A method for controlling a discharge trolley stacker and a method for handling material

Abstract

The present application provides a kind of unloading trolley stacking control method and material handling method, comprising: automatically control unloading trolley moves at constant speed on stock bin, and unload the material on material conveying belt into stock bin;Detect whether unloading trolley is unloaded, when unloading trolley is unloaded, control unloading trolley to keep moving at constant speed, when unloading trolley stops unloading, control unloading trolley to stop moving.The present application can realize unloading trolley stacking automation.

Description

Technical Field

[0001] This invention relates to the field of material stockpiling and reclaiming technology, and particularly to a material handling method and a material handling method for a material unloading trolley. Background Technology

[0002] Raw materials and fuels for steel plants are generally transported into the plant by rail and road. Depending on the type of raw material or fuel, they are transported to primary material yards, flux yards, blast furnace material yards, and coke silos for storage. Based on ironmaking needs, raw materials and fuels are then taken from different material yards, mixed in appropriate proportions, and transported to the blast furnace for ironmaking. For primary material yards, incoming raw materials are transported via conveyor belts to unloading trolleys, and then stacked into the corresponding silos.

[0003] Currently, the unloading trolley is mainly operated manually for material stacking. Operators must climb onto the unloading trolley and then control its movement to stack the material. During the stacking process, they must maintain a high level of concentration at all times to ensure the safety, uniformity, and flatness of the stacked material. This not only involves high labor intensity but also exposes workers to a harsh environment with high dust and high noise levels for extended periods, which is detrimental to their health and safe production. Summary of the Invention

[0004] The purpose of this invention is to provide a material stacking control method and a material handling method for unloading trolleys, so as to solve the problem of high labor intensity caused by manually operating unloading trolleys for material stacking.

[0005] To solve the above-mentioned technical problems, the present invention provides a material stacking control method for an unloading trolley, comprising: automatically controlling the unloading trolley to move at a constant speed on the hopper to unload the material from the conveyor belt into the hopper; detecting whether the unloading trolley is unloading material; when the unloading trolley is unloading material, controlling the unloading trolley to maintain a constant speed; and when the unloading trolley stops unloading material, controlling the unloading trolley to stop moving.

[0006] The present invention also provides a material handling method, including a stacking step and a retrieving step, wherein the stacking step adopts the unloading trolley stacking control method described in claim 1.

[0007] Optionally, the material handling step includes: scanning the shape of the material pile; dividing the material handling area according to the scanned shape, and calculating the maximum material handling pitch angle in each material handling area, wherein the material handling pitch angle is the tilt angle of the material handling 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 handling point; when there is only one material handling area, material is directly handled in that material handling area; when there are multiple material handling areas, the material handling area with the largest corresponding material handling pitch angle is selected for material handling until the material handling pitch angle of that material handling area decreases to the same or similar to the material handling pitch angle of its adjacent material handling area, and then the material handling area is merged with its adjacent material handling area to form a new material handling area. After that, the material handling area with the largest material handling pitch angle is selected as the next material handling area and material is handled until all material handling areas have been handled.

[0008] Optionally, the material picking intervals are divided according to the scanned pile shape, and the material picking pitch angle corresponding to each material picking point in each material picking interval is calculated, including: constructing an XY relationship diagram of material picking machine position and material picking pitch angle, where the material picking machine position is the X-axis and the material picking pitch angle is the Y-axis; in the XY relationship diagram, these relationship points are connected in sequence to obtain the sampling outline of the material pile, and the material picking intervals are divided according to the outline.

[0009] Optionally, dividing the sampling area based on the contour line includes: defining a continuous line with a Y-axis coordinate difference between the highest and lowest points within ±M° as a horizontal material surface; defining a line with continuously rising or falling Y-axis coordinate values ​​as an inclined material surface; when the sampling contour line includes two inclined material surfaces intersecting at their tops, merging the sampling areas containing these two inclined material surfaces into one sampling area; when the sampling contour line includes a horizontal material surface, dividing the sampling area containing this horizontal material surface into one sampling area; when this horizontal material surface intersects with an inclined material surface located below it, merging the sampling area containing this inclined material surface into the sampling area containing this horizontal material surface; when the top of an 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 sampling area containing this inclined material surface into one sampling area; when the top of an inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, not sampling is performed on the sampling area containing this inclined material surface.

[0010] Optionally, the material picking process within the corresponding picking zone includes: measuring the distance d between the scraper and the material pile using a distance measuring device installed on the scraper; when d is greater than a set value, determining that the scraper has reached the edge of the picking zone, and controlling the semi-gantry scraper reclaimer to turn back and the picking arm to rotate and descend by a set angle, so that the scraper picks up material back and forth within the picking zone until the picking of material in the picking zone is completed.

