Bucket wheel stacker reclaimer center of gravity monitoring method

Abstract

The present invention belongs to the technical field of safety monitoring in bucket wheel stacker reclaimer equipment, and specifically relates to a method for monitoring the center of gravity of a bucket wheel stacker reclaimer, comprising the following steps: Step 1, collecting the bucket wheel load; Step 2, establishing a bucket wheel stacker reclaimer model, determining the center of gravity and lever arm of each component, and storing the data in a database; Step 3, determining the overturning moment and center of gravity of the pitching part, and storing them in a database; Step 4, detecting the actual working state, real-time load, and real-time pitching angle of the bucket wheel stacker reclaimer, and extracting the corresponding overturning moment and center of gravity from the database; Step 5, analyzing the data to determine whether the overturning moment and overall center of gravity of the bucket wheel stacker reclaimer are balanced under various postures. The present invention is a method for monitoring the center of gravity of a bucket wheel stacker reclaimer, which can accurately determine the size of the overturning moment and the position of the center of gravity of the equipment according to the working posture of the bucket wheel equipment. When the overturning moment of the equipment is too large or the center of gravity offset is too large, the equipment can be adjusted or cleaned in a timely manner.

Description

Technical Field

[0001] The present invention belongs to the technical field of safety monitoring in bucket wheel stacker reclaimer equipment in a bulk material loading and unloading system, and in particular relates to a method for monitoring the center of gravity of a bucket wheel stacker reclaimer. Background Art

[0002] When operating in a material yard, a bucket wheel stacker / reclaimer (BWR) requires the boom to pitch and lower, and the steel structure to rotate, depending on the height and position of the material pile. The boom's pitch is driven by the entire BWR's pitching steel structure, which also drives the bucket wheel, belt conveyor, operator's cab, cantilever beam, chute, upper and lower metal structures, counterweight arm, tie rod system, counterweight, and other components. Therefore, when the bucket wheel stacker / reclaimer pitches between its lowest and highest points, the overturning moment of the entire machine varies significantly. This, in turn, results in significant changes in the center of gravity of the entire machine, particularly for the pitching steel structure and components involved in the pitching motion.

[0003] Over the long term, as equipment accumulates dirt and material loads, particularly around the bucket wheel or due to inappropriate counterweight weight, the overall overturning moment and center of gravity can change significantly. This can increase wheel pressure, increase wear on the slewing bearing, shorten equipment life, and even cause the equipment to tip over.

[0004] When equipment operates for a long period of time in a position with a significant center of gravity offset, it can cause rapid wheel wear, significant deformation of steel structures such as portals, rapid wear of the large slewing bearing, and excessive pressure in the hydraulic system. These conditions can be improved by adjusting the equipment's center of gravity. Therefore, monitoring and detecting center of gravity offset is the prerequisite and data basis for improving equipment operating conditions. Summary of the Invention

[0005] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a bucket wheel stacker reclaimer center of gravity monitoring and display system, which can accurately judge the overturning moment and center of gravity position of the equipment according to the working posture of the bucket wheel machine, so as to adjust or clean the equipment.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a method for monitoring the center of gravity of a bucket wheel stacker reclaimer, comprising the following steps:

[0007] Step 1: Collect the load of the bucket wheel machine. During the pre-installation process, measure the load of all components involved in the pitching action on the bucket wheel machine and store the load data in the PLC database.

[0008] Step 2: Use 3D modeling to build a bucket wheel stacker reclaimer model. Use the model to determine the center of gravity and lever arm of each component of the bucket wheel stacker reclaimer in different working states and at different pitch angles, and store the data in the PLC database.

