Methods for testing the grounding force of bucket wheel stacker-reclaimers

Abstract

This invention relates to the field of stacker-reclaimer technology, specifically a method for detecting the grounding force of a bucket wheel stacker-reclaimer. The method involves tilting the cantilever beam to its highest point, releasing excess back pressure from the hydraulic cylinder, and measuring the pressure value of the rod-side chamber through a pressure measuring point on the hydraulic cylinder, recording the data. Then, tilting the cantilever beam to its lowest point, releasing excess back pressure from the hydraulic cylinder, and measuring the pressure value of the rodless chamber through a pressure measuring point on the hydraulic cylinder, recording the data. The measured pressure values ​​are compared with the rated pressure values ​​of the hydraulic cylinders. If the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinders, and both chambers have a 30% margin, the grounding force of the entire machine is considered to be balanced and the test ends. If the pressure value of one chamber is within the rated pressure range of the hydraulic cylinders, but the margin is less than 30%, the grounding force of the entire machine is deemed unbalanced. The counterweight is adjusted, and the test is repeated. The detection method is relatively simple, and adjusting the counterweight prevents the entire machine from becoming unbalanced.

Description

Technical Field

[0001] This invention relates to the field of stacker-reclaimer technology, specifically to a method for detecting the grounding force of a bucket wheel stacker-reclaimer. Background Technology

[0002] Bucket wheel stacker-reclaimers are essential equipment for raw material storage and transportation in power plants, steel mills, ports, and other enterprises. They enable the stacking and transfer of materials and mainly consist of a bucket wheel assembly, cantilever beam, L-beam, counterweight arm, counterweight blocks, slewing device, and traveling device. The cantilever beam can be adjusted in pitch according to the height of the material. As the pitch is adjusted, the center of gravity (ground force) of the components above the slewing device will shift. Maintaining this ground force shift within a reasonable range is a crucial indicator for ensuring the overall balance of the machine.

[0003] Bucket wheel stacker-reclaimers can experience material leakage during the stacking and reclaiming processes. Prolonged accumulation of leaked material on the equipment can cause overall imbalance. This is less of a problem with coal, but it becomes more severe with materials like mineral powder or pellets, which have a density more than three times that of coal. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides a method for detecting the grounding force of a bucket wheel stacker-reclaimer. The method involves regular testing and adjustment to ensure the overall balance and stability of the bucket wheel stacker-reclaimer. It is easy to operate and the testing method is relatively simple.

[0005] To achieve the above objectives, the present invention provides a method for detecting the grounding force of a bucket wheel stacker-reclaimer. The stacker-reclaimer includes a rotating device, a hydraulic cylinder fixed to the rotating device, an L-beam hinged to the output end of the hydraulic cylinder, a cantilever beam disposed on one side of the L-beam, a bucket wheel assembly disposed on the cantilever beam, a counterweight arm disposed on the other side of the L-beam, and a counterweight block disposed on the counterweight arm. The specific steps include…

[0006] Step S100: Pitch the cantilever beam to the highest point, release the excess back pressure of the hydraulic cylinder, detect the pressure value of the rod chamber through the pressure measuring point on the hydraulic cylinder, and record the data;

[0007] Step S200: Pitch the cantilever beam to the lowest point, release the excess back pressure of the hydraulic cylinder, detect the pressure value of the rodless chamber through the pressure measuring point on the hydraulic cylinder, and record the data;

[0008] Step S300: Compare the pressure value of the rod chamber with the rated pressure value of the hydraulic cylinder, and compare the pressure value of the rodless chamber with the rated pressure value of the hydraulic cylinder;

[0009] If the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinder, and both chambers have a 30% margin, the grounding force of the whole machine is considered to be in good balance, and the test ends.

[0010] 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%, the grounding force balance of the whole machine is deemed unqualified. The counterweight is adjusted, and after adjustment, steps S100-S300 are started.

[0011] Furthermore, the method for adjusting the counterweight in step S300 includes:

[0012] When the cantilever beam is pitched to its highest point, if the remaining pressure value in the rod chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, the counterweight needs to be reduced.

[0013] When the cantilever beam is pitched to its lowest point, if the pressure value in the rodless chamber of the hydraulic cylinder is less than 30% of the rated pressure range of the hydraulic cylinder, a counterweight needs to be added.