[0011] Optionally, the material picking process within the corresponding picking zone also includes: measuring the distance between the scraper and the obstacle using a distance measuring device installed on the scraper; when the distance between the scraper and the obstacle is less than a set value, controlling the semi-gantry scraper reclaimer to move and turn back, and controlling the picking arm to rotate and descend by a set angle, so that the scraper picks up material back and forth within the picking zone until the picking of material in the picking zone is completed.

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

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

[0014]

[0015] In the above formula, f std For the normal material handling rate of the semi-gantry scraper reclaimer, F std For the standard material handling rate of a semi-gantry scraper reclaimer, F avg The average material handling rate of the semi-gantry scraper reclaimer in the first 5 seconds.

[0016] Optionally, after one layer of material is removed, the actual value of the scraper's single-step descent angle is automatically adjusted based on the total amount of material removed in that layer. The actual value A of the scraper's single-step descent angle is calculated using the following formula:

[0017]

[0018] In the above formula, F std A represents the standard material handling rate of the semi-gantry scraper reclaimer, t represents the material handling time of the semi-gantry scraper reclaimer at this layer, and A represents the material handling time of the semi-gantry scraper reclaimer at this layer. set W is the set value for the single-step descent angle of the scraper. layer This represents the total amount of material taken from this layer.

[0019] The present invention provides a material stacking control method and a material handling method for an unloading trolley, which have the following beneficial effects:

[0020] By controlling the unloading trolley to move at a constant speed on the hopper, the material on the conveyor belt is unloaded into the hopper. The unloading trolley's unloading status is used as a feedback signal to control its constant speed movement on the hopper. When the unloading trolley is unloading, it is controlled to move at a constant speed on the hopper. When the unloading trolley stops unloading, it is controlled to stop moving on the hopper. This achieves automated control of the unloading trolley and controls the amount of material accumulating in one place, ensuring that the material is evenly accumulated in all places, thereby reducing the risk of uneven material pile surfaces. Attached Figure Description

[0021] Figure 1 This is a front view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention;

[0022] Figure 2 This is a side view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention;

[0023] Figure 3 This is a top view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention;

[0024] Figure 4 This is a front view of the unloading trolley installed on the silo in an embodiment of the present invention;

[0025] Figure 5 This is a left view of the unloading trolley installed on the silo in an embodiment of the present invention;

[0026] Figure 6 This is a top view of the unloading trolley installed on the silo in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 100 - Material bin; 110 - High beam; 120 - Low beam;

[0029] 210 - Semi-gantry; 220 - Material handling arm; 240 - Unloading chute; 250 - Hoisting device; 260 - Image acquisition device; 270 - Feeding belt; 280 - Distance measuring device;

[0030] 310 - Unloading trolley; 320 - Conveyor belt; 330 - Laser scanner. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they 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 can be slightly tilted.

[0036] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] Example 1

[0038] refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a front view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention. Figure 2 This is a side view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention. Figure 3This is a top view of the semi-gantry scraper reclaimer in Embodiment 1 of the present invention. This embodiment provides a semi-gantry scraper reclaimer 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 and the low beam 120 are parallel. The space between the high beam 110 and the low beam 120 is a silo body for holding material piles. The semi-gantry scraper reclaimer includes a semi-gantry 210, a reclaiming arm 220, a scraper, a discharge chute 240, a hoisting device 250, an image acquisition device 260, and a feeding device. The conveyor belt 270, the high end of the semi-gantry 210 is set on the high beam 110, the low end of the semi-gantry 210 is set on the low beam 120, the material picking arm 220 is rotatably connected to the low end of the gantry, the scraper is set on the material picking arm 220 and is used to scrape the material to the unloading chute 240, the unloading chute 240 is used to transfer the material to the conveyor belt 270, the hoisting device 250 is used to drive the material picking arm 220 to rotate relative to the semi-gantry 210, and the image acquisition device 260 is set on the semi-gantry 210 for scanning the shape of the material pile.

[0039] The semi-gantry scraper reclaimer also includes a ranging device 280 mounted on the reclaiming arm 220. Typically, the ranging device 280 is a radar, which can be located on the reclaiming arm 220 and facing downwards, or located on the reclaiming arm 220 and on both sides of the reclaiming arm 220. Multiple sets of the ranging devices 280 can be distributed along the length of the reclaiming arm 220.

