Method for detecting grounding force of bucket-wheel stacker-reclaimer

Abstract

The invention relates to the technical field of stacker-reclaimers, in particular to a bucket-wheel stacker-reclaimer grounding force detection method, which comprises the following steps of: pitching a cantilever beam to the highest point, releasing redundant back pressure of a hydraulic oil cylinder, detecting a pressure value of a rod cavity through a pressure measuring point on the hydraulic oil cylinder, and recording data; pitching the cantilever beam to the lowest point, releasing redundant back pressure of the hydraulic oil cylinder, detecting a pressure value of a rodless cavity through a pressure measuring point on the hydraulic oil cylinder, and recording data; comparing the measured pressure value with a rated pressure value of the hydraulic oil cylinder; if the pressure values of the two cavities are both within the rated pressure range of the hydraulic oil cylinder and the two cavities have 30% of allowance, the grounding force balance of the whole machine is considered to be qualified, and detection is ended; if the pressure value of one cavity is within the range of the rated pressure value of the hydraulic oil cylinder, but the allowance is less than 30%, the grounding force balance of the whole machine is judged to be unqualified, the balancing weight is adjusted, detection is performed again after adjustment, the detection method is relatively simple, and the balance of the whole machine is avoided after the balance weight is adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of stacker-reclaimers, and in particular to a ground force detection method for a bucket wheel stacker-reclaimer. Background Art

[0002] Bucket wheel stacker reclaimer is an important equipment for raw material storage and transportation in power plants, steel mills, ports and other enterprises. It can realize the stacking and transportation functions of materials. It is mainly composed of bucket wheel device, cantilever beam, L beam, counterweight arm, counterweight block, slewing device, running device and other parts. The cantilever beam can be adjusted in pitch according to the height of the material. The center of gravity of the part above the slewing device, that is, the ground force, will shift with the pitch adjustment. The ground force offset in a reasonable range is an important indicator to ensure the balance of the whole machine.

[0003] Bucket wheel stacker reclaimer will leak during the stacking and reclaiming process. The leaked material will accumulate on the equipment for a long time, causing the whole machine to be unbalanced. If the material is coal, it is not so bad. If it is mineral powder, pellets, etc., the density is more than 3 times that of coal, the whole machine will be unbalanced more seriously. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides a method for detecting the ground force of a bucket wheel stacker reclaimer, which performs regular detection and adjustment to ensure the stable balance of the entire bucket wheel stacker reclaimer, is easy to operate, and has a relatively simple detection method.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is a method for detecting the ground force of a bucket wheel stacker reclaimer, the wheel stacker reclaimer comprises a slewing device, a hydraulic cylinder fixed on the slewing device, an L beam hinged to the output end of the hydraulic cylinder, a cantilever beam arranged on one side of the L beam, a bucket wheel device arranged on the cantilever beam, a counterweight arm arranged on the other side of the L beam, and a counterweight block arranged on the counterweight arm, and the specific steps include: Step S100, pitching the cantilever beam to the highest point, releasing the redundant back pressure of the hydraulic cylinder, detecting the rod cavity pressure value through the pressure measuring point on the hydraulic cylinder, and recording the data; Step S200, pitching the cantilever beam to the lowest point, releasing the redundant back pressure of the hydraulic cylinder, detecting the rodless cavity pressure value through the pressure measuring point on the hydraulic cylinder, and recording the data; Step S300, comparing the rod chamber pressure value with the rated pressure value of the hydraulic cylinder, and comparing the rodless chamber pressure value with the rated pressure value of the hydraulic cylinder; If the pressure values ​​of the two chambers are within the rated pressure range of the hydraulic cylinder and both chambers have a 30% margin, the ground force balance of the whole machine is considered qualified and the test is ended; If the pressure value of one chamber is within the rated pressure value range of the hydraulic cylinder, but the margin is less than 30%, it is determined that the ground force balance of the whole machine is unqualified, and the counterweight block is adjusted. After the adjustment, steps S100-S300 are started.

[0006] Furthermore, the method for adjusting the counterweight in step S300 includes: When the cantilever beam pitches to the highest point, if the remaining pressure value of the rod chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, the counterweight block needs to be reduced; When the cantilever beam pitches to the lowest point and the remaining pressure value of the rodless chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, a counterweight block needs to be added.

[0007] Furthermore, the rated pressure value in step S300 is the rated pressure value of the rod chamber and the rodless chamber of the hydraulic cylinder calculated according to the size of the hydraulic cylinder.

