inclined material surfaces with intersecting tops, the sampling intervals where the two inclined material surfaces are located are merged into one sampling interval;

[0060] When the sampling contour line includes a horizontal material surface, the sampling interval where the horizontal material surface is located is divided into a sampling interval;

[0061] When the horizontal material surface intersects with an inclined material surface below it, the material taking interval where the inclined material surface is located is merged into the material taking interval where the horizontal material surface is located;

[0062] When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is not greater than N°, the material reclaiming interval where the inclined material surface is located is divided into one material reclaiming interval;

[0063] When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, the material is not taken from the material taking section where the inclined material surface is located.

[0064] Among them, M is preferably 2, and N is preferably 45°.

[0065] In this embodiment, there are three feeding intervals. The first interval corresponds to an X-axis numerical range of [0, 15] m, with a maximum feeding pitch angle of 32°; the second interval corresponds to an X-axis numerical range of [15, 25] m, with a maximum feeding pitch angle of 26°; and the third interval corresponds to an X-axis numerical range of [25, 40] m, with a maximum feeding pitch angle of 31°. Material is first taken from the first feeding interval. When the maximum feeding pitch angle of the first feeding interval drops below 26°, the first and second feeding intervals are merged into a new feeding interval a. Within the new feeding interval a and the third feeding interval, the third feeding interval is selected as the next feeding interval. The scraper is moved to a position with a coordinate of 25 m and a feeding pitch angle of 31°, and material is taken from the third feeding interval. When the maximum feeding pitch angle of the third feeding interval drops below 26°, the feeding interval a and the third feeding interval are merged into a new feeding interval, and material is continued within this interval.

[0066] In step S300, the process of taking materials in the corresponding material taking interval includes:

[0067] The distance d between the scraper and the material pile is measured by the distance measuring device 280 installed on the material picking arm 220. When d is greater than the set value, it is determined that the scraper has reached the edge of the material picking interval, and the semi-gantry scraper reclaimer is controlled to turn back and the material picking arm 220 is rotated down a set angle to make the scraper go back and forth in the material picking interval to pick up materials until the material picking in the material picking interval is completed.

[0068] When the distance measuring device 280 measures the distance d between the scraper and the stockpile, it detects the distance between the scraper located within a vertical plane perpendicular to the direction of movement of the semi-gantry scraper reclaimer and the intersection of the stockpile and the vertical plane. In other words, when the scraper moves to a certain reclaiming point, the distance d between the scraper located within the vertical plane perpendicular to the direction of movement of the semi-gantry scraper reclaimer and the intersection of the vertical plane and the stockpile is measured.

[0069] Typically, the distance measuring device 280 for measuring the distance d between the scraper and the material pile is a radar, and the radar is located on the material taking arm 220 and arranged downward.

[0070] In this embodiment, when the scraper reaches the boundary of the material-reclaiming interval or detects that the distance d between the scraper and the obstacle is less than the set value of 50 cm, the scraper is controlled to descend 0.4° through the winch device 250, and then the semi-gantry scraper reclaimer reverses and travels to retrieve materials.

[0071] In step S300, the process of taking materials in the corresponding material taking interval further includes:

[0072] The distance between the scraper and the obstacle is measured by the distance measuring device 280 installed on the picking arm 220. When the distance between the scraper and the obstacle is less than the set value, the semi-gantry scraper reclaimer is controlled to move back and forth, and the picking arm 220 is controlled to rotate down a set angle, so that the scraper can move back and forth in the picking interval to pick up materials until the picking of the material in the picking interval is completed.

[0073] In this embodiment, the obstacles include the retaining wall and the material corresponding to the material taking interval where the inclined material surface near the retaining wall is not being taken. By measuring the distance between the scraper and the obstacles, it is possible to avoid the untaken material from being accidentally hit and the scraper from colliding with the retaining wall.

[0074] The distance measuring device 280 for measuring the distance between the scraper and the obstacle is usually a radar, which is located on the reclaiming arm 220 and on both sides of the reclaiming arm 220 .