[0009] Step 3: Based on the load, center of gravity, and lever arm data of each component of the bucket wheel stacker and reclaimer under different working conditions and pitch angles, the torque of each component of the corresponding pitching part is calculated according to the formula torque = load × lever arm, thereby determining the overturning moment of the entire pitching part and the overall center of gravity of the pitching part, and storing them in the PLC database;

[0010] Step 4: Detect the actual working state, real-time load, and real-time pitch angle of the bucket wheel stacker and reclaimer, transmit the actual working state, real-time load, and real-time pitch angle of the bucket wheel stacker and reclaimer to a database, and extract the corresponding overturning moment and overall center of gravity from the database;

[0011] Step 5: Store and analyze all the overturning moment and overall center of gravity data of the bucket wheel stacker reclaimer during operation over a period of time to determine whether the overturning moment and overall center of gravity of the bucket wheel stacker reclaimer are balanced under the working conditions.

[0012] Based on the above technical solution, it should be noted that the present invention calculates the moments of each pitching component by calculating its load, center of gravity, and lever arm. The sum of the moments of each component is the resultant moment, i.e., the overturning moment, and the sum of the weights of each component is the overall weight. The distance from the overall center of gravity to the center of rotation is the center of gravity offset. Center of gravity offset = overturning moment / total weight. Different pitch angles result in different center of gravity positions. Therefore, a database is established to store the center of gravity positions for each posture. Over a period of time, the real-time posture of the bucket wheel stacker reclaimer is measured, and the corresponding overturning moment and overall center of gravity position are retrieved from the database for data analysis to determine whether the bucket wheel stacker reclaimer's counterweight is appropriate. The period of time mentioned can refer to a fixed period of time, such as 10 days or half a month, or a fixed bucket wheel stacker reclaimer operating time, such as 100 operating hours. As long as sufficient overturning moment and overall center of gravity data are collected to indicate the bucket wheel stacker reclaimer's operating status under the current operating conditions, it is sufficient.

[0013] Furthermore, the loads on the various components of the pitch section do not change, and when load measurements are taken during the pre-installation process, the material loads are estimated using the DTII standard and stored in the PLC database.

[0014] Based on the above technical solution, the material load is obtained according to the material area × material length × material density specified in the DTII standard.

[0015] Furthermore, the center of gravity of each component of the pitch part changes with the change of the pitch posture, and the lever arm is the distance from the center of gravity of the component to the center of rotation.

[0016] Furthermore, the working states of the bucket wheel stacker and reclaimer include the reclaiming state, the stacking state and the no-load state; the pitch angle of the bucket wheel stacker and reclaimer pitch device is between -16° and +16°, with the pitch angle of 0.1°-1° as a unit, and at least 33 groups of integer pitch angles are used in the database as the data basis for calculation and storage.

[0017] Based on the above technical solution, the bucket wheel stacker reclaimer includes three working states: reclaiming state, stacking state and no-load state. In the three working states, the pitch angle of the bucket wheel stacker reclaimer pitching device is between -16° and +16°, and the overturning moment and center of gravity position that can correspond to it are infinite. The data in the database can also be infinitely refined, increased and optimized. For the selectivity and accuracy of the data, the database can calculate and enter data at a certain angle unit interval. If the unit interval is 1°, the pitch angle value is 33 types. If the unit interval is 0.5°, the pitch angle value is 65 types. If the unit interval is 0.1, the pitch angle value is 321 types. The pitch angle unit interval can be selected according to different situations for calculation and entry into the system, and the data can be continuously optimized and expanded in the later stage.

[0018] For step three, the sum of the moments of the various components of the pitching part is the overturning moment, the sum of the weights of the various components of the pitching part is the overall weight, and the quotient of the overturning moment divided by the overall weight is the distance from the overall center of gravity of the bucket wheel stacker and reclaimer to the center of rotation of the bucket wheel stacker and reclaimer, thereby determining the position of the overall center of gravity of the bucket wheel stacker and reclaimer.

[0019] Furthermore, whether the bucket wheel stacker and reclaimer is in the loading state is determined by whether the motor of the bucket wheel device has current; the rotation direction of the cantilever belt is determined by the speed detection switch on the cantilever belt and whether the belt motor is rotating forward or reverse, thereby determining whether it is in the stacking or retrieving state and obtaining the actual working state of the bucket wheel stacker and reclaimer.