[0014] Furthermore, the rated pressure value mentioned in step S300 is calculated based on the size of the hydraulic cylinder, specifically the rated pressure values ​​of the rod-side chamber and the rodless chamber of the hydraulic cylinder.

[0015] Furthermore, pressure measuring points are respectively set in the two chambers of the hydraulic cylinder. The pressure measuring points are connected to the shock-resistant pressure gauge through the pressure measuring gauge line. The pressure measuring gauge line and the shock-resistant 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.

[0016] Furthermore, a method for detecting the grounding force of a bucket wheel stacker-reclaimer further includes a verification step, which includes:

[0017] When the cantilever beam 300 pitches to its highest point, the torque M1 of the hydraulic cylinder 800 is obtained based on 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.

[0018] Furthermore, step S100 also includes:

[0019] By performing force conversion on the rod chamber pressure value in step S100, the force condition of the hydraulic cylinder hinge point can be obtained.

[0020] P=F / A;

[0021] in,

[0022] P is the pressure value of hydraulic cylinder 800 (unit: Pascal), F is the force acting on hydraulic cylinder 800 (unit: Newton, N), and A is the effective area of ​​hydraulic cylinder 800 (unit: square meter, m²). 2 );

[0023] The force on the hinge point of hydraulic cylinder 800 is calculated according to the formula, and the torque M2 of hydraulic cylinder 800 when cantilever beam 300 is pitched to the highest point is further calculated.

[0024] If the torque M1 is less than or equal to 70% of the torque M2, the grounding force of the whole machine is considered to be in good balance, and the verification ends.

[0025] Furthermore, a method for detecting the grounding force of a bucket wheel stacker-reclaimer also includes a verification step, which includes: when the cantilever beam 300 is pitched to the lowest point, the torque M3 of the hydraulic cylinder 800 is obtained based on 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.

[0026] Step S200 also includes:

[0027] By performing force conversion on the pressure value in the rodless chamber in step S200, the force condition of the hydraulic cylinder's hinge point can be obtained. The force conversion formula is as follows:

[0028] P=F / A;

[0029] in,

[0030] P is the pressure value of hydraulic cylinder 800 (unit: Pascal), F is the force acting on hydraulic cylinder 800 (unit: Newton, N), and A is the effective area of ​​hydraulic cylinder 800 (unit: square meter, m²). 2 );

[0031] The force on the hinge point of hydraulic cylinder 800 is calculated according to the formula, and the torque M4 of hydraulic cylinder 800 when cantilever beam 300 is pitched to the lowest point is further calculated.

[0032] If the torque M3 is less than or equal to 70% of the torque M4, the grounding force balance of the whole machine is considered qualified, and the verification ends.

[0033] The beneficial effects of this invention are: using this method for regular testing saves testing costs, enables online testing, ensures the overall balance and stability of the bucket wheel stacker-reclaimer, is easy to operate, and has a relatively simple testing method. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a bucket wheel stacker-reclaimer in one embodiment of the invention;

[0035] Figure 2 A schematic diagram of the structure of a bucket wheel stacker-reclaimer (when the cantilever beam is tilted to its highest point) in one embodiment of the invention;

[0036] Figure 3 A schematic diagram of the structure of a bucket wheel stacker-reclaimer (when the cantilever beam is tilted to its lowest point) in one embodiment of the invention;

[0037] In the picture:

[0038] 100, L-beam,

[0039] 200. First pull rod,

[0040] 300, cantilever beam,

[0041] 400. Bucket wheel device

[0042] 500, Second pull rod,

[0043] 600, counterweight arm,

[0044] 700, counterweight,

[0045] 800. Hydraulic cylinder.

[0046] 900. Rotary device. Detailed Implementation

[0047] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0048] like Figure 1 As shown, the overall balance structure of the bucket wheel stacker-reclaimer consists of: an L-beam 100 as the main body, a first tie rod 200 connected to the top left of the L-beam 100 by a pin, a cantilever beam 300 connected to the first tie rod 200, a bucket wheel device 400 connected to the cantilever beam 300 by a base to form a whole, and a cantilever beam 300 connected to the lower part of the L-beam 100 by a pin to form a triangular structure on the left side.

