Pitching detection system and pitching method for material taking arm of wheel bucket excavator

Abstract

The invention discloses a wheel bucket excavator material taking arm pitching detection system and a pitching method, and belongs to the technical field of intelligent control. The base is fixedly connected with the front end of a material taking arm of the wheel bucket excavator, the adjusting supports and the detecting devices are connected to the base, and each adjusting support is correspondingly connected with one detecting device. The detection device comprises a fixed support connected with an adjusting support, the fixed support is provided with a plurality of bolt holes, and the adjusting support is connected with different bolt holes to adjust the angle of an ultrasonic radar ranging switch arranged at one end of the fixed support. And the intelligent control system can be widely popularized in the intelligent control system of the open-air wheel bucket excavator.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent control, and in particular relates to a pitch detection system and a pitch method for a reclaiming arm of a bucket wheel excavator. Background Art

[0002] The bucket wheel excavator reclaiming process is to walk the preset footage and the reciprocating rotation angle of the reclaiming arm, and the reclaiming arm pitches and takes materials at three working width angles, and then transports them to the downstream system through belt conveyors and other processes; during the reclaiming process, the reclaiming arm is required to retreat to the starting position and descend to the next pitching working width angle after the reciprocating rotation of the reclaiming arm and the step-by-step walking of the excavator are completed, and reciprocating rotation and step-by-step walking are performed again to take materials after reaching the set width angle. In the production process, since the working surface has irregular vertical sliding areas during the reclaiming process, the automatic reclaiming of the bucket wheel excavator cannot adapt to the material situation, and the untimely feedback causes the reclaiming to be too fast or too slow. Too fast is easy to damage the excavation bucket teeth, increasing the equipment maintenance cost and affecting the reclaiming efficiency, while too slow reduces the reclaiming volume and affects the production capacity; the reduction in the reclaiming volume causes energy waste, and the increase in maintenance costs also increases the operating costs, which violates the concepts of high efficiency, greenness and energy saving. Summary of the invention

[0003] In view of the above shortcomings, an object of the present invention is to provide a pitch detection system and pitch method for a reclaiming arm of a bucket wheel excavator.

[0004] The technical solution adopted by the invention is: a pitch detection system for the feeding arm of a bucket wheel excavator, and its technical key points are: it includes a base fixedly connected to the front end of the feeding arm of the bucket wheel excavator, an adjustment bracket connected to the base and a detection device, each adjustment bracket is correspondingly connected to a detection device; the detection device includes a fixed bracket connected to the adjustment bracket, and the fixed bracket is provided with a plurality of bolt holes. The adjustment bracket is connected to different bolt holes to adjust the angle of an ultrasonic radar ranging switch arranged at one end of the fixed bracket.

[0005] In the above solution, the detection device also includes a protective cover screwed on the fixed bracket, a mounting plate arranged in the protective cover, and an ultrasonic radar ranging switch fixed on the mounting plate.

[0006] In the above scheme, the ultrasonic radar ranging switch is arranged at different angles obliquely below the material taking arm.

[0007] A method for detecting the pitch of a bucket wheel excavator reclaiming arm is implemented by using a bucket wheel excavator reclaiming arm pitch detection system. The technical key points are as follows: Step 1: Set the ultrasonic radar ranging switch output to use both analog signals and switch signals. The analog signal fed back by the ultrasonic radar ranging switch displays the actual distance between the ultrasonic radar ranging switch and the edge of the material at the current pitch angle in real time, and also has a switch signal that can set the optimal trigger distance; Step 2: Lift the material taking arm to adjust the position of the first ultrasonic radar ranging switch G1 so that it matches the horizontal plane of the mining working face, adjust the position of the second ultrasonic radar ranging switch G2 so that it corresponds to the middle material plane of the mining face, and adjust the position of the third ultrasonic radar ranging switch G3 so that it corresponds to the bottom material plane of the mining face; at the same time, when the three ultrasonic radar ranging switches reach the starting boundaries of the mining faces at different heights, they are always in a state of having trigger action signals with the best distance detection signals H1, H2, and H3; Step 3: When the material is being taken, the detection device system is started, the controller collects the signal of H1, and the material taking arm is ready to take the material at this taking angle; Step 4: When H1 There is a trigger action signal H2 and H3 When there is no trigger action signal, the controller determines that the material taking arm is working in the first mining width, and the material taking arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and starts to retreat; Step 5: After the excavator retreats to the starting position, the feeding arm begins to descend to the second mining angle. The controller determines that the feeding arm has reached the second mining angle normally. The feeding arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and starts to retreat. If H2 is in a state of having a trigger action signal and H1 or H3 is also in a state of having a trigger action signal during the rotation or walking process, the controller determines that the working surface corresponding to H2 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed until H2 is in a state of having a trigger action signal and H1 and H3 are both in a state of having no trigger action signal, and then restore to normal excavation speed and rotation speed; Step 6: After the excavator retreats to the starting position, the fetching arm begins to descend to the third sampling angle, that is, when H3 is in a state of having a trigger action signal and H1 and H2 are in a state of having no trigger action signal, the controller determines that the fetching arm has reached the third sampling angle, and the fetching arm rotation and the excavator stepping walking begin to alternate until the total walking distance reaches the total walking distance set by the system, and the fetching arm begins to rise to the first sampling angle. If H3 is in a state of having a trigger action signal and H1 or H2 is also in a state of having a trigger action signal during the rotation or walking process, the controller determines that the working surface corresponding to H3 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed, and restore to normal excavation speed and rotation speed when H3 is in a state of having a trigger action signal and H1 and H2 are both in a state of having no trigger action signal; Step 7: When H1 is in a state of having a trigger action signal and H2 and H3 are in a state of having no trigger action signal, the controller determines that the fetching arm reaches the first mining width angle of the next mining face boundary, and returns to execute step 4; Step 8: When H1, H2 and H3 are in the state of no trigger action signal, the controller determines that the working surface boundary has been reached and executes step 9; Step 9: When it is confirmed that H1, H2 and H3 are all in a state without trigger action signals, stop retrieving materials, the display shows that pitch, rotation and travel have stopped, and the retrieving operation is completed.