[0075] In step S300, the preparation process before taking materials in the corresponding material taking interval includes:

[0076] Step S320: driving the scraper to rotate to the initial reclaiming posture through the hoisting device 250, so that the semi-gantry scraper reclaimer moves to the initial reclaiming position, and the initial reclaiming position is the boundary of the target reclaiming interval adjacent to the semi-gantry scraper reclaimer.

[0077] That is to say, the side of the two boundaries of the reclaiming interval with the largest reclaiming pitch angle closer to the semi-gantry scraper reclaimer is used as the initial reclaiming position. In this embodiment, the first reclaiming interval is selected as the initial reclaiming interval segment, and 15m is used as the initial reclaiming position.

[0078] In this embodiment, the scraper is lowered to the maximum reclaiming pitch angle in the first reclaiming interval by the hoisting device 250. The scraper is activated before reaching this maximum reclaiming pitch angle to prevent the scraper from contacting the material surface when not in operation. In this embodiment, the scraper is first lowered to 34° by the hoisting device 250 and then activated. The scraper is then further lowered and hoisted to 32°.

[0079] The semi-gantry scraper reclaimer reclaiming control method further comprises:

[0080] Step S400, controls the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle, thereby controlling the reclaiming rate, and uses the reclaiming flow size as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle.

[0081] The material flow rate is the real-time material flow rate detected by a laser scanner at the rear end of the scraper. The actual value of the scraper's single-step descent angle refers to the difference between the inclination angle of the scraper arm 220 relative to the horizontal plane when removing a layer of material within the material removal range and the inclination angle of the scraper arm 220 relative to the horizontal plane when removing the next layer of material.

[0082] In this embodiment, the moving speed of the semi-gantry scraper reclaimer is controlled by the inverter output frequency f, which is calculated according to the following formula:

[0083]

[0084] In the above formula, f std is the normal reclaiming rate of the semi-gantry scraper reclaimer, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, F avg is the average material reclaiming rate of the semi-gantry scraper reclaimer in the first 5 seconds. In this embodiment, f std =10Hz, F std =800t / h, and the maximum value of f is specified to be 15Hz and the minimum value to be 5Hz.

[0085] When one layer of material is taken, the actual value of the scraper's single-step descending angle is automatically adjusted according to the total amount of material taken in that layer.

[0086] The actual value A of the winch single-step descending angle is calculated according to the following formula:

[0087]

[0088] In the above formula, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, t is the reclaiming time of the semi-gantry scraper reclaimer at this layer, A set W is the setting value of the scraper single-step descending angle, layer In this embodiment, the maximum value of A is 0.6° and the minimum value is 0.2°.

[0089] The semi-gantry scraper reclaimer reclaiming control method further includes performing the following operations after the reclaiming task is completed:

[0090] Step S510: When the material taking amount reaches 60,000 kg, stop taking the material.

[0091] Step S520, when the scraper comes to a complete stop, the scraper is lifted to the highest position by the hoisting device 250, and then the semi-gantry scraper reclaimer is moved to the vicinity of the silo retaining wall to wait for the next reclaiming task.

[0092] The semi-gantry scraper reclaimer reclaiming control method further includes performing the following operations before scanning the shape of the material pile: step S600, checking whether the parameter settings, working status and communication signals of each device on the scraper are normal.

[0093] The step S600 specifically includes:

[0094] Step S610, checking whether the semi-gantry scraper reclaimer moves, the hoisting device 250 rises and falls, and the scraper operates normally;

[0095] Step S620, checking whether the communication between the remote control PLC and the PLC on the semi-gantry scraper reclaimer is normal;

[0096] Step S630, checking whether the image acquisition device 260 and the distance measuring device 280 are working properly;

[0097] Step S640, checking whether the feeding belt 270 is operating normally;

[0098] Step S650, checking whether the safety distance setting value of the distance measuring device 280 is normal;

[0099] Step S660: Check whether the single-step descending angle setting value of the hoisting device 250 is normal.

[0100] The safety distance between objects on the left and right sides of the scraper and the scraper is set at 50 cm, and the safety distance between objects below the scraper and the scraper is set at 60 cm. The single-step descent angle of the winch is set at 0.4°.

