A material taking control method, control system and storage medium of a portal-type bucket wheel reclaimer

Abstract

The application provides a kind of portal wheel type bucket reclaimer's material taking control method, control system and storage medium, method is: material pile is divided into multiple layers to be taken along the height direction, the contour line of the lower surface of current layer to be taken is projected to two-dimensional plane to obtain material taking area, the intersection of the lateral material taking straight line where bucket wheel is located and material taking area is confirmed to confirm material taking range, the total time of material taking in material taking range is calculated according to the total amount of material taking in material taking range and the set material taking volume flow, the running speed of bucket wheel in material taking stroke is calculated according to total time and the material taking stroke of bucket wheel in X axis direction, and then the action of bucket wheel is controlled to complete the material taking in current material taking range.The control method of the application can ensure that the material taking volume flow in each material taking range is constant, and avoid the problem of unstable material taking volume flow.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment control technology, specifically to a material handling control method, control system, and storage medium for a gantry bucket wheel reclaimer. Background Technology

[0002] A raw material yard is a site for receiving, storing, processing, and blending raw materials and fuels for iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, auxiliary raw material yards, and blending yards; they store not only imported iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also some sintered ore, pellets, and recycled materials from the steel plant, such as iron oxide scale, blast furnace ash, coke crushing, sinter powder, and end-of-life materials for blending. Gantry bucket wheel reclaimers are less cumbersome to operate than bucket wheel stacker-reclaimers and are widely used in raw material yards.

[0003] Currently, most operations of gantry bucket wheel reclaimers are done manually. This is labor-intensive, involves long working hours, and the dust pollution from the loose materials can significantly impact the physical and mental health of the operators. During operation, the operator manually controls the movement of the machine from the cab to reclaim materials. Due to the irregularity of the material pile and the limitations of the operator's experience, the volume and flow rate of materials reclaimed manually are unstable. Furthermore, the operator needs to maintain concentration for extended periods, resulting in high labor intensity.

[0004] In summary, there is an urgent need for a material handling control method, control system, and storage medium for a gantry bucket wheel reclaimer to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a material handling control method for a gantry bucket wheel reclaimer, aiming to solve the problems of unstable material handling volume and flow rate and high labor intensity in manually operated gantry bucket wheel reclaimers. The specific technical solution is as follows:

[0006] A material handling control method for a gantry bucket wheel reclaimer includes:

[0007] S1. Construct a spatial coordinate system with the width direction of the material pile as the X-axis, the height direction of the material pile as the Z-axis, and the length direction of the material pile as the Y-axis; divide the material pile into multiple layers to be taken along the height direction, and number each layer to be taken as 1, 2, 3, ..., N from top to bottom, and take m = 1, where N is the total number of layers to be taken;

[0008] S2. Obtain the contour lines of the lower surface of the m-th material to be removed, and project the contour lines onto the XY plane to obtain the material removal area of ​​the material to be removed.

[0009] S3. Determine the material collection range as [x1, x2] based on the intersection of the transverse material collection line where the bucket wheel is located and the material collection area; where x1 and x2 are the x-coordinates of the intersection of the transverse material collection line and the material collection area.

[0010] S4, Total material reclaimed within the reclaiming range, V 总 and the set material volume flow rate V q Calculate the total time t for completing material collection within the collection range. Based on the total time t and the material collection stroke of the bucket wheel in the X-axis, calculate the running speed of the bucket wheel within the material collection stroke. Align the bottom of the bucket wheel with the contour line and control the movement of the bucket wheel to complete material collection within the collection range.

[0011] S5. Determine whether the material removal of the current material layer has been completed. If it has been completed, proceed to S6. If it has not been completed, move the bucket wheel along the Y-axis and then re-enter S3.

[0012] S6. If the current m is less than N and the current total material taking amount is less than the target material taking amount, then take m = m + 1 and re-enter S2; otherwise, end the material taking process.

[0013] Preferably, the total amount of material taken out within the material taking range, V 总 The calculation method is as follows:

[0014]

[0015] The total time t for completing the material collection within the collection range is expressed as:

[0016]

[0017] Among them, h x H represents the height of the material point within the material collection range [x1, x2], where H is the height value of the contour line. denoted as the cutting depth when the bucket wheel picks up material, and k is the effective material picking coefficient.