[0020] Furthermore, a belt scale device is installed on the cantilever belt conveyor to measure and average the material conveying capacity and load on the cantilever belt conveyor in real time, and obtain the real-time load of the bucket wheel stacker reclaimer.

[0021] Furthermore, an encoder is provided at the pitch hinge point of the bucket wheel stacker reclaimer pitch device to measure the pitch angle; at the same time, an inclinometer is also provided on the cantilever device to determine the working angle of the pitch part, thereby obtaining the pitch angle of the bucket wheel stacker reclaimer.

[0022] Furthermore, when the overturning moment and the overall center of gravity of the bucket wheel stacker and reclaimer in various postures differ greatly or approach the limit value, balance adjustment is performed by adjusting the bucket wheel counterweight device; and then steps one to five are repeated.

[0023] Based on the above technical solution, bucket wheel stackers operate differently under different working conditions and environments. The same set of counterweight devices cannot cope with different working conditions. This may cause the bucket wheel stacker's pitching part to have excessively different overturning moments and huge differences in center of gravity positions at different postures and pitch angles. This will cause significant wear on the pitching part and reduce the service life of the equipment. Therefore, staff are required to replace the counterweight device with an appropriate weight for the bucket wheel stacker according to different operating environments. The difference between the maximum overturning moment of the bucket wheel stacker in the upward state and the maximum overturning moment in the downward state is minimized as much as possible, and the maximum overturning moment in the upward state and the maximum overturning moment in the downward state are as far away as possible from the bucket wheel stacker's overturning moment limit.

[0024] Furthermore, when collecting the loads of the various components of the pitching part, the loads of the counterweight devices of different weights and the corresponding center of gravity and lever arms of each component in different postures during assembly are determined, thereby obtaining data on the overturning moment and overall center of gravity of the bucket wheel stacker and reclaimer in various postures with different counterweights.

[0025] Furthermore, a display screen is provided in the operating room of the bucket wheel stacker and reclaimer, and the overturning moment and center of gravity position data of the bucket wheel stacker and reclaimer are transmitted in real time and displayed on the display screen.

[0026] The present invention establishes a database of overturning moment and center of gravity position by accurately measuring and calculating the pitch components, and accurately extracts data by judging the operating status of the bucket wheel machine and displays it on a display screen in the driver's cab.

[0027] Beneficial effects of the present invention: The present invention is a bucket wheel stacker gravity center monitoring and display system, which can accurately judge the overturning moment and gravity center position of the equipment according to the working posture of the bucket wheel machine. When the overturning moment of the equipment is too large or the gravity center offset is too large, the equipment can be adjusted or cleaned in time. DETAILED DESCRIPTION

[0028] In order to make the structure and function of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention.

[0029] Bucket wheel stacker reclaimer center of gravity monitoring method, the specific steps are as follows.

[0030] 1. Bucket wheel excavator load collection

[0031] Collect the bucket wheel machine load, measure the load of all parts involved in the pitching action on the bucket wheel machine during the pre-installation process, and store the load data in the PLC database.

[0032] After bucket wheel excavators are manufactured, all components are preassembled at the factory, allowing for individual component weight measurements during the hoisting process. All components involved in the bucket wheel's pitching motion undergo load measurements during preassembly to ensure the reliability of load data. The bucket wheel's digging force, the material load in the hopper, and the material and accumulated material load on the boom conveyor are electronically measured and calculated using standard methods to determine the ultimate loads, which are then stored in the PLC database.