[0008] The beneficial effects of the present invention are as follows: the pitch detection system and pitch method of the bucket wheel excavator feeding arm include a base fixedly connected to the front end of the bucket wheel excavator feeding arm, an adjustment bracket connected to the base and a detection device, each adjustment bracket is correspondingly connected to a detection device; the detection device includes a fixed bracket connected to the adjustment bracket, the fixed bracket is provided with a plurality of bolt holes, and the adjustment bracket is connected to different bolt holes to adjust the angle of the ultrasonic radar ranging switch arranged at one end of the fixed bracket. The system has the advantages of simple equipment, easy implementation, low cost, and easy layout and installation, and can be widely promoted in the intelligent control system of open-air bucket wheel excavators. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 This is a schematic structural diagram of a bucket wheel excavator in an embodiment of the present invention; Figure 2 A schematic diagram of a working state of a bucket wheel excavator in an embodiment of the present invention; Figure 3 Schematic diagram of the overall structure of the embodiment of the present invention; Figure 4 A schematic diagram of a part of the structure of the present invention; The serial numbers in the figure are explained as follows: 10 detection device, 15 fixed bracket, 16 protective cover, 17 mounting plate, 50 base, 51 discharge shielding plate, 52 bolt hole, 53 adjustment bracket, 60 ultrasonic radar ranging switch, 80 material taking arm, 100 material working surface, G1 first ranging switch, G2 second ranging switch, G3 third ranging switch; 35 driver's room, 36 electrical room, C data acquisition and processing unit, M touch screen. DETAILED DESCRIPTION

[0011] To make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1 to Figure 4 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0012] The present embodiment discloses a pitch detection system for a bucket wheel excavator feeding arm, which includes a base 50, which is fixedly connected to the front end of the bucket wheel excavator feeding arm 80, specifically welded or bolted to a discharge shielding plate 51 at the front end of the feeding arm 80, and three groups of detection devices 10 are arranged on one side of the base 50, and the three groups of sampling width detection devices are arranged at different angles obliquely downward; the detection device 10 includes a fixed bracket 15, a protective cover 16 bolted to the fixed bracket 15, a mounting plate 17 is arranged inside the protective cover 16, and an ultrasonic radar ranging switch 60 is fixed on the mounting plate 17; a plurality of bolt holes 52 are arranged on the fixed bracket 15; and an adjustment bracket 53 is also included, one end of the adjustment bracket 53 is hinged to the base 50, and the other end is connected to the bolt hole 52 of the detection device 10 by bolts.

[0013] In this embodiment, the horizontal angle between the first width detection device and the material taking arm 80 is -40 to -50 degrees, the horizontal angle between the second width detection device and the material taking arm 80 is -25 to -35 degrees, and the horizontal angle between the third width detection device and the material taking arm 80 is -15 to -20 degrees.

[0014] The bucket wheel excavator reclaiming arm pitch detection system of this embodiment is provided with three sets of detection devices, which can effectively deal with the influence of irregular sliding areas on normal reclaiming operations during the mining process. The distance measuring switches are all arranged inside the protective cover to prevent damage to them by materials. The detection device is provided with an adjustment bracket to support and adjust the detection device to stabilize its angle.