[0049] The top right side of L-beam 100 is connected to the second tie rod 500 via a pin, and the second tie rod 500 is connected to the counterweight arm 600 via a pin. The left side of the counterweight arm 600 is connected to L-beam 100 via a pin, forming 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 is formed as a whole through L-beam 100.

[0050] The lower hinge point of L-beam 100 is connected to the piston rod of hydraulic cylinder 800, and the lower part of hydraulic cylinder 800 is fixed on rotary device 900. Figure 2 and Figure 3 The pitching motion of the bucket wheel stacker-reclaimer is shown. The pitching motion is centered on the hinge point at the tail of the L-beam 100 and is achieved within the designed angle through the extension and retraction of the hydraulic cylinder 800.

[0051] During the stacking and reclaiming process, material leakage may occur in bucket wheel stacker-reclaimers. If the leaked material accumulates on the equipment for a long time, it will cause the whole machine to become unbalanced. It is necessary to detect the imbalance of the bucket wheel stacker-reclaimer or to regularly inspect and adjust the bucket wheel stacker-reclaimer.

[0052] An embodiment of the present invention provides a method for detecting the grounding force of a bucket wheel stacker-reclaimer. The bucket wheel stacker-reclaimer includes 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 disposed on one side of the L-beam 100, a bucket wheel device 400 disposed on the cantilever beam 300, a counterweight arm 600 disposed on the other side of the L-beam 100, and a counterweight block 700 disposed on the counterweight arm 600. The specific steps include...

[0053] like Figure 2 As shown, in step S100, the cantilever beam 300 is tilted to the highest point, the excess back pressure of the hydraulic cylinder 800 is released, the pressure value of the rod chamber of the hydraulic cylinder 800 is detected through the pressure measuring point on the hydraulic cylinder 800, and the data is recorded.

[0054] like Figure 3 As shown, in step S200, the cantilever beam 300 is tilted to the lowest point, the excess back pressure of the hydraulic cylinder 800 is released, the pressure value of the rodless chamber of the hydraulic cylinder 800 is detected through the pressure measuring point on the hydraulic cylinder 800, and the data is recorded.

[0055] It should be noted that under normal circumstances, when the hydraulic cylinder 800 has no back pressure, only one of the rod chamber and rodless chamber has a pressure value. If pressure is measured in both chambers 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.

[0056] Specifically, in one embodiment, pressure measuring points are respectively set in the two chambers of the hydraulic cylinder 800. The pressure measuring points are connected to a shock-resistant pressure gauge via pressure gauge lines. The pressure gauge lines and the shock-resistant 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 detection, the readings of the shock-resistant pressure gauge are read and recorded. The pressure gauge lines and the shock-resistant pressure gauge can be set up according to the conventional connection and fixing methods in the art.

[0057] In one embodiment, the rated pressure value in step S300 is calculated based on the size of the hydraulic cylinder 800, which determines the rated pressure values ​​of the rod-side chamber and the rodless chamber of the hydraulic cylinder.

[0058] Step S300: Compare the measured pressure value with the rated pressure value of the hydraulic cylinder 800;

[0059] If the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinder 800, and both chambers have a 30% margin, the grounding force balance of the whole machine is considered qualified, and the test ends.

[0060] It should be noted that the 30% margin in both chambers means that the pressure values ​​in both chambers are less than or equal to 70% of the rated pressure range of the hydraulic cylinder 800.

[0061] If the pressure value of one chamber is within the rated pressure value range of hydraulic cylinder 800, but the margin is less than 30%, the grounding force balance of the whole machine is deemed unqualified. The counterweight 700 is adjusted, and after adjustment, steps S100-S300 are started.

[0062] It should be noted that 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 means that the pressure value of at least one chamber is greater than 70% of the rated pressure range of the hydraulic cylinder 800.

[0063] Specifically, in one embodiment, the method for adjusting the counterweight 700 in step S300 includes:

[0064] When the cantilever beam 300 is pitched to the highest point in step S100, if 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 700 needs to be reduced.

[0065] When the cantilever beam 300 is pitched to its lowest point in step S200, if 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, a counterweight 700 needs to be added.