[0040] Example 2

[0041] This embodiment provides a material handling control method for a semi-gantry scraper reclaimer using the semi-gantry scraper reclaimer described in Embodiment 1. The method includes:

[0042] Step S100: Scan the shape of the material pile;

[0043] Step S200: Divide the material picking interval according to the scanned pile shape, and calculate the maximum material picking pitch angle in each material picking interval. The material picking pitch angle is the tilt angle of the material picking arm 220 relative to the horizontal plane when the scraper first contacts the point of 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.

[0044] Step S300: When there is only one material picking interval, material is picked directly within that interval. When there are multiple material picking intervals, the interval with the largest material picking pitch angle is selected for picking until the material picking pitch angle of that interval drops to the same or similar to that of its adjacent interval. Then, that interval is merged with its adjacent intervals to form a new interval. After that, the interval with the largest material picking pitch angle is selected from all the intervals as the next interval for picking, and material is picked until all the intervals have finished picking.

[0045] This application scans the shape of the material pile; divides the material picking area according to the scanned shape, and calculates the picking pitch angle corresponding to each picking point in each picking area. The picking pitch angle is the tilt angle of the picking arm 220 relative to the horizontal plane when the scraper first contacts the point of the material pile during its downward rotation along the pitch circle. When there is only one picking area, material is picked directly within that area. When there are multiple picking areas, the picking area with the largest picking pitch angle is selected for picking until the picking pitch angle of that area decreases to the same or similar to that of its adjacent area. Then, that area is merged with its adjacent area to form a new picking area. Finally, the area with the largest picking pitch angle is selected from all the picking areas as the next picking area. The material is collected until all collection intervals are completed. That is, material is collected from the collection interval with the largest collection pitch angle until its collection pitch angle is close to that of the adjacent collection interval. Then, the collection interval with the largest collection pitch angle is selected as the next collection interval. This process continues until all collection intervals are completed. Therefore, compared with the prior art, which collects one layer of material from all collection intervals at the same collection pitch angle each time, and then collects another layer of material from all collection intervals at a relatively lower collection pitch angle after one layer of material is collected, the material collection control method of the semi-gantry scraper reclaimer in this embodiment can avoid the problem of empty scraping caused by different collection pitch angles of adjacent collection intervals, which leads to low material collection efficiency and low uniformity of the final mixture.

[0046] Among them, the material collection point is the position point corresponding to the movement of the semi-gantry scraper reclaimer within the material collection zone.

[0047] Select the material picking interval with the largest corresponding picking pitch angle and pick up material until the picking pitch angle of the material picking interval drops to the same or similar to the picking pitch angle of its adjacent material picking interval. When there are two material picking intervals in its adjacent material picking interval, select the material picking interval with the larger picking pitch angle and merge this interval with the material picking interval with the largest picking pitch angle.

[0048] Select the material picking interval with the largest corresponding picking pitch angle and pick up material until the picking pitch angle of that interval decreases to be the same as or similar to that of its adjacent picking interval. "Similar picking pitch angles" means that the difference in picking pitch angles is within ±P°. In this embodiment, P is preferably 2.

[0049] In this embodiment, the shape of the material pile is scanned in real time by an image acquisition device 260. The image acquisition device 260 can be a laser scanner. In other embodiments, other image acquisition devices 260 can be used, such as infrared scanners, cameras, etc.

[0050] Step S100 includes:

[0051] Step S110: Determine whether the pile shape data of the material pile is known. If not, raise the scraper to the highest position by the hoisting device 250, move the semi-gantry scraper reclaimer across the entire material pile, and collect the pile shape through the image acquisition device 260.

[0052] Step S200 includes:

[0053] S210, construct an XY relationship diagram of the material reclaimer position and the material reclaiming pitch angle, where the material reclaimer position is the X-axis and the material reclaiming pitch angle is the Y-axis;

[0054] S220, by connecting these relationship points sequentially in the XY relationship diagram, the sampling outline of the material pile can be obtained, and the sampling area can be divided according to the outline.

[0055] The image acquisition device 260 follows the scraper conveyor and moves 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 picking point, and the tilt angle of the material picking point relative to the horizontal plane is used as the Y-axis coordinate value.

[0056] In step S220, dividing the material taking area according to the contour line includes:

[0057] A line connecting the highest and lowest points with a Y-axis coordinate difference within ±M° is defined as a horizontal material surface, and a line connecting the Y-axis coordinate values ​​that rise or fall continuously is defined as an inclined material surface.

[0058] When the sampling contour line includes two inclined material surfaces that intersect at their top, the sampling intervals containing the two inclined material surfaces are merged into one sampling interval.