[0015] The method for detecting the pitch of the bucket wheel excavator reclaiming arm adopted in this embodiment includes the following steps: Step 1: Set the ultrasonic radar ranging switch output to use both analog signals and switch signals. The analog signal fed back by the ranging switch displays the actual distance between the switch and the edge of the material at the current pitch angle in real time. At the same time, it has a switch signal that can set the optimal trigger distance, that is, a trigger signal is represented by 1, and no trigger signal is represented by 0. This embodiment uses three ultrasonic radar ranging switches, namely, a first ultrasonic radar ranging switch G1, a second ultrasonic radar ranging switch G2, and a third ultrasonic radar ranging switch G3.

[0016] Step 2: Lift the material taking arm to adjust the position of the first ultrasonic radar ranging switch G1 so that it matches the horizontal plane of the mining working face, adjust the position of the second ultrasonic radar ranging switch G2 so that it corresponds to the material surface of the middle layer of the mining face, and adjust the position of the third ultrasonic radar ranging switch G3 so that it corresponds to the material surface of the bottom layer of the mining face; at the same time, when the three ultrasonic radar ranging switches reach the starting boundaries of the mining faces at different heights, they are always in a state of having a trigger action signal with the best distance detection signals H1, H2, and H3, that is, the signal is 1; Step 3: When the material is being taken, the detection device 10 system is started, the controller collects the signal H1, and the material taking arm 80 is ready to take the material at this taking angle; Step 4: When H1 is 1 and H2 and H3 are 0, the controller determines that the material taking arm 80 is working in the first mining width, and the material taking arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and starts to retreat; Step 5: After the excavator retreats to the starting position, the fetching arm 80 begins to descend to the second mining angle. The controller determines that the fetching arm has reached the second mining angle normally. The fetching arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and begins to retreat. If H2 is 1 and H1 or H3 is also 1 during the rotation or walking process, the controller determines that the working surface corresponding to H2 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed. When H2 is 1 and H1 and H3 are both 0, the normal excavation speed and rotation speed are restored. Step 6: After the excavator retreats to the starting position, the fetching arm 80 begins to descend to the third sampling angle, that is, when H3 is 1 and H1 and H2 are 0, the controller determines that the fetching arm has reached the third sampling angle, and the fetching arm rotation and the excavator step-by-step walking begin to alternate until the total walking distance reaches the system-set total walking distance, and the fetching arm begins to rise to the first sampling angle. If H3 is 1 and H1 or H2 is also 1 during the rotation or walking process, the controller determines that the working surface corresponding to H3 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed. When H3 is 1 and H1 and H2 are both 0, the normal excavation speed and rotation speed are restored; Step 7: When H1 is 1 and H2 and H3 are 0, the controller determines that the material taking arm 80 reaches the first mining angle of the next mining face boundary, and returns to execute step 4; Step 8: When H1, H2 and H3 are all 0, the controller determines that the working surface boundary has been reached and executes step 9; Step 9: When it is confirmed that H1, H2 and H3 are all 0, stop retrieving the material, the display will show that the pitch, rotation and travel have stopped, and the retrieving operation is completed.

[0017] The pitch method of this embodiment uses ultrasonic radar detection technology to judge the pitch working angle and material information of the bucket wheel excavator's material taking arm; collects data and performs logical judgment through the controller; if the data information changes at the same time, quickly judges the material slippage situation; if the data information returns to normal but the excavation speed and rotation speed do not return to normal, it is judged that the material taking speed is too low, and the next step instruction is issued in time to avoid taking materials too fast or too slow, save energy and increase efficiency, and improve the production capacity of the system. The scheme described in this embodiment also has the advantages of simple equipment, easy implementation, low cost, and easy layout and installation, and can be widely promoted in the intelligent control system of open-air bucket wheel excavators.

[0018] The data acquisition and processing unit C of this embodiment is placed in the PLC control cabinet of the electrical room 36, collects the distance switch information in real time, performs analysis, calculation and decision-making, and outputs the control information of the material grabbing arm 80 and the material distance value of the working surface. The touch screen display unit M is installed in the driver's cab 35, which is used to display the control information of the material grabbing arm and the material distance signal of the working surface output by the data acquisition and processing unit C. The control information of the material grabbing arm 80 includes the instructions of rising, falling and stopping.

[0019] The bucket wheel excavator of this embodiment has a feeding arm 80 that steps forward to feed materials. The safety distance between the material discharging shielding plate 51 at the receiving point of the feeding arm and the material working surface 100 is 350-500mm. Therefore, the detection distance of the ultrasonic radar switch is selected to be 6 meters. It has a diffuse reflection function and does not require a baffle. It can be directly projected onto the material for distance detection.