[0101] In this embodiment, the semi-gantry scraper reclaimer reclaiming control method can be manually intervened according to actual needs. For example, operations such as pausing, reversing, stopping, and stopping at an edge can be performed according to on-site needs.

[0102] Example 3:

[0103] refer to Figure 4 、 Figure 5 and Figure 6 , Figure 4 1 is a front view of the unloading trolley 310 provided on the silo 100 in an embodiment of the present invention. Figure 5 1 is a left side view of the unloading trolley 310 provided on the silo 100 in an embodiment of the present invention. Figure 6 FIG. 3 is a top view of a discharge trolley 310 disposed on a silo 100 according to an embodiment of the present invention. This embodiment provides a method for controlling stacking of the discharge trolley 310, including:

[0104] Step S710, detecting whether the unloading trolley 310 is unloading;

[0105] Step S720, control the unloading trolley 310 to move at a constant speed on the silo 100, unload the material on the conveyor belt 320 into the silo 100, and use whether the unloading trolley 310 unloads the material as a feedback signal to control the unloading trolley 310 to move at a constant speed on the silo 100. When the unloading trolley 310 unloads the material, control the unloading trolley 310 to move at a constant speed on the silo 100. When the unloading trolley 310 stops unloading, control the unloading trolley 310 to stop moving on the silo 100.

[0106] By controlling the unloading trolley 310 to move at a constant speed on the silo 100, the material on the conveyor belt 320 is unloaded into the silo 100, and whether the unloading trolley 310 unloads the material is used as a feedback signal to control the unloading trolley 310 to move at a constant speed on the silo 100. When the unloading trolley 310 unloads the material, the unloading trolley 310 is controlled to move at a constant speed on the silo 100. When the unloading trolley 310 stops unloading, the unloading trolley 310 is controlled to stop moving on the silo 100. The automatic control of the unloading trolley can be realized, and the amount of material accumulated in one place can be controlled, so that the material is evenly accumulated everywhere, thereby avoiding the uneven surface of the material pile.

[0107] The unloading trolley stacking control method also includes:

[0108] Step S730, during the stacking process, control the working status of the vibrator, lubrication pump, and dry mist dust suppression equipment. When the unloading amount is greater than 0, the vibrator works for 20 seconds, stops for 10 seconds, and continuously cycles until the unloading amount is equal to 0; when the unloading amount is greater than 0, the lubrication pump works for 5 minutes, stops for 115 minutes, and continuously cycles until the unloading amount is equal to 0; when the unloading amount is greater than 0, the dry mist dust suppression equipment is turned on, and when the unloading amount is equal to 0, the dry mist dust suppression equipment is stopped.

[0109] The unloading trolley stacking control method also includes:

[0110] Step S740: When the stacking task is completed, the stacking is stopped and the unloading trolley 310 is parked at an appropriate position to wait for the next stacking task.

[0111] The unloading trolley stacking control method also includes:

[0112] Step S750: Move the unloading trolley 310 to the initial stacking position before step S710.

[0113] The step S750 specifically includes:

[0114] Step S751: ring an alarm to remind the on-site personnel to start the unloading trolley 310;

[0115] Step S752: If the current position of the unloading trolley 310 is not within the target location, the trolley is controlled to move toward the target location and stops when it enters the stacking range. If the current position of the unloading trolley 310 is within the target location, no action is taken.

[0116] In this embodiment, if the current position of the unloading trolley 310 is not within the target bin, the trolley is controlled to move from bin No. 1 to bin No. 3 and stops when it enters the stacking range of bin No. 3.

[0117] The unloading trolley stacking control method also includes:

[0118] Step S760: Check whether the equipment, communication and parameter settings are normal before step S750. Specifically:

[0119] Step S761, check whether the unloading trolley 310 moves normally;

[0120] Step S762, check whether the communication between the remote control PLC and the unloading trolley PLC is normal;

[0121] Step S763, checking whether the conveyor belt 320 is operating normally;

[0122] Step S764, checking whether the setting values ​​of the vibrator working time and stopping time are normal;

[0123] Step S765: Check whether the setting values ​​of the working time and the stopping time of the lubrication pump are normal. In this embodiment, the setting value of the vibrator working time is 20 seconds, the setting value of the stopping time is 10 seconds, the setting value of the lubrication pump working time is 5 minutes, and the setting value of the stopping time is 115 minutes.