[0008] Furthermore, pressure measuring points are respectively set in the two chambers of the hydraulic cylinder, and the pressure measuring points are connected to a seismic pressure gauge through a pressure measuring line. The pressure measuring line and the seismic pressure gauge are used to detect the pressure value of the rod chamber in step S100 and the pressure value of the rodless chamber in step S200.

[0009] Furthermore, a method for detecting the ground force of a bucket wheel stacker reclaimer further includes a verification step, wherein the verification step includes: When the cantilever beam 300 pitches to the highest point, the moment M1 of the hydraulic cylinder 800 is obtained according to the absolute value of the difference between the moment on the left side of the bucket wheel machine movable hinge shaft and the moment on the right side of the bucket wheel machine movable hinge shaft; Furthermore, step S100 further includes: By converting the rod chamber pressure value in step S100, the force condition of the hinge point of the hydraulic cylinder can be obtained; P = F / A; in, P is the pressure value of the hydraulic cylinder 800 (in Pascal, Pa), F is the force exerted on the hydraulic cylinder 800 (in Newton, N), and A is the effective area of ​​the hydraulic cylinder 800 (in square meters, m 2 ); The hinge force of the hydraulic cylinder 800 is calculated according to the formula, and the moment M2 of the hydraulic cylinder 800 when the cantilever beam 300 pitches to the highest point is further calculated; If the torque M1 is less than or equal to 70% of the torque M2, the ground force balance of the whole machine is considered qualified and the verification is completed.

[0010] Furthermore, a method for detecting the ground force of a bucket wheel stacker reclaimer further includes a verification step, wherein the verification step includes: when the cantilever beam 300 pitches to the lowest point, the moment M3 of the hydraulic cylinder 800 is obtained according to the absolute value of the difference between the moment on the left side of the movable hinge shaft of the bucket wheel machine and the moment on the right side of the movable hinge shaft of the bucket wheel machine; Step S200 also includes: By converting the rodless chamber pressure value in step S200, the force condition of the hinge point of the hydraulic cylinder can be obtained. The force conversion formula is: P = F / A; in, P is the pressure value of the hydraulic cylinder 800 (in Pascal, Pa), F is the force exerted on the hydraulic cylinder 800 (in Newton, N), and A is the effective area of ​​the hydraulic cylinder 800 (in square meters, m 2 ); The hinge force of the hydraulic cylinder 800 is calculated according to the formula, and the moment M4 of the hydraulic cylinder 800 when the cantilever beam 300 pitches to the lowest point is further calculated; If the torque M3 is less than or equal to 70% of the torque M4, the ground force balance of the whole machine is considered qualified and the verification is completed.

[0011] The beneficial effects of the present invention are as follows: the method is adopted to perform regular inspections, thus saving inspection costs, realizing online inspections, ensuring the stability of the overall balance of the bucket wheel stacker and reclaimer, and the operation is convenient and the inspection method is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of the structure of a bucket wheel stacker and reclaimer in one embodiment of the invention; Figure 2 It is a structural schematic diagram of a bucket wheel stacker and reclaimer (when the cantilever beam is pitched to the highest point) in one embodiment of the invention; Figure 3 It is a structural schematic diagram of a bucket wheel stacker and reclaimer (when the cantilever beam is pitched to the lowest point) in one embodiment of the invention; In the figure: 100. L beam, 200, first pull rod, 300, cantilever beam, 400. Bucket wheel device, 500, second pull rod, 600, counterweight arm, 700, counterweight, 800, hydraulic cylinder, 900. Rotating device. DETAILED DESCRIPTION

[0013] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0014] like Figure 1 As shown, the balancing structure of the bucket wheel stacker reclaimer is composed of an L beam 100 as the main body, the left side of the top end of the L beam 100 is connected to the first tie rod 200 through a pin shaft, the first tie rod 200 is connected to the cantilever beam 300, the bucket wheel device 400 is connected to the cantilever beam 300 through a base to form a whole, and the rear end of the cantilever beam 300 is connected to the lower part of the L beam 100 through a pin shaft to form a triangular structure on the left side.

[0015] The right side of the top of the L beam 100 is connected to the second tie rod 500 through a pin, and the second tie rod 500 is connected to the counterweight arm 600 through a pin. The left side of the counterweight arm 600 is connected to the L beam 100 through a pin to form a triangular structure on the right side. The counterweight block 700 is fixed to the right side of the counterweight arm 600, and the upper structure forms an integral structure through the L beam 100.

[0016] The lower hinge point of the L beam 100 is connected to the piston rod of the hydraulic cylinder 800 , and the lower part of the hydraulic cylinder 800 is fixed on the rotating device 900 . Figure 2 and Figure 3 The pitching action of the bucket wheel stacker and reclaimer is shown. The pitching action is realized within the designed angle by extending and retracting the hydraulic cylinder 800 with the hinge point at the tail of the L beam 100 as the center.