[0066] It should be noted that the specific weight of the counterweight can be gradually increased from small to large. Each time the counterweight is added or removed, an online test is performed until the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinder, and both chambers have a 30% margin. This is considered as the overall grounding force balance of the machine being qualified, and the test is then completed.

[0067] It should be noted that the movable hinge shaft of the bucket wheel stacker-reclaimer is the central axis, and the cantilever side (i.e., Figure 1 The left side of the stacker-reclaimer includes the directional roller, bucket wheel assembly, boom, front tie rod, material, conveyor belt, platform railing, stairs, tower, guide chute, driver's cab, etc. The movable hinge shaft of the bucket wheel stacker-reclaimer is the central axis, and the counterweight side (i.e. Figure 1 The right side of the middle section includes belt drive, electrical room, rear tie rod, counterweight arm, counterweight, etc.

[0068] The movable hinge shaft of the bucket wheel excavator is the central axis, and during the pitching process, it always satisfies the following:

[0069] 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 hydraulic cylinder 800; the torque of hydraulic cylinder 800 changes continuously during the pitching process.

[0070] See Figure 1 When the bucket wheel stacker-reclaimer is in a balanced state, the torque of hydraulic cylinder 800 is zero.

[0071] See Figure 2 When the cantilever beam 300 is tilted to its highest point, the center of gravity of the entire bucket wheel stacker-reclaimer tilts backward (towards the counterweight side). With the bucket wheel machine's movable hinge shaft as the central axis, the lever arm on the left side of the bucket wheel machine's movable hinge shaft becomes longer and the torque on the left side of the bucket wheel machine's movable hinge shaft becomes larger, while the lever arm on the right side of the bucket wheel machine's movable hinge shaft becomes shorter and the torque on the right side of the bucket wheel machine's movable hinge shaft becomes smaller.

[0072] See Figure 3 When the cantilever beam 300 is tilted to its lowest point, the center of gravity of the entire bucket wheel stacker-reclaimer tilts forward (towards the cantilever side). With the bucket wheel machine's movable hinge shaft as the central axis, the lever arm on the left side of the bucket wheel machine's movable hinge shaft becomes shorter and the torque on the left side of the bucket wheel machine's movable hinge shaft becomes smaller, while the lever arm on the right side of the bucket wheel machine's movable hinge shaft becomes longer and the torque on the right side of the bucket wheel machine's movable hinge shaft becomes larger.

[0073] In one embodiment, a method for detecting the grounding force of a bucket wheel stacker-reclaimer further includes a verification step, the verification step comprising:

[0074] When the cantilever beam 300 is tilted to its highest point, the torque M1 of the hydraulic cylinder 800 is obtained based on 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.

[0075] Furthermore, step S100 also includes:

[0076] By performing force conversion on the rod chamber pressure value in step S100, the force condition of the hydraulic cylinder hinge point can be obtained. The force conversion formula is as follows:

[0077] P=F / A;

[0078] in,

[0079] P is the pressure value of hydraulic cylinder 800 (unit: Pascal), F is the force acting on hydraulic cylinder 800 (unit: Newton, N), and A is the effective area of ​​hydraulic cylinder 800 (unit: square meter, m²). 2 );

[0080] The force on the hinge point of hydraulic cylinder 800 is calculated according to the formula, and the torque M2 of hydraulic cylinder 800 when cantilever beam 300 is pitched to the highest point is further calculated.

[0081] If the torque M1 is less than or equal to 70% of the torque M2, the grounding force of the whole machine is considered to be in good balance, and the verification ends.

[0082] Similarly, when the cantilever beam 300 pitches to its lowest point, the torque M3 of the hydraulic cylinder 800 is obtained based on 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.

[0083] Step S200 also includes:

[0084] By performing force conversion on the pressure value in the rodless chamber in step S200, the force condition of the hydraulic cylinder's hinge point can be obtained. The force conversion formula is as follows:

[0085] P=F / A;

[0086] in,

[0087] P is the pressure value of hydraulic cylinder 800 (unit: Pascal), F is the force acting on hydraulic cylinder 800 (unit: Newton, N), and A is the effective area of ​​hydraulic cylinder 800 (unit: square meter, m²). 2 );

[0088] The force on the hinge point of hydraulic cylinder 800 is calculated according to the formula, and the torque M4 of hydraulic cylinder 800 when cantilever beam 300 is pitched to the lowest point is further calculated.