[0124] The unloading trolley stacking control method further includes:

[0125] In step S770 , the shape of the material pile is collected in real time by the laser scanner 330 on the unloading trolley 310 .

[0126] Example 4:

[0127] This embodiment provides a material processing method, including:

[0128] Step S810, detecting whether the unloading trolley 310 is unloading;

[0129] Step S820: Control the unloading trolley 310 to move at a constant speed on the silo 100, unload the material on the conveyor belt 320 into the silo 100, and use whether the unloading trolley 310 unloads the material as a feedback signal to control the unloading trolley 310 to move at a constant speed on the silo 100. When the unloading trolley 310 unloads the material, control the unloading trolley 310 to move at a constant speed on the silo 100. When the unloading trolley 310 stops unloading the material, control the unloading trolley 310 to stop moving on the silo 100 until the material stacking is completed.

[0130] Step S830, scanning the shape of the pile;

[0131] Step S840: Divide the material collection intervals according to the scanned pile shape, and calculate the maximum material collection pitch angle in each material collection interval. The material collection pitch angle is the inclination angle of the material collection arm 220 relative to the horizontal plane when the scraper reaches the material collection point and the scraper rotates and descends along the pitch circle center.

[0132] Step S850, when there is only one material-picking interval, the material is directly picked up in the material-picking interval; when there are multiple material-picking intervals, the material-picking interval with the largest pitch angle is selected to pick up the material, until the pitch angle of the material-picking interval drops to the same or similar to the pitch angle of the adjacent material-picking interval, and then the material-picking interval and its adjacent material-picking interval are merged to form a new material-picking interval, and then the material-picking interval with the largest pitch angle is selected from all the material-picking intervals as the next material-picking interval and material is picked up, until all the material-picking intervals have finished picking up the material.

[0133] Among them, the reclaiming point is the corresponding position point of the semi-gantry scraper reclaimer when it moves within the reclaiming interval.

[0134] Select the material-picking interval with the largest material-picking pitch angle to pick up materials until the material-picking pitch angle of the material-picking interval drops to the same or similar level as the adjacent material-picking interval. When there are two adjacent material-picking intervals, select the material-picking interval with the larger material-picking pitch angle and use this interval as the material-picking interval to be merged with the material-picking interval with the largest material-picking pitch angle.

[0135] The material picking interval with the largest pitch angle is selected for picking, and the pitch angle of the picking interval is kept constant until the pitch angle of the picking interval decreases to the same or similar to the pitch angle of the adjacent picking interval. Similar pitch angles are considered to be similar when the difference in pitch angles is within ±P°. In this embodiment, P is preferably 2.

[0136] The step S840 includes:

[0137] S841, constructing an XY relationship diagram of the reclaimer position and the reclaimer pitch angle, wherein the reclaimer position is the X-axis and the reclaimer pitch angle is the Y-axis;

[0138] S842, connecting these relationship points in sequence in the XY relationship diagram to obtain the sampling contour line of the pile, and dividing the sampling interval according to the contour line.

[0139] Among them, the image acquisition device 260 follows the scraper to move back and forth in the X-axis direction to collect three-dimensional data of the material pile. A column of dot matrix data can be obtained for each X-coordinate. The dot matrix corresponding to each sampling coordinate of the X-axis is used to find the material collection point, and the inclination angle of the material collection point relative to the horizontal plane is used as the Y-axis coordinate value.

[0140] The step S842 of dividing the material taking interval according to the contour line includes:

[0141] The line with the difference between the highest point and the lowest point's Y-axis coordinates within ±M° is defined as the horizontal material surface, and the line with the Y-axis coordinate values ​​continuously rising or falling is defined as the inclined material surface;

[0142] When the sampling contour line includes two inclined material surfaces with intersecting tops, the sampling intervals where the two inclined material surfaces are located are merged into one sampling interval;

[0143] When the sampling contour line includes a horizontal material surface, the sampling interval where the horizontal material surface is located is divided into a sampling interval;

[0144] When the horizontal material surface intersects with an inclined material surface below it, the material taking interval where the inclined material surface is located is merged into the material taking interval where the horizontal material surface is located;

[0145] When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is not greater than N°, the material reclaiming interval where the inclined material surface is located is divided into one material reclaiming interval;

[0146] When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, the material is not taken from the material taking section where the inclined material surface is located.