[0033] Based on the above technical solution, during the load measurement process, the loads on all components will not change, but the distance from the load to the center of rotation will change. Therefore, the torque of each component to the center of gravity of rotation will change, resulting in a change in the overturning moment (overturning moment = load × distance). It is necessary to record the relevant data of each posture to establish a database. There is no material load or accumulated material load during the pre-installation process. The material load is obtained according to the material area × material length × material density specified in the DTII standard. The accumulated material load is completely obtained by concentrating and weighing the accumulated material after the bucket wheel excavator has been used for a period of time or by empirical estimation. The excavation force is selected from the heavy machinery standard, and the material load in the hopper is obtained according to the hopper volume × material density. The material load is obtained according to the material area × material length × material density specified in the DTII standard.

[0034] 2. Determination of the center of gravity and overturning moment of each component of the whole machine

[0035] Use 3D modeling to build a bucket wheel stacker reclaimer model, determine the center of gravity and lever arm of each component of the bucket wheel stacker reclaimer in different working states and different pitch angles through the model, and store the data in the PLC database

[0036] Determining the center of gravity of each equipment component and material is a complex, yet crucial step. Only accurate component centers of gravity can ensure accurate and reliable overturning moments. Our company utilizes a combination of 2D and 3D design concepts, necessitating 3D modeling of equipment components during the design process. This patent utilizes both finite element 3D modeling and SOLIDWORKS 3D modeling to extract the center of gravity of each component, ensuring data authenticity and reliability.

[0037] The center of gravity of each component can be directly determined through 3D modeling. The overturning moment is calculated as: load (the load acts on the component's center of gravity) × the distance from the component's center of gravity to the center of rotation. The center of gravity and overturning moment vary with pitch attitude. Each operating attitude corresponds to a corresponding overturning moment and center of gravity position.

[0038] 3. Database Establishment

[0039] Based on the load, center of gravity and lever arm data of each component in different working states and pitch angles of the bucket wheel stacker and reclaimer, the torque of each component of the corresponding pitch part is calculated according to torque = load × lever arm, thereby determining the overturning moment of the entire pitch part and the overall center of gravity of the pitch part, and storing them in the PLC database.

[0040] Once the relevant load, center of gravity, and lever arm (the distance from the center of gravity to the center of rotation) data for all participating pitching components are confirmed to be accurate, calculation methods are used to convert the moments and gravity of all participating pitching components to obtain the total moment and overall weight of the entire pitching section, thereby determining the overall center of gravity of the entire pitching section. Extending the calculation can also provide data such as wheel load, portal support reaction, and overall machine stability.

[0041] Based on the above technical solution, finding the center of gravity of a component is to determine the point of action of the component load. Torque = gravity × lever arm, i.e., overturning moment = component load (component weight) × lever arm (distance from center of gravity to center of rotation). The sum of the moments of each component is the net moment, and the sum of the weights of each component is the overall weight. The distance from the center of gravity to the center of rotation is torque divided by weight. Different pitch angles will result in different center of gravity positions, so a database of center of gravity positions for each posture is established and inputted.

[0042] When the bucket wheel excavator is working, there are three working states: retrieving state, stacking state and no-load state. The pitch angle of each working state is approximately between -16° and +16°.

[0043] Therefore, the key working postures of bucket wheel excavators can be roughly divided into nine types.

[0044] (1) In the material-retrieving state: the lowest point of the boom when it is downward, the horizontal position of the boom, and the highest point of the boom when it is upward.

[0045] (2) In the stacking state: the lowest point of the boom when it is down, the horizontal position of the boom, and the highest point of the boom when it is up.

[0046] (3) In the no-load state: the lowest point of the boom downward, the horizontal position of the boom, and the highest point of the boom upward.

[0047] The lowest point of the boom corresponds to -16°, the horizontal position of the boom corresponds to 0°, and the highest point of the boom corresponds to +16°.

[0048] The bucket wheel excavator's pitch mechanism can operate at angles between -16° and +16°. Therefore, the corresponding overturning moments and center of gravity positions within the allowable operating angle range are infinite, and the data in the database can be infinitely refined, expanded, and optimized. To ensure data selectivity and accuracy, the database initially uses integer pitch angles as the data basis, which can be optimized and expanded later.