[0017] Bucket-wheel stacker-reclaimer may leak materials during the stacking and reclaiming process. The leaked materials will accumulate on the equipment for a long time, causing the whole machine to become unbalanced. It is necessary to inspect and adjust the bucket-wheel stacker-reclaimer regularly when the whole machine is found to be unbalanced.

[0018] An embodiment of the present invention provides a method for detecting ground force of a bucket wheel stacker and reclaimer. The bucket wheel stacker and reclaimer comprises a slewing device 900, a hydraulic cylinder 800 fixed on the slewing device 900, an L beam 100 hinged to the output end of the hydraulic cylinder 800, a cantilever beam 300 arranged on one side of the L beam 100, a bucket wheel device 400 arranged on the cantilever beam 300, a counterweight arm 600 arranged on the other side of the L beam 100, and a counterweight block 700 arranged on the counterweight arm 600. The specific steps include: like Figure 2 As shown, step S100, pitch the cantilever beam 300 to the highest point, release the excess back pressure of the hydraulic cylinder 800, detect the rod chamber pressure value of the hydraulic cylinder 800 through the pressure measuring point on the hydraulic cylinder 800, and record the data; like Figure 3 As shown, step S200, pitch the cantilever beam 300 to the lowest point, release the excess back pressure of the hydraulic cylinder 800, detect the rodless cavity pressure value of the hydraulic cylinder 800 through the pressure measuring point on the hydraulic cylinder 800, and record the data; It should be noted that under normal circumstances, when the hydraulic cylinder 800 has no back pressure, only one of the rod chamber and the rodless chamber has a pressure value. If it is measured that both chambers have pressure at this time, it is necessary to release the excess back pressure of the hydraulic cylinder 800 again until only one chamber has a pressure value.

[0019] Specifically, in one embodiment, the two chambers of the hydraulic cylinder 800 are respectively provided with pressure measuring points, which are connected to the seismic pressure gauge through the pressure measuring gauge line. The pressure measuring gauge line and the seismic pressure gauge are used to detect the pressure value of the rod chamber in step S100 and the pressure value of the rodless chamber in step S200. During the detection, the reading of the seismic pressure gauge is read and recorded. The setting method of the pressure measuring gauge line and the seismic pressure gauge can be set according to the conventional connection and fixing method in the field.

[0020] In one embodiment, the rated pressure value in step S300 is the rated pressure value of the rod chamber and the rodless chamber of the hydraulic cylinder calculated according to the size of the hydraulic cylinder 800 .

[0021] Step S300, comparing the measured pressure value with the rated pressure value of the hydraulic cylinder 800; If the pressure values ​​of the two chambers are within the rated pressure range of the hydraulic cylinder 800, and both chambers have a 30% margin, the ground force balance of the whole machine is considered qualified, and the test is ended; It should be noted that the 30% margin in both chambers means that the pressure values ​​in the two chambers are both less than or equal to 70% of the rated pressure range of the hydraulic cylinder 800 .

[0022] If the pressure value of one chamber is within the rated pressure value range of the hydraulic cylinder 800, but the margin is less than 30%, it is determined that the ground force balance of the whole machine is unqualified, and the counterweight block 700 is adjusted. After the adjustment, steps S100-S300 are started.

[0023] It should be noted that, if the pressure value of one cavity is within the rated pressure range of the hydraulic cylinder 800 , but the margin is less than 30%, it means that the pressure value of at least one cavity is greater than 70% of the rated pressure range of the hydraulic cylinder 800 .

[0024] Specifically, in one embodiment, the method for adjusting the counterweight 700 in step S300 includes: When the cantilever beam 300 pitches to the highest point in step S100, and the remaining pressure value of the rod chamber of the hydraulic cylinder 800 is less than 30% of the rated pressure range of the hydraulic cylinder 800, the counterweight block 700 needs to be reduced; When the cantilever beam 300 pitches to the lowest point in step S200 and the remaining pressure value of the rodless chamber of the hydraulic cylinder 800 is less than 30% of the rated pressure range of the hydraulic cylinder 800 , it is necessary to add a counterweight 700 .

[0025] It should be noted that the specific weight of adding and reducing the counterweight can be increased gradually from small to large. Every time the counterweight is added or reduced, an online test is performed until the pressure values ​​of the two chambers are within the rated pressure range of the hydraulic cylinder and both chambers have a 30% margin, which is considered to be a qualified ground force balance of the whole machine and the test is ended.