[0147] Among them, M is preferably 2, and N is preferably 45°.

[0148] In step S850, the process of taking materials in the corresponding material taking interval includes:

[0149] The distance d between the scraper and the material pile is measured by the distance measuring device 280 installed on the material picking arm 220. When d is greater than the set value, it is determined that the scraper has reached the edge of the material picking interval, and the semi-gantry scraper reclaimer is controlled to turn back and the material picking arm 220 is rotated down a set angle to make the scraper go back and forth in the material picking interval to pick up materials until the material picking in the material picking interval is completed.

[0150] In step S850, the process of taking materials in the corresponding material taking interval further includes:

[0151] The distance between the scraper and the obstacle is measured by the distance measuring device 280 installed on the picking arm 220. When the distance between the scraper and the obstacle is less than the set value, the semi-gantry scraper reclaimer is controlled to move back and forth, and the picking arm 220 is controlled to rotate down a set angle, so that the scraper can move back and forth in the picking interval to pick up materials until the picking of the material in the picking interval is completed.

[0152] The material processing method further comprises:

[0153] Step S860, controls the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle, thereby controlling the material reclaiming rate, and uses the material reclaiming flow size as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle.

[0154] The material flow rate is the real-time material flow rate detected by a laser scanner at the rear end of the scraper. The actual value of the scraper's single-step descent angle refers to the difference between the inclination angle of the scraper arm 220 relative to the horizontal plane when removing a layer of material within the material removal range and the inclination angle of the scraper arm 220 relative to the horizontal plane when removing the next layer of material.

[0155] In this embodiment, the moving speed of the semi-gantry scraper reclaimer is controlled by the inverter output frequency f, which is calculated according to the following formula:

[0156]

[0157] In the above formula, fstd is the normal reclaiming rate of the semi-gantry scraper reclaimer, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, F avg It is the average reclaiming rate of the semi-gantry scraper reclaimer in the first 5 seconds.

[0158] When one layer of material is taken, the actual value of the scraper's single-step descending angle is automatically adjusted according to the total amount of material taken in that layer.

[0159] The actual value A of the winch single-step descending angle is calculated according to the following formula:

[0160]

[0161] In the above formula, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, t is the reclaiming time of the semi-gantry scraper reclaimer at this layer, A set W is the setting value of the scraper single-step descending angle, layer The total amount of material taken for this layer.

[0162] The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A semi-gantry scraper reclaimer reclaiming control method, characterized in that: The method comprises: Step S100, scanning the shape of the pile; Step S200: Divide the material collection intervals according to the scanned pile shape, and calculate the maximum material collection pitch angle in each material collection interval. The material collection pitch angle is the inclination angle of the material collection arm relative to the horizontal plane when the scraper reaches the material collection point and the scraper rotates and descends along the pitch circle center. Step S300: when there is only one material-picking interval, the material is directly picked up in the material-picking interval; when there are multiple material-picking intervals, the material-picking interval with the largest pitch angle is selected to pick up the material, until the pitch angle of the material-picking interval drops to the same or similar to the pitch angle of the adjacent material-picking interval, and then the material-picking interval and its adjacent material-picking interval are merged to form a new material-picking interval. After that, the material-picking interval with the largest pitch angle is selected from all the material-picking intervals as the next material-picking interval and material is picked up, until all the material-picking intervals have finished picking up the material.

2. The method for controlling the material reclaiming of a semi-gantry scraper reclaimer according to claim 1, characterized in that: The step S200 includes: S210, constructing an XY relationship diagram of the reclaimer position and the reclaimer pitch angle, wherein the reclaimer position is the X-axis and the reclaimer pitch angle is the Y-axis; S220 , connecting these relationship points in sequence in the XY relationship diagram to obtain a sampling contour line of the stockpile, and dividing the sampling intervals according to the contour line.