[0059] When the sampling outline includes a horizontal material surface, the sampling area containing that horizontal material surface is divided into a sampling area;

[0060] When the horizontal material surface intersects with an inclined material surface located below it, the material collection area containing the inclined material surface is merged into the material collection area containing the horizontal material surface;

[0061] When the top 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°, the material picking area where the inclined material surface is located is divided into a material picking area.

[0062] When the top of the inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, no material will be taken from the material taking area where the inclined material surface is located.

[0063] Where M is preferably 2 and N is preferably 45°.

[0064] In this embodiment, there are three material collection intervals. The first interval corresponds to an X-axis value range of [0, 15] m, with a maximum material collection pitch angle of 32°; the second interval corresponds to an X-axis value range of [15, 25] m, with a maximum material collection pitch angle of 26°; and the third interval corresponds to an X-axis value range of [25, 40] m, with a maximum material collection pitch angle of 31°. Material is first collected in the first collection interval. When the maximum material collection pitch angle of the first collection interval drops below 26°, the first and second collection intervals are merged into a new collection interval a. Within the new collection interval a and the third collection interval, the third collection interval is selected as the next collection interval. The scraper is moved to a position with coordinates 25 m and a material collection pitch angle of 31° to begin collecting material from the third collection interval. When the maximum material collection pitch angle of the third collection interval drops below 26°, collection interval a and the third collection interval are merged into a new collection interval, and material collection continues within this interval.

[0065] In step S300, the process of retrieving material within the corresponding material retrieving range includes:

[0066] The distance d between the scraper and the material pile is measured by the distance measuring device 280 installed on the picking arm 220. When d is greater than the set value, it is determined that the scraper has reached the edge of the picking zone. The semi-gantry scraper reclaimer is controlled to turn back and the picking arm 220 is rotated and lowered by a set angle so that the scraper picks up material back and forth in the picking zone until the picking zone is completed.

[0067] Specifically, when measuring the distance d between the scraper and the material pile, the distance measured by the distance measuring device 280 is the distance between the line of intersection between the material pile and the vertical plane perpendicular to the moving direction of the semi-gantry scraper reclaimer, and the scraper located in the vertical plane. In other words, when the scraper moves to a certain reclaiming point, the distance between the line of intersection between the material pile and the vertical plane perpendicular to the moving direction of the semi-gantry scraper reclaimer and passing through the reclaiming point, and the scraper located in the vertical plane.

[0068] Typically, the ranging 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 handling arm 220 and is set downwards.

[0069] In this embodiment, when the scraper reaches the boundary of the material collection area or detects that the distance d between the scraper and the obstacle is less than the set value of 50cm, the scraper is lowered by 0.4° by the winch device 250, and then the semi-gantry scraper reclaimer changes direction to collect the material.

[0070] In step S300, the process of retrieving material within the corresponding material retrieving range further includes:

[0071] 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 picker is controlled to move and turn back, and the picking arm 220 is controlled to rotate and descend by a set angle so that the scraper picks up material back and forth in the picking area until the picking area is completed.

[0072] In this embodiment, the obstacles include a retaining wall and the material corresponding to the material collection area of ​​the inclined material surface near the retaining wall that is not being collected. By measuring the distance between the scraper and the obstacle, it is possible to avoid accidental contact with the material not being collected, as well as collisions between the scraper and the retaining wall.

[0073] The ranging device 280, which typically measures the distance between the scraper and an obstacle, is a radar located on the material handling arm 220 and on both sides of the material handling arm 220.

[0074] In step S300, the preparation process before taking material in the corresponding material taking area includes:

[0075] In step S320, the scraper is driven to rotate to the initial material-taking posture by the hoisting device 250, so that the semi-gantry scraper reclaimer moves to the initial material-taking position, which is the boundary of the target material-taking area adjacent to the semi-gantry scraper reclaimer.

[0076] In other words, the initial material handling position is chosen as the side of the material handling interval with the largest tilt angle that is closer to the semi-gantry scraper reclaimer. In this embodiment, the first material handling interval is selected as the initial material handling interval, and 15m is chosen as the initial material handling position.

[0077] In this embodiment, the winch device 250 lowers the scraper to the maximum material-taking pitch angle of the first material-taking zone, and activates the scraper before it reaches this maximum material-taking pitch angle to prevent the scraper from contacting the material surface when it is not in operation. In this embodiment, the winch device 250 first lowers the scraper to 34° and then activates it, and then continues to lower and winch to 32°.

[0078] The material handling control method for the semi-gantry scraper reclaimer also includes:

[0079] Step S400: Control the moving speed of the semi-gantry scraper reclaimer and the actual value of the single-step descent angle of the scraper, thereby controlling the material collection rate, and use the size of the material flow as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the single-step descent angle of the scraper.