[0026] It should be noted that the movable hinge axis of the bucket wheel stacker is the central axis, and the cantilever side (i.e. Figure 1 The left side of the center) includes the drum, bucket wheel device, arm, front pull rod, materials, belt conveyor, platform railings, stairs, tower, guide trough, driver's cab, etc. The movable hinge axis of the bucket wheel stacker is the central axis, and the counterweight side (i.e. Figure 1 The center right side) includes belt drive, electrical room, rear tie rod, counterweight arm, counterweight, etc.

[0027] The movable hinge axis of the bucket wheel excavator is the central axis. During the pitching process, it always meets the following requirements: The absolute value of the difference between the torque on the left side of the bucket wheel excavator's movable hinge shaft and the torque on the right side of the bucket wheel excavator's movable hinge shaft is equal to the torque of the hydraulic cylinder 800; the torque of the hydraulic cylinder 800 changes continuously during the pitching process.

[0028] See also Figure 1 , when the bucket wheel stacker reclaimer is in a balanced state, the torque of the hydraulic cylinder 800 is zero; See also Figure 2 When the cantilever beam 300 pitches to the highest point, the center of gravity of the entire bucket wheel stacker and reclaimer tilts backward (tilted toward the counterweight side), the movable hinge shaft of the bucket wheel machine is the central axis, the lever arm on the left side of the movable hinge shaft of the bucket wheel machine becomes longer, the torque on the left side of the movable hinge shaft of the bucket wheel machine becomes larger, the lever arm on the right side of the movable hinge shaft of the bucket wheel machine becomes shorter, and the torque on the right side of the movable hinge shaft of the bucket wheel machine becomes smaller.

[0029] See also Figure 3 When the cantilever beam 300 pitches to the lowest point, the center of gravity of the entire bucket wheel stacker and reclaimer tilts forward (tilted toward the cantilever side), the movable hinge shaft of the bucket wheel machine is the central axis, the lever arm on the left side of the movable hinge shaft of the bucket wheel machine becomes shorter, the torque on the left side of the movable hinge shaft of the bucket wheel machine becomes smaller, the lever arm on the right side of the movable hinge shaft of the bucket wheel machine becomes longer, and the torque on the right side of the movable hinge shaft of the bucket wheel machine becomes larger.

[0030] In one embodiment, a method for detecting ground force of a bucket wheel stacker reclaimer further includes a verification step, wherein the verification step includes: When the cantilever beam 300 pitches to the highest point, the moment M1 of the hydraulic cylinder 800 is obtained according to the absolute value of the difference between the moment on the left side of the bucket wheel machine's movable hinge shaft and the moment on the right side of the bucket wheel machine's movable hinge shaft.

[0031] Furthermore, step S100 also includes: By converting the rod chamber pressure value in step S100, the force condition of the hinge point of the hydraulic cylinder can be obtained. The force conversion formula is: P = F / A; in, P is the pressure value of the hydraulic cylinder 800 (in Pascal, Pa), F is the force exerted on the hydraulic cylinder 800 (in Newton, N), and A is the effective area of ​​the hydraulic cylinder 800 (in square meters, m 2 ); The hinge force of the hydraulic cylinder 800 is calculated according to the formula, and the moment M2 of the hydraulic cylinder 800 when the cantilever beam 300 pitches to the highest point is further calculated; If the torque M1 is less than or equal to 70% of the torque M2, the ground force balance of the whole machine is considered qualified and the verification is completed.

[0032] Similarly, when the cantilever beam 300 pitches to the lowest point, the moment M3 of the hydraulic cylinder 800 is obtained according to the absolute value of the difference between the moment on the left side of the movable hinge shaft of the bucket wheel machine and the moment on the right side of the movable hinge shaft of the bucket wheel machine; Step S200 also includes: By converting the rodless chamber pressure value in step S200, the force condition of the hinge point of the hydraulic cylinder can be obtained. The force conversion formula is: P = F / A; in, P is the pressure value of the hydraulic cylinder 800 (in Pascal, Pa), F is the force exerted on the hydraulic cylinder 800 (in Newton, N), and A is the effective area of ​​the hydraulic cylinder 800 (in square meters, m 2 ); The hinge force of the hydraulic cylinder 800 is calculated according to the formula, and the moment M4 of the hydraulic cylinder 800 when the cantilever beam 300 pitches to the lowest point is further calculated; If the torque M3 is less than or equal to 70% of the torque M4, the ground force balance of the whole machine is deemed qualified, and the verification is terminated. In this embodiment, a verification step is provided to improve the reliability of the ground force detection method of the bucket wheel stacker reclaimer provided by the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. It should be noted that when an element is referred to as "fixed to" or "set on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