[0049] Based on the above technical solution, the calculation of the overturning moment and center of gravity position in this process takes into account the influence of the accumulated material load. The bucket wheel stacker reclaimer includes three working states: reclaiming state, stacking state and no-load state. In the three working states, the pitch angle of the bucket wheel stacker reclaimer pitching device is between -16° and +16°, and the overturning moment and center of gravity position that can correspond to it are infinite. The data in the database can also be infinitely refined, increased and optimized. For the selectivity and accuracy of the data, the database can calculate and enter data at a certain angle unit interval. If the unit interval is 1°, the pitch angle value is 33 types. If the unit interval is 0.5°, the pitch angle value is 65 types. If the unit interval is 0.1, the pitch angle value is 321 types. The pitch angle unit interval can be selected according to different situations for calculation and entry into the system, and the data can be continuously optimized and expanded in the later stage.

[0050] After a large number of calculations and experiments, we concluded that the maximum overturning moment and the largest center of gravity offset of the bucket wheel stacker reclaimer occur at the lowest point of the boom in the reclaiming state and the highest point of the boom in the no-load state. As long as the overturning moment and center of gravity offset designed at these two points are not exceeded during operation, no adjustment is required. Otherwise, the balance of the bucket wheel stacker reclaimer needs to be tested and adjusted.

[0051] Based on the above technical solution, the center of gravity position relative to the reloading center is the center of gravity offset. The center of gravity offset is calculated by dividing the torque by the weight. The center of gravity position varies with different pitch angles, so a database is established for each position. The maximum overturning moment and maximum center of gravity offset are stored in the database, and the data in the database is manually calculated and entered. The maximum overturning moment and center of gravity offset occur at two points. For example, the overturning moment and center of gravity offset are both the highest at the boom's lowest pitch point during the reclaiming phase, and the corresponding center of gravity offset is also the highest. The maximum overturning moment and center of gravity offset also occur at the boom's highest pitch point during the unloaded phase. The corresponding values ​​for the maximum overturning moment and center of gravity offset vary depending on the equipment model. When the overturning moment exceeds the highest point and the center of gravity offset exceeds the maximum value, the bucket wheel excavator requires balancing and adjustment. Adjusting the bucket wheel counterweight and cleaning out buildup can adjust the center of gravity offset.

[0052] For example, for the DQL2900.2400-45m bucket wheel excavator (limit range: overturning moment no more than 2300 tons.m, center of gravity offset no more than 2 meters), when the downward pitch angle is -11°, the center of gravity position (center of gravity offset) is 1.2 meters away from the rotation center, the maximum overturning moment is 650 tons.m, and the main engine load of the whole machine is 500 tons.

[0053] 4. Data Extraction and Reading

[0054] The actual working status, real-time load and real-time pitch angle of the bucket wheel stacker and reclaimer are detected and transmitted to a database, and the corresponding overturning moment and overall center of gravity are extracted from the database.

[0055] First, when reading data, it is necessary to determine the working state of the bucket wheel machine and the angle of the pitch position, so that the corresponding data can be accurately extracted from the database. The working state of the bucket wheel machine can be determined based on the operation of the transmission mechanism, as follows:

[0056] (1) Whether the motor of the bucket wheel device has current (whether the bucket wheel device is rotating) can be used to determine whether it is in the loading state. The speed detection switch on the cantilever belt and whether the belt motor is rotating forward or reverse can determine the rotation direction of the cantilever belt, thereby determining whether it is in the stacking or retrieving state.

[0057] Based on this technical solution, the presence of current in the bucket wheel motor indicates that the motor is operating. The magnitude of the current can be used to determine whether the bucket wheel is operating at full load. Low current indicates that the bucket wheel is operating at no load. The direction of the current can be used to determine the direction of rotation of the cantilever belt motor, that is, the direction of rotation of the cantilever belt.

[0058] (2) A belt scale device is installed on the cantilever belt conveyor, which can measure and average the material conveying capacity and load on the cantilever belt conveyor in real time.