[0089] If torque M3 is less than or equal to 70% of torque M4, the overall grounding force balance of the machine is considered qualified, and the verification ends. In this embodiment, the verification steps improve the reliability of the grounding force detection method for the bucket wheel stacker-reclaimer provided by this invention.

[0090] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] In this invention, unless otherwise explicitly specified and limited, "above" or "below" a second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of a second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal 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 can be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "above," "below," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

Claims

1. A method for detecting the grounding force of a bucket wheel stacker-reclaimer, the stacker-reclaimer comprising a slewing device, a hydraulic cylinder fixed to the slewing device, an L-beam hinged to the output end of the hydraulic cylinder, a cantilever beam disposed on one side of the L-beam, a bucket wheel assembly disposed on the cantilever beam, a counterweight arm disposed on the other side of the L-beam, and a counterweight block disposed on the counterweight arm, characterized in that: The specific steps include, S100. Pitch the cantilever beam to the highest point, release the excess back pressure of the hydraulic cylinder, detect the pressure value of the rod chamber through the pressure measuring point on the hydraulic cylinder, and record the data. S200. Pitch the cantilever beam to the lowest point, release the excess back pressure of the hydraulic cylinder, detect the pressure value of the rodless chamber through the pressure measuring point on the hydraulic cylinder, and record the data. S300. Compare the pressure value of the rod chamber with the rated pressure value of the hydraulic cylinder, and compare the pressure value of the rodless chamber with the rated pressure value of the hydraulic cylinder. If the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinder, and both chambers have a 30% margin, the grounding force of the whole machine is considered to be in good balance, and the test ends. 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%, the grounding force balance of the whole machine is deemed unqualified. The counterweight is adjusted, and after adjustment, steps S100-S300 are started.

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

3. The method for detecting the grounding force of a bucket wheel stacker-reclaimer according to claim 1, characterized in that: The rated pressure value mentioned in step S300 is calculated based on the size of the hydraulic cylinder, which determines the rated pressure values ​​of the rod chamber and rodless chamber of the hydraulic cylinder.

4. The method for detecting the grounding force of a bucket wheel stacker-reclaimer according to claim 1, characterized in that: The hydraulic cylinder has pressure measuring points in its two chambers. The pressure measuring points are connected to a shock-resistant pressure gauge via pressure gauge lines. The pressure gauge lines and the shock-resistant 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 the grounding force of a bucket wheel stacker-reclaimer according to any one of claims 1-4, characterized in that: It also includes a verification step, which includes: When the cantilever beam is pitched to its highest point, the torque M1 of the hydraulic cylinder is obtained based on 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. Furthermore, step S100 also includes: By performing force conversion on the rod chamber pressure value in step S100, the force condition of the hydraulic cylinder hinge point can be obtained. The force conversion formula is as follows: P=F / A; in, P is the pressure value of the hydraulic cylinder, F is the force on the hydraulic cylinder, and A is the effective area of ​​the hydraulic cylinder. The force on the hinge point of the hydraulic cylinder is calculated according to the formula, and the torque M2 of the hydraulic cylinder when the cantilever beam is pitched to the highest point is further calculated. If the torque M1 is less than or equal to 70% of the torque M2, the grounding force of the whole machine is considered to be in good balance, and the verification ends.

6. A method for detecting the grounding force of a bucket wheel stacker-reclaimer according to any one of claims 1-4, characterized in that: It also includes a verification step, which includes: when the cantilever beam is pitched to the lowest point, the torque M3 of the hydraulic cylinder is obtained based on 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. Step S200 also includes: By performing force conversion on the pressure value in the rodless chamber in step S200, the force condition of the hydraulic cylinder's hinge point can be obtained. The force conversion formula is as follows: P=F / A; in, P is the pressure value of the hydraulic cylinder, F is the force on the hydraulic cylinder, and A is the effective area of ​​the hydraulic cylinder. The force on the hinge point of the hydraulic cylinder is calculated according to the formula, and the torque M4 of the hydraulic cylinder when the cantilever beam is pitched to the lowest point is further calculated. If the torque M3 is less than or equal to 70% of the torque M4, the grounding force balance of the whole machine is considered qualified, and the verification ends.

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