Claims

1. A method for detecting ground force of a bucket wheel stacker reclaimer, the wheel stacker reclaimer comprising a slewing device, a hydraulic cylinder fixed on the slewing device, an L beam hinged to the output end of the hydraulic cylinder, a cantilever beam arranged on one side of the L beam, a bucket wheel device arranged on the cantilever beam, a counterweight arm arranged on the other side of the L beam, and a counterweight block arranged on the counterweight arm, characterized in that: The specific steps include: S100, pitching the cantilever beam to the highest point, releasing the excess back pressure of the hydraulic cylinder, detecting the rod cavity pressure value through the pressure measuring point on the hydraulic cylinder, and recording the data; S200, pitching the cantilever beam to the lowest point, releasing the excess back pressure of the hydraulic cylinder, detecting the rodless cavity pressure value through the pressure measuring point on the hydraulic cylinder, and recording the data; S300, comparing the rod chamber pressure value with the rated pressure value of the hydraulic cylinder, and comparing the rodless chamber pressure value with the rated pressure value of the hydraulic cylinder; If the pressure values ​​of the two chambers are within the rated pressure range of the hydraulic cylinder and both chambers have a 30% margin, the ground force balance of the whole machine is considered qualified and the test is ended; If the pressure value of one chamber is within the rated pressure value range of the hydraulic cylinder, but the margin is less than 30%, it is determined that the ground force balance of the whole machine is unqualified, and the counterweight block is adjusted. After the adjustment, steps S100-S300 are started.

2. A method for detecting ground force of a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The method for adjusting the counterweight in step S300 includes: When the cantilever beam pitches to the highest point, if the remaining pressure value of the rod chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, the counterweight block needs to be reduced; When the cantilever beam pitches to the lowest point and the remaining pressure value of the rodless chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, a counterweight block needs to be added.

3. A method for detecting ground force of a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The rated pressure value in step S300 is the rated pressure value of the rod chamber and the rodless chamber of the hydraulic cylinder calculated according to the size of the hydraulic cylinder.

4. A method for detecting ground force of a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The two chambers of the hydraulic cylinder are respectively provided with pressure measuring points, and the pressure measuring points are connected to a seismic pressure gauge through a pressure measuring gauge line. The pressure measuring gauge line and the seismic pressure gauge are used to detect the pressure value of the rod chamber in step S100 and the pressure value of the rodless chamber in step S200.

5. A method for detecting ground force of a bucket wheel stacker and reclaimer according to any one of claims 1 to 4, characterized in that: Also included is a verification step, the verification step comprising: When the cantilever beam pitches to the highest point, the torque M1 of the hydraulic cylinder is obtained according to the absolute value of the difference between the torque on the left side of the bucket wheel machine's movable hinge shaft and the torque on the right side of the bucket wheel machine's movable hinge shaft; Furthermore, step S100 further includes: By converting the rod chamber pressure value in step S100, the force condition of the hinge point of the hydraulic cylinder can be obtained. The force conversion formula is: P = F / A; in, P is the pressure value of the hydraulic cylinder, F is the force exerted on the hydraulic cylinder, and A is the effective area of ​​the hydraulic cylinder; The hinge force of the hydraulic cylinder is calculated according to the formula, and the moment M2 of the hydraulic cylinder when the cantilever beam pitches to the highest point is further calculated; If the torque M1 is less than or equal to 70% of the torque M2, the ground force balance of the whole machine is considered qualified and the verification is completed.

6. A method for detecting ground force of a bucket wheel stacker and reclaimer according to any one of claims 1 to 4, characterized in that: The method further includes a verification step, wherein the verification step includes: when the cantilever beam pitches to the lowest point, the torque M3 of the hydraulic cylinder is obtained according to the absolute value of the difference between the torque on the left side of the movable hinge shaft of the bucket wheel machine and the torque on the right side of the movable hinge shaft of the bucket wheel machine; Step S200 also includes: By converting the rodless chamber pressure value in step S200, the force condition of the hinge point of the hydraulic cylinder can be obtained. The force conversion formula is: P = F / A; in, P is the pressure value of the hydraulic cylinder, F is the force exerted on the hydraulic cylinder, and A is the effective area of ​​the hydraulic cylinder; The hinge force of the hydraulic cylinder is calculated according to the formula, and the moment M4 of the hydraulic cylinder when the cantilever beam pitches to the lowest point is further calculated; If the torque M3 is less than or equal to 70% of the torque M4, the ground force balance of the whole machine is considered qualified and the verification is completed.

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