[0080] The material flow rate is the real-time material volume detected by a laser scanner located at the rear end of the scraper. The actual value of the scraper's single-step descent angle refers to the difference between the tilt angle of the scraper arm 220 relative to the horizontal plane when scraping one layer of material within the scraping zone and the tilt angle of the scraper arm 220 relative to the horizontal plane when scraping the next layer of material.

[0081] In this embodiment, the moving speed of the semi-gantry scraper reclaimer is controlled by the output frequency f of the frequency converter. The output frequency f of the frequency converter is calculated according to the following formula:

[0082]

[0083] In the above formula, f std For the normal material handling rate of the semi-gantry scraper reclaimer, F std For the standard material handling rate of a semi-gantry scraper reclaimer, F avg The average material handling rate in the first 5 seconds of the semi-gantry scraper reclaimer is taken as f. In this embodiment, f is taken as f. std =10Hz, F std =800t / h, and the maximum value of f is specified as 15Hz and the minimum value as 5Hz.

[0084] When a layer of material is removed, the scraper's single-step descent angle is automatically adjusted based on the total amount of material removed from that layer.

[0085] The actual value A of the single-step descent angle of the hoist is calculated according to the following formula:

[0086]

[0087] In the above formula, F std A represents the standard material handling rate of the semi-gantry scraper reclaimer, t represents the material handling time of the semi-gantry scraper reclaimer at this layer, and A represents the material handling time of the semi-gantry scraper reclaimer at this layer. set W is the set value for the single-step descent angle of the scraper. layer This represents the total amount of material taken from this layer. In this embodiment, the maximum value of A is defined as 0.6°, and the minimum value as 0.2°.

[0088] The material handling control method for the semi-gantry scraper reclaimer also includes performing the following operations after the material handling task is completed:

[0089] Step S510: Stop feeding when the amount of material taken reaches 60,000 kg.

[0090] In step S520, when the scraper comes to a complete stop, the scraper will be lifted to its highest position by the winch device 250, and then the semi-gantry scraper reclaimer will be moved to the vicinity of the hopper retaining wall to wait for the next reclaiming task.

[0091] The material handling control method of the semi-gantry scraper reclaimer also includes the following operation 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 reclaimer are normal.

[0092] Step S600 specifically includes:

[0093] Step S610: Check whether the movement of the semi-gantry scraper reclaimer, the lifting and lowering of the hoisting device 250, and the scraper are operating normally.

[0094] Step S620: Check whether the communication between the remote control PLC and the PLC on the semi-gantry scraper reclaimer is normal.

[0095] Step S630: Check whether the image acquisition device 260 and the ranging device 280 are working properly;

[0096] Step S640: Check if the feed belt 270 is operating normally;

[0097] Step S650: Check whether the safe distance setting value of the ranging device 280 is normal;

[0098] Step S660: Check whether the single-step descent angle setting value of the hoisting device 250 is normal.

[0099] The safe distance between the scraper and objects on either side of it is set at 50cm, and the safe distance between the scraper and objects below it is set at 60cm. The single-step descent angle of the winch is set at 0.4°.

[0100] In this embodiment, the material handling control method of the semi-gantry scraper reclaimer can be manually intervened as needed. For example, operations such as pausing, reversing, stopping, and stopping at the edge can be performed as needed on site.

[0101] Example 3

[0102] refer to Figure 4 , Figure 5 and Figure 6 , Figure 4 This is a front view of the unloading trolley 310 installed on the silo 100 in this embodiment of the invention. Figure 5 This is a left view of the unloading trolley 310 installed on the silo 100 in this embodiment of the invention. Figure 6This is a top view of the unloading trolley 310 installed on the silo 100 in this embodiment of the invention. This embodiment provides a method for controlling the stacking of the unloading trolley 310, including:

[0103] In step S710, the unloading trolley 310 is automatically controlled to move at a constant speed on the hopper 100 to unload the material on the conveyor belt 320 into the hopper.

[0104] Step S720: Detect whether the unloading trolley 310 is unloading. When the unloading trolley 310 is unloading, control the unloading trolley 310 to maintain a constant speed. When the unloading trolley 310 stops unloading, control the unloading trolley 310 to stop moving.