[0059] (3) An encoder is set at the pitch hinge to measure the pitch angle; at the same time, the cantilever device is also equipped with an inclinometer to determine the working angle of the pitch part.

[0060] Based on the above technical solution, an encoder or inclinometer can measure the pitch angle, both positive and negative, and the measured angle is the actual angle. Each pitch angle corresponds to an operating state, and each operating state corresponds to a tipping moment and a center of gravity position.

[0061] After the data is extracted, it is displayed to the driver through the industrial computer of the equipment. Secondly, when the PLC system determines the working status of the bucket wheel machine and the pitch angle of the cantilever, the corresponding data can be extracted from the database. This data is the overturning moment and center of gravity offset position of the bucket wheel machine.

[0062] Each pitch angle corresponds to a tipping moment and a center of gravity position. The tipping moment and center of gravity position are calculated and stored in the database. For example, if the boom pitches up +6°, the tipping moment and center of gravity position of +6° will be corresponding. When the encoder or inclinometer detects that the boom is pitched up +6°, the tipping moment and center of gravity position of +6° will be extracted from the database and displayed in the driver's cab.

[0063] Finally, after the data is extracted, the machine's industrial computer is used to configure the operator's cab screen, displaying the bucket wheel excavator's tipping moment and center of gravity offset. This allows the operator to clearly understand the machine's center of gravity, allowing the owner to determine whether the machine is properly balanced.

[0064] All overturning moment and overall center of gravity data of the bucket wheel stacker reclaimer during operation over a period of time are stored and analyzed to determine whether the overturning moment and overall center of gravity of the bucket wheel stacker reclaimer in various postures under the working conditions are balanced.

[0065] Furthermore, when collecting the loads of the various components of the pitching part, the loads of the counterweight devices of different weights and the corresponding center of gravity and lever arms of each component in different postures during assembly are determined, thereby obtaining data on the overturning moment and overall center of gravity of the bucket wheel stacker and reclaimer in various postures with different counterweights.

[0066] The typical bucket wheel stacker reclaimer's pitch angle during operation ranges from approximately -16° to +16°. However, due to limitations in operating conditions and the operating environment, the bucket wheel stacker reclaimer's pitch motion may not reach its limit under different conditions. For example, in the first operating condition, the bucket wheel stacker reclaimer's pitch portion operates between -15° and +11°, while in the second operating condition, it operates between -13° and +14°. Because the tipping moment and corresponding center of gravity offset are greatest at the lowest point of boom downturn (during the reclaiming operation) and the highest point of boom upturn (during the unloaded operation), the same counterweight will result in different tipping moments and center of gravity offsets at these two points under these two different operating conditions due to the different corresponding pitch angles. If the difference in tipping moment and center of gravity offset at these two points is small and does not exceed the specified limit range, it indicates that the tipping moment varies uniformly during the pitching motion and the counterweight weight is appropriate. If the overturning moment and center of gravity offset at two points differ greatly, it means that the overturning moment fluctuates greatly during the pitching action, which will increase the burden on the pitching components and wear the equipment. The weight of the counterweight device needs to be replaced. The replacement of the counterweight device needs to be based on the overturning moment and center of gravity offset data collected over a period of time.

[0067] After the database is established, the bucket wheel stacker reclaimer operates for a certain period of time. The real-time posture of the pitch portion is detected by a detection device, which is then input into the database and retrieved from the database. The overturning moment and center of gravity offset are displayed on the display screen of the actual operation room, and the data is stored. The period of time mentioned above can refer to a fixed period of time, such as 10 days or 15 days, or a fixed bucket wheel stacker reclaimer operating time, such as 100 working hours. As long as sufficient overturning moment and overall center of gravity data can be collected to display the working status of the bucket wheel stacker reclaimer under the current operating conditions, it will be sufficient. All overturning moments and center of gravity offsets within a period of time are analyzed. If the data range is relatively concentrated and the difference between the peak and trough data (at two points) is small, then the weight of the current counterweight device is appropriate under this operating condition. If the data is relatively scattered and the data at the peak and trough (two points) are very different, the weight of the counterweight device should be adjusted according to the data. After the adjusted bucket wheel stacker and reclaimer has been working for a certain period of time, the data should be analyzed again to determine whether the weight of the counterweight device is appropriate.