3. The method for controlling the material reclaiming of a semi-gantry scraper reclaimer according to claim 2, wherein: in, In step S230, dividing the material taking interval according to the contour line includes: The line with the difference between the highest point and the lowest point's Y-axis coordinates within ±M° is defined as the horizontal material surface, and the line with the Y-axis coordinate values ​​continuously rising or falling is defined as the inclined material surface; When the sampling contour line includes two inclined material surfaces with intersecting tops, the sampling intervals where the two inclined material surfaces are located are merged into one sampling interval; When the sampling contour line includes a horizontal material surface, the sampling interval where the horizontal material surface is located is divided into a sampling interval; when the horizontal material surface intersects with an inclined material surface located below it, the sampling interval where the inclined material surface is located is merged into the sampling interval where the horizontal material surface is located; When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is not greater than N°, the material reclaiming interval where the inclined material surface is located is divided into one material reclaiming interval; When the top of the inclined material surface intersects the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, the material is not taken from the material taking section where the inclined material surface is located.

4. The method for controlling the reclaiming of a semi-gantry scraper reclaimer according to claim 1, wherein: In step S300, the process of taking materials in the corresponding material taking interval includes: The distance d between the scraper and the material pile is measured by a distance measuring device installed on the reclaiming arm. When d is greater than the set value, it is determined that the scraper has reached the edge of the reclaiming interval, and the semi-gantry scraper reclaimer is controlled to turn back and the reclaiming arm is rotated down a set angle, so that the scraper can move back and forth in the reclaiming interval to reclaim materials until the reclaiming of the interval is completed.

5. The method for controlling the material reclaiming of a semi-gantry scraper reclaimer according to claim 4, characterized in that: In step S300, the process of taking materials in the corresponding material taking interval further includes: The distance between the scraper and the obstacle is measured by a distance measuring device installed on the reclaiming arm. When the distance between the scraper and the obstacle is less than the set value, the semi-gantry scraper reclaimer is controlled to move back and forth, and the reclaiming arm is controlled to rotate down a set angle, so that the scraper can move back and forth in the reclaiming interval to reclaim materials until the reclaiming of the interval is completed.

6. The method for controlling the reclaiming of a semi-gantry scraper reclaimer according to claim 1, wherein: In step S300, the preparation process before taking materials in the corresponding material taking interval includes: Step S320: driving the scraper to rotate to the initial reclaiming posture through the hoisting device, so that the semi-gantry scraper reclaimer moves to the initial reclaiming position, and the initial reclaiming position is the boundary of the target reclaiming interval adjacent to the semi-gantry scraper reclaimer.

7. The method for controlling the reclaiming of a semi-gantry scraper reclaimer according to claim 1, wherein: Also includes: Step S400, controls the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle, thereby controlling the reclaiming rate, and uses the reclaiming flow size as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the scraper's single-step descent angle.

8. The method for controlling the reclaiming of a semi-gantry scraper reclaimer according to claim 7, characterized in that: The moving speed of the semi-gantry scraper reclaimer is controlled by the inverter output frequency f, which is calculated according to the following formula: In the above formula, f std is the normal reclaiming rate of the semi-gantry scraper reclaimer, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, F avg It is the average reclaiming rate of the semi-gantry scraper reclaimer in the first 5 seconds.

9. The method for controlling the reclaiming of a semi-gantry scraper reclaimer according to claim 7, wherein: When one layer of material is taken, the actual value of the scraper's single-step descending angle is automatically adjusted according to the total amount of material taken in that layer. The actual value A of the scraper's single-step descending angle is calculated according to the following formula: In the above formula, F std is the standard reclaiming rate of the semi-gantry scraper reclaimer, t is the reclaiming time of the semi-gantry scraper reclaimer at this layer, A set W is the setting value of the scraper single-step descending angle, layer The total amount of material taken for this layer.

10. The method for controlling the material reclaiming of a semi-gantry scraper reclaimer according to claim 1, characterized in that: The step S100 includes: Step S110, determining whether the shape data of the material pile is known. If not, the scraper is lifted to the highest position by the hoisting device, and the semi-gantry scraper reclaimer is moved across the entire material pile and the shape of the material pile is captured by the image acquisition device.

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