[0105] By automatically controlling the unloading trolley 310 to move at a uniform speed on the hopper 100, the material on the conveyor belt 320 is unloaded into the hopper. The system detects whether the unloading trolley 310 is unloading. When the unloading trolley 310 is unloading, it is controlled to maintain a uniform speed; when it stops unloading, it is controlled to stop moving. This achieves automated control of the unloading trolley and controls the amount of material accumulating in one place, ensuring uniform material accumulation and reducing the risk of uneven material pile surfaces. However, uneven material pile surfaces may occur due to trolley malfunctions, uneven material distribution on the conveyor belt, damage to the components detecting unloading, or the material removal device removing only a portion of the material.

[0106] The material stacking control methods for unloading trolleys also include:

[0107] Step S730: During the material stacking process, control the working status of the vibrator, lubrication pump, and dry fog dust suppression equipment. When the unloading volume is greater than 0, the vibrator works for 20 seconds, stops for 10 seconds, and repeats continuously until the unloading volume is equal to 0. When the unloading volume is greater than 0, the lubrication pump works for 5 minutes, stops for 115 minutes, and repeats continuously until the unloading volume is equal to 0. When the unloading volume is greater than 0, the dry fog dust suppression equipment is turned on. When the unloading volume is equal to 0, the dry fog dust suppression equipment is turned off.

[0108] The material stacking control methods for unloading trolleys also include:

[0109] Step S740: When the stacking task is completed, stop stacking and park the unloading trolley 310 in an appropriate position to wait for the next stacking task.

[0110] The material stacking control methods for unloading trolleys also include:

[0111] In step S750, before step S710, the unloading trolley 310 is moved to the initial stacking position.

[0112] Step S750 specifically includes:

[0113] Step S751: Sound the alarm bell to alert on-site personnel that the unloading trolley 310 will be started;

[0114] In step S752, if the unloading trolley 310 is not currently located within the target storage area, the trolley is controlled to move towards the target storage area and stops once it enters the storage area. If the unloading trolley 310 is currently located within the target storage area, no action is taken.

[0115] In this embodiment, if the unloading trolley 310 is not currently located within the target bin, the trolley is controlled to move from bin 1 to bin 3 and stops when it enters the material storage area of ​​bin 3.

[0116] The material stacking control methods for unloading trolleys also include:

[0117] Step S760, prior to step S750, checks whether the device, communication, and parameter settings are normal, specifically including:

[0118] Step S761: Check whether the unloading trolley 310 moves normally;

[0119] Step S762: Check if the communication between the remote control PLC and the unloading trolley PLC is normal;

[0120] Step S763: Check if the conveyor belt 320 is operating normally;

[0121] Step S764: Check whether the vibrator working time and stop time settings are normal;

[0122] Step S765: Check whether the working time and stop time settings of the lubrication pump are normal. In this embodiment, the vibrator working time is set to 20s, the stop time is set to 10s, the lubrication pump working time is set to 5min, and the stop time is set to 115min.

[0123] The material stacking control method for the unloading trolley also includes:

[0124] In step S770, the shape of the material pile is collected in real time by the laser scanner 330 on the unloading trolley 310.

[0125] Example 4

[0126] This embodiment provides a material handling method, including:

[0127] In step S810, the unloading trolley 310 is automatically controlled to move at a constant speed on the hopper 100 to unload the material on the conveyor belt 320 into the hopper.

[0128] Step S820: Detect whether the unloading trolley 310 is unloading. When the unloading trolley 310 is unloading, control the unloading trolley 310 to maintain a constant speed. When the unloading trolley 310 stops unloading, control the unloading trolley 310 to stop moving.

[0129] Step S830: Scan the shape of the material pile;

[0130] Step S840: Divide the material picking interval according to the scanned pile shape, and calculate the maximum material picking pitch angle in each material picking interval. The material picking pitch angle is the tilt angle of the material picking arm 220 relative to the horizontal plane when the scraper first contacts the point of 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.

[0131] Step S850: When there is only one material picking area, material is picked directly within that area. When there are multiple material picking areas, the area with the largest material picking pitch angle is selected for picking until the pitch angle of that area decreases to the same or similar to that of its adjacent area. Then, that area is merged with its adjacent area to form a new area. After that, the area with the largest pitch angle is selected from all the areas as the next area for picking, and material is picked until all the areas have finished picking.

[0132] Among them, the material collection point is the position point corresponding to the movement of the semi-gantry scraper reclaimer within the material collection zone.

[0133] Select the material picking interval with the largest corresponding picking pitch angle and pick up material until the picking pitch angle of the material picking interval drops to the same or similar to the picking pitch angle of its adjacent material picking interval. When there are two material picking intervals in its adjacent material picking interval, select the material picking interval with the larger picking pitch angle and merge this interval with the material picking interval with the largest picking pitch angle.