[0020] The data acquisition and processing unit C uses advanced programmable controller products, including DC power supply, CPU, IO module, etc., supports Ethernet interface communication protocol, and the controller is installed in the control cabinet of the electrical room 36; the display unit uses advanced touch screen M, supports Ethernet interface protocol, and the touch screen M is installed in the driver's cab 35; the data acquisition and processing unit C is connected to the touch screen M through a Category 5e shielded network cable, and is respectively connected to the switches G1, G2 and G3 through flame-retardant shielded BVR8X1.5 control soft cables.

[0021] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A bucket wheel excavator reclaiming arm pitch detection system, characterized in that: It comprises a base fixedly connected to the front end of the bucket wheel excavator's material taking arm, an adjustment bracket connected to the base and a detection device, each adjustment bracket is correspondingly connected to a detection device; the detection device comprises a fixed bracket connected to the adjustment bracket, the fixed bracket is provided with a plurality of bolt holes, and the adjustment bracket is connected to different bolt holes to adjust the angle of an ultrasonic radar ranging switch arranged at one end of the fixed bracket.

2. A bucket wheel excavator reclaimer arm pitch detection system as claimed in claim 1, characterized in that: The detection device also includes a protective cover screwed on the fixing bracket, a mounting plate arranged in the protective cover, and an ultrasonic radar ranging switch fixed on the mounting plate.

3. A bucket wheel excavator reclaimer arm pitch detection system as claimed in claim 2, characterized in that: The ultrasonic radar distance measuring switch is arranged at different angles obliquely below the receiving arm.

4. A method for detecting the pitch of a bucket wheel excavator's reclaiming arm, implemented by using the bucket wheel excavator's reclaiming arm pitch detection system as claimed in claim 1, characterized in that: The following steps are involved: Step 1: Set the ultrasonic radar ranging switch output to use both analog signals and switch signals. The analog signal fed back by the ultrasonic radar ranging switch displays the actual distance between the ultrasonic radar ranging switch and the edge of the material at the current pitch angle in real time, and also has a switch signal that can set the optimal trigger distance; Step 2: Lift the material taking arm to adjust the position of the first ultrasonic radar ranging switch G1 so that it matches the horizontal plane of the mining working face, adjust the position of the second ultrasonic radar ranging switch G2 so that it corresponds to the middle material plane of the mining face, and adjust the position of the third ultrasonic radar ranging switch G3 so that it corresponds to the bottom material plane of the mining face; at the same time, when the three ultrasonic radar ranging switches reach the starting boundaries of the mining faces at different heights, they are always in a state of having trigger action signals with the best distance detection signals H1, H2, and H3; Step 3: When the material is being taken, the detection device system is started, the controller collects the signal of H1, and the material taking arm is ready to take the material at this taking angle; Step 4: When H1 There is a trigger action signal H2 and H3 When there is no trigger action signal, the controller determines that the material taking arm is working in the first mining width, and the material taking arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and starts to retreat; Step 5: After the excavator retreats to the starting position, the feeding arm begins to descend to the second mining angle. The controller determines that the feeding arm has reached the second mining angle normally. The feeding arm rotates and the excavator walks alternately until the total walking distance reaches the total walking distance set by the system and starts to retreat. If H2 is in a state of having a trigger action signal and H1 or H3 is also in a state of having a trigger action signal during the rotation or walking process, the controller determines that the working surface corresponding to H2 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed until H2 is in a state of having a trigger action signal and H1 and H3 are both in a state of having no trigger action signal, and then restore to normal excavation speed and rotation speed; Step 6: After the excavator retreats to the starting position, the fetching arm begins to descend to the third sampling angle, that is, when H3 is in a state of having a trigger action signal and H1 and H2 are in a state of having no trigger action signal, the controller determines that the fetching arm has reached the third sampling angle, and the fetching arm rotation and the excavator stepping walking begin to alternate until the total walking distance reaches the total walking distance set by the system, and the fetching arm begins to rise to the first sampling angle. If H3 is in a state of having a trigger action signal and H1 or H2 is also in a state of having a trigger action signal during the rotation or walking process, the controller determines that the working surface corresponding to H3 has an irregular sliding area, and it is necessary to reduce the bucket wheel excavation speed and rotation speed, and restore to normal excavation speed and rotation speed when H3 is in a state of having a trigger action signal and H1 and H2 are both in a state of having no trigger action signal; Step 7: When H1 is in a state of having a trigger action signal and H2 and H3 are in a state of having no trigger action signal, the controller determines that the fetching arm reaches the first mining width angle of the next mining face boundary, and returns to execute step 4; Step 8: When H1, H2 and H3 are in the state of no trigger action signal, the controller determines that the working surface boundary has been reached and executes step 9; Step 9: When it is confirmed that H1, H2 and H3 are all in a state without trigger action signals, stop retrieving materials, the display shows that pitch, rotation and travel have stopped, and the retrieving operation is completed.

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