[0068] Table 1: Data table of the highest point of no-load pitching

[0069]

[0070] Table 2: Data table of the lowest point of the material reclaimer

[0071]

[0072] Comparing Table 1 and Table 2, when the counterweight is 80 tons: the overturning moment at the highest point of the empty load upward tilt is -458 tons.m, and the center of gravity is -1.63m away from the rotation center; the overturning moment at the lowest point of the material reclaiming downward tilt is 618 tons.m, and the center of gravity is 2.02m away from the rotation center. The peak overturning moment of the whole machine is 618 tons.m.

[0073] Table 3: Data table of the highest point of no-load pitching

[0074]

[0075] Table 4: Data table of the lowest point of the material reclaimer

[0076]

[0077] Comparing Table 3 and Table 4, when the counterweight is increased to 82 tons: the overturning moment at the highest point of the empty load is -511 tons.m, and the center of gravity is -1.8m away from the center of rotation; the overturning moment at the lowest point of the material reclaiming is 572 tons.m, and the center of gravity is 1.86m away from the center of rotation, and the peak overturning moment is 572 tons.m.

[0078] Therefore, the counterweight was increased by 2 tons, the maximum overturning moment of the whole machine was reduced by 46 tons.m, and the maximum center of gravity was retracted 0.16 meters toward the center of rotation.

[0079] The present invention digitizes the overturning moment and center of gravity offset of the bucket wheel stacker and reclaimer, and can timely adjust the counterweight of the bucket wheel stacker and reclaimer according to the working conditions, so as to prevent the equipment from operating in a position with a large center of gravity offset for a long time, thereby extending the service life of the equipment and avoiding the situation in the past where technicians could only determine the counterweight weight based on experience and were unable to judge whether the counterweight was appropriate.

[0080] This invention provides a center-of-gravity monitoring and display system for bucket-wheel stackers and reclaimers. It accurately determines the equipment's tipping moment and center-of-gravity position based on the machine's operating posture, and displays this data on a control screen in the driver's cab. If the equipment's tipping moment is excessive or its center of gravity shift is excessive, a warning screen within the cab alerts the operator to the need for equipment adjustments or cleaning.

[0081] The method for monitoring the center of gravity of a bucket wheel stacker reclaimer of the present invention has the following technical features:

[0082] (1) Calculate the total overturning moment of the pitching components and the center of gravity position of the pitching as a whole, so as to establish data of multiple positions and multiple working postures, and thus establish a database that can be refined and filled, which is used to detect the working status of the bucket wheel excavator.

[0083] (2) Through the signal feedback from the detection device, the working status, pitch angle and other postures of the bucket wheel machine can be accurately determined, thereby extracting the working data of the bucket wheel machine from the database.

[0084] (3) The important working data of the bucket wheel machine, including overturning moment, center of gravity position, etc., are reflected in real time on the operation display screen in the driver's cab. If the protection value is exceeded, an alarm function will appear, allowing the owner to better monitor the working status of the bucket wheel machine.

[0085] It should be noted that the parts not described in detail in the present invention are prior art.