[0134] Select the material picking interval with the largest corresponding picking pitch angle and pick up material until the picking pitch angle of that interval decreases to be the same as or similar to that of its adjacent picking interval. "Similar picking pitch angles" means that the difference in picking pitch angles is within ±P°. In this embodiment, P is preferably 2.

[0135] Step S840 includes:

[0136] S841, construct an XY relationship diagram of the material reclaimer position and the material reclaiming pitch angle, where the material reclaimer position is the X-axis and the material reclaiming pitch angle is the Y-axis;

[0137] S842, by connecting these relationship points sequentially in the XY relationship diagram, the sampling outline of the material pile can be obtained, and the sampling area can be divided according to the outline.

[0138] The image acquisition device 260 follows the scraper conveyor and moves 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 picking point, and the tilt angle of the material picking point relative to the horizontal plane is used as the Y-axis coordinate value.

[0139] In step S842, dividing the material taking area according to the contour line includes:

[0140] A line connecting the highest and lowest points with a Y-axis coordinate difference within ±M° is defined as a horizontal material surface, and a line connecting the Y-axis coordinate values ​​that rise or fall continuously is defined as an inclined material surface.

[0141] When the sampling contour line includes two inclined material surfaces that intersect at their top, the sampling intervals containing the two inclined material surfaces are merged into one sampling interval.

[0142] When the sampling outline includes a horizontal material surface, the sampling area containing that horizontal material surface is divided into a sampling area;

[0143] When the horizontal material surface intersects with an inclined material surface located below it, the material collection area containing the inclined material surface is merged into the material collection area containing the horizontal material surface;

[0144] When the top 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°, the material picking area where the inclined material surface is located is divided into a material picking area.

[0145] When the top of the inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, no material will be taken from the material taking area where the inclined material surface is located.

[0146] Where M is preferably 2 and N is preferably 45°.

[0147] In step S850, the process of retrieving material within the corresponding material retrieving range includes:

[0148] The distance d between the scraper and the material pile is measured by the distance measuring device 280 installed on the picking arm 220. When d is greater than the set value, it is determined that the scraper has reached the edge of the picking zone. The semi-gantry scraper reclaimer is controlled to turn back and the picking arm 220 is rotated and lowered by a set angle so that the scraper picks up material back and forth in the picking zone until the picking zone is completed.

[0149] In step S850, the process of retrieving material within the corresponding material retrieving range further includes:

[0150] 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 picker is controlled to move and turn back, and the picking arm 220 is controlled to rotate and descend by a set angle so that the scraper picks up material back and forth in the picking area until the picking area is completed.

[0151] The material handling method further includes:

[0152] Step S860: Control the moving speed of the semi-gantry scraper reclaimer and the actual value of the single-step descent angle of the scraper, thereby controlling the material collection rate, and use the size of the material flow as a feedback signal to control the moving speed of the semi-gantry scraper reclaimer and the actual value of the single-step descent angle of the scraper.

[0153] The material flow rate is the real-time material volume detected by a laser scanner located at the rear end of the scraper. The actual value of the scraper's single-step descent angle refers to the difference between the tilt angle of the scraper arm 220 relative to the horizontal plane when scraping one layer of material within the scraping zone and the tilt angle of the scraper arm 220 relative to the horizontal plane when scraping the next layer of material.

[0154] In this embodiment, the moving speed of the semi-gantry scraper reclaimer is controlled by the output frequency f of the frequency converter. The output frequency f of the frequency converter is calculated according to the following formula:

[0155]

[0156] In the above formula, f std For the normal material handling rate of the semi-gantry scraper reclaimer, F std For the standard material handling rate of a semi-gantry scraper reclaimer, F avg The average material handling rate of the semi-gantry scraper reclaimer in the first 5 seconds.

[0157] When a layer of material is removed, the scraper's single-step descent angle is automatically adjusted based on the total amount of material removed from that layer.

[0158] The actual value A of the single-step descent angle of the hoist is calculated according to the following formula:

[0159]

[0160] In the above formula, F std A represents the standard material handling rate of the semi-gantry scraper reclaimer, t represents the material handling time of the semi-gantry scraper reclaimer at this layer, and A represents the material handling time of the semi-gantry scraper reclaimer at this layer. set W is the set value for the single-step descent angle of the scraper. layer This represents the total amount of material taken from this layer.

[0161] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A material handling method, comprising a stockpiling step and a retrieving step, characterized in that, The stockpiling process includes: The automatic control unloading trolley moves at a constant speed on the hopper, unloading the material from the conveyor belt into the hopper; The system detects whether the unloading trolley is unloading material. When the unloading trolley is unloading material, it controls the unloading trolley to move at a constant speed. When the unloading trolley stops unloading material, it controls the unloading trolley to stop moving. The material collection step includes: Scan the shape of the stockpile; The material picking area is divided according to the shape of the pile being scanned, and the maximum material picking pitch angle in each material picking area is calculated. The material picking pitch angle is the angle of inclination of the material picking arm relative to the horizontal plane when the scraper first contacts the point of 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 area, material is picked directly within that area. When there are multiple material picking areas, the area with the largest material picking pitch angle is selected for picking until the material picking pitch angle of that area decreases to the same or similar to that of its adjacent area. Then, that area is merged with its adjacent area to form a new area. After that, the area with the largest material picking pitch angle is selected as the next area for picking, and material is picked from it, until all areas have finished picking material.

2. The material handling method as described in claim 1, characterized in that, The material collection intervals are divided based on the scanned pile shape, and the material collection pitch angle corresponding to each material collection point within each interval is calculated, including: Construct an XY diagram showing the relationship between the position of the material reclaimer and the material reclaiming pitch angle, where the position of the material reclaimer is the X-axis and the material reclaiming pitch angle is the Y-axis. By connecting these points sequentially in the XY relationship diagram, the sampling outline of the material pile can be obtained, and the sampling area can be divided according to the outline.

3. The material handling method as described in claim 2, characterized in that, Dividing the material picking area according to the outline includes: A line connecting the highest and lowest points with a Y-axis coordinate difference within ±M° is defined as a horizontal material surface, and a line connecting the Y-axis coordinate values ​​that rise or fall continuously is defined as an inclined material surface. When the sampling contour line includes two inclined material surfaces that intersect at their top, the sampling intervals containing the two inclined material surfaces are merged into one sampling interval. When the sampling outline includes a horizontal material surface, the sampling area containing that horizontal material surface is divided into a sampling area; When the horizontal material surface intersects with an inclined material surface located below it, the material collection area containing the inclined material surface is merged into the material collection area containing the horizontal material surface; When the top 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°, the material picking area where the inclined material surface is located is divided into a material picking area. When the top of the inclined material surface intersects with the silo retaining wall and the inclination angle relative to the X-axis is greater than N°, no material will be taken from the material taking area where the inclined material surface is located.

4. The material handling method as described in claim 1, characterized in that, The process of retrieving materials within the corresponding material retrieval zone includes: The distance d between the scraper and the material pile is measured by a distance measuring device installed on the scraper. When d is greater than the set value, it is determined that the scraper has reached the edge of the material picking area. The semi-gantry scraper reclaimer is controlled to turn back and the material picking arm is rotated and lowered by a set angle so that the scraper can pick up material back and forth in the material picking area until the material picking in the area is completed.

5. The material handling method as described in claim 4, characterized in that, The material retrieval process within the corresponding retrieval zone also includes: The distance between the scraper and the obstacle is measured by a distance measuring device installed on the scraper. When the distance between the scraper and the obstacle is less than the set value, the semi-gantry scraper reclaimer is controlled to move and turn back, and the reclaiming arm is controlled to rotate and descend by a set angle so that the scraper can reciprocate to reclaim material in the reclaiming zone until the reclaiming zone is completed.

6. The material handling method as described in claim 1, characterized in that, Also includes: The moving speed and the actual value of the single-step descent angle of the scraper are controlled by controlling the moving speed of the semi-gantry scraper reclaimer, thereby controlling the material collection rate. The size of the material flow is used as a feedback signal to control the moving speed and the actual value of the single-step descent angle of the scraper.

7. The material handling method as described in claim 6, characterized in that, The moving speed of the semi-gantry scraper reclaimer is determined by the frequency output of a frequency converter. f Control, calculate the inverter output frequency according to the following formula f for: ； In the above formula, f std This represents the normal material handling rate of a semi-gantry scraper reclaimer. F std This is the standard material handling rate for a semi-gantry scraper reclaimer. F avg The average material handling rate of the semi-gantry scraper reclaimer in the first 5 seconds.

8. The material handling method as described in claim 7, characterized in that, When one layer of material is removed, the scraper's single-step descent angle is automatically adjusted based on the total amount of material removed in that layer. The actual value A of the scraper's single-step descent angle is calculated using the following formula: ； In the above formula, F std This is the standard material handling rate for a semi-gantry scraper reclaimer. t This refers to the material handling time of the semi-gantry scraper reclaimer on this floor. A set Set the single-step descent angle value for the scraper. W layer This represents the total amount of material taken from this layer.

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