[0086] The above examples are merely preferred embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or imagined by a person skilled in the art from the disclosure of the present invention should be considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring the center of gravity of a bucket wheel stacker reclaimer, characterized in that: The following steps are involved: Step 1: Collect the load of the bucket wheel machine. During the pre-installation process, measure the load of all components involved in the pitching action on the bucket wheel machine and store the load data in the PLC database. Step 2: Use 3D modeling to build a bucket wheel stacker reclaimer model. Use the model to determine the center of gravity and lever arm of each component of the bucket wheel stacker reclaimer in different working states and at different pitch angles, and store the data in the PLC database. Step 3: Based on the load, center of gravity, and lever arm data of each component of the bucket wheel stacker and reclaimer under different working conditions and pitch angles, the torque of each component of the corresponding pitching part is calculated according to the formula torque = load × lever arm, thereby determining the overturning moment of the entire pitching part and the overall center of gravity of the pitching part, and storing them in the PLC database; Step 4: Detect the actual working state, real-time load, and real-time pitch angle of the bucket wheel stacker and reclaimer, transmit the actual working state, real-time load, and real-time pitch angle of the bucket wheel stacker and reclaimer to a database, and extract the corresponding overturning moment and overall center of gravity from the database; Step 5: Store and analyze all the overturning moment and overall center of gravity data of the bucket wheel stacker reclaimer during operation over a period of time to determine whether the overturning moment and overall center of gravity of the bucket wheel stacker reclaimer are balanced under the working conditions.

2. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: For step 1, the loads of the various components of the pitch part do not change. When the load is measured during the pre-installation process, the material load is estimated using the DTII standard and stored in the PLC database.

3. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: In step 2, the center of gravity of each component of the pitch part changes with the change of the pitch attitude, and the lever arm is the distance from the center of gravity of the component to the center of rotation.

4. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: For step three, the working states of the bucket wheel stacker and reclaimer include the reclaiming state, the stacking state and the no-load state; the pitch angle of the bucket wheel stacker and reclaimer pitch device is between -16° and +16°, with the pitch angle unit being 0.1°-1°. At least 33 groups of integer pitch angles are used in the database as the data basis for calculation and storage.

5. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: For step three, the sum of the moments of the various components of the pitching part is the overturning moment, the sum of the weights of the various components of the pitching part is the overall weight, and the quotient of the overturning moment divided by the overall weight is the distance from the overall center of gravity of the bucket wheel stacker and reclaimer to the center of rotation of the bucket wheel stacker and reclaimer, thereby determining the position of the overall center of gravity of the bucket wheel stacker and reclaimer.

6. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: In step 4, whether the bucket wheel stacker and reclaimer is in the loading state is determined by whether the motor of the bucket wheel device has current; the rotation direction of the cantilever belt is determined by the speed detection switch on the cantilever belt and whether the belt motor is rotating forward or reverse, thereby determining whether it is in the stacking or reclaiming state and obtaining the actual working state of the bucket wheel stacker and reclaimer.

7. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: For step four, a belt scale device is installed on the cantilever belt conveyor to measure and average the material conveying capacity and load on the cantilever belt conveyor in real time, and obtain the real-time load of the bucket wheel stacker and reclaimer; an encoder is set at the pitch hinge point of the bucket wheel stacker and reclaimer pitch device to measure the pitch angle; at the same time, the cantilever device is also set with an inclinometer to determine the working angle of the pitch part, thereby obtaining the pitch angle of the bucket wheel stacker and reclaimer.

8. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: For step five, when the overturning moment and the overall center of gravity of the bucket wheel stacker and reclaimer in various postures differ greatly or are close to the limit value, balance adjustment is performed by adjusting the bucket wheel counterweight device; then repeat steps one to five.

9. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1 or 8, characterized in that: When collecting the loads of the various components of the pitching part, the loads of the counterweight devices of different weights and the corresponding center of gravity and lever arms of each component in different postures during assembly are determined, thereby obtaining the overturning moment and overall center of gravity data of the bucket wheel stacker and reclaimer in various postures with different counterweights.

10. The method for monitoring the center of gravity of a bucket wheel stacker and reclaimer according to claim 1, wherein: The operating room of the bucket wheel stacker and reclaimer is provided with a display screen, and the overturning moment and center of gravity position data of the bucket wheel stacker and reclaimer are transmitted in real time and displayed on the display screen.

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