[0018] Preferably, when the bucket wheel picks up material in the boundary area, k is less than 1, and when the bucket wheel picks up material in the non-boundary area, k is equal to 1; the boundary area refers to the area in the material picking area that is less than or equal to D from the contour line, and the non-boundary area refers to the area in the material picking area excluding the boundary area, where D is the width of the bucket wheel in the X-axis direction.

[0019] Preferably, the effective material handling coefficient is expressed as k = 1 / w, and the slippage coefficient w is expressed as:

[0020]

[0021] Where: λ is the proportionality coefficient, |xx1| is the distance from the x-coordinate of the material point to the boundary point x1, |xx2| is the distance from the x-coordinate of the material point to the boundary point x2, and α is the angle of repose.

[0022] Preferably, when the number of the bucket wheels is one, the operating speed of the bucket wheel in the reclaiming stroke is expressed as:

[0023]

[0024] wherein, h x is the height of a material point within the reclaiming range [x1,x2], H is the height value of the contour line, is the cutting depth during reclaiming by the bucket wheel, k is an effective reclaiming coefficient, and v is the operating speed of the bucket wheel in the reclaiming stroke.

[0025] Preferably, when the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, the movement stroke when the two bucket wheels perform synchronous reclaiming is defined as a first reclaiming stroke segment, and the movement stroke when only the left bucket wheel or the right bucket wheel can reclaim materials is defined as a second reclaiming stroke segment, and the composition of the reclaiming stroke of the bucket wheel in the X axial direction is:

[0026] when x2-x1=2L, the reclaiming stroke of the bucket wheel in the X axial direction only comprises the first reclaiming stroke segment;

[0027] when x2-x1>2L, the reclaiming stroke of the bucket wheel in the X axial direction comprises the first reclaiming stroke segment and the second reclaiming stroke segment;

[0028] when L≤x2-x1<2L, the reclaiming stroke of the bucket wheel in the X axial direction comprises the first reclaiming stroke segment and the second reclaiming stroke segment;

[0029] when x2-x1<L, the reclaiming stroke of the bucket wheel in the X axial direction only comprises the second reclaiming stroke segment.

[0030] Preferably, assuming that the operating speed of the bucket wheel along the X axial direction in the first reclaiming stroke segment is v1, and the operating speed of the bucket wheel along the X axial direction in the second reclaiming stroke segment is v2, wherein v2=nv1, n is a set value and n>1, then it is obtained that:

[0031] when x2-x1=2L, the operating speed v1 of the bucket wheel along the X axial direction in the first reclaiming stroke segment is:

[0032]

[0033] when x2-x1>2L, the operating speed v1 of the bucket wheel along the X axial direction in the first reclaiming stroke segment and the operating speed v2 of the bucket wheel along the X axial direction in the second reclaiming stroke segment are respectively:

[0034]

[0035] when L≤x2-x1<2L, the operating speed v1 of the bucket wheel along the X axial direction in the first reclaiming stroke segment and the operating speed v2 of the bucket wheel along the X axial direction in the second reclaiming stroke segment are respectively:

[0036]

[0037]

[0038] When x2-x1<L, the running speed v2 of the bucket wheel along the X axial direction in the second material reclaiming stroke segment is:

[0039]

[0040] Wherein, h x is the height of a material point within the material reclaiming range [x1,x2], H is the height value of the contour line, is the cutting depth when the bucket wheel reclaims material, and k is the effective material reclaiming coefficient.

[0041] Preferably, when the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, the material reclaiming volume flow V q is composed of real-time material reclaiming volume flows of the two bucket wheels, expressed as:

[0042] V q =V l +V r

[0043] In the first material reclaiming stroke segment, the real-time material reclaiming volume flows of the left bucket wheel and the right bucket wheel are expressed as:

[0044]

[0045] In the second material reclaiming stroke segment, when only the right bucket wheel performs material reclaiming, the real-time material reclaiming volume flows of the left bucket wheel and the right bucket wheel are expressed as:

[0046]

[0047] In the second material reclaiming stroke segment, when only the left bucket wheel performs material reclaiming, the real-time material reclaiming volume flows of the left bucket wheel and the right bucket wheel are expressed as:

[0048]

[0049] Wherein, V l is the real-time material reclaiming volume flow of the left bucket wheel, V r is the real-time material reclaiming volume flow of the right bucket wheel, h xl is the height of the material point when the left bucket wheel reclaims material, and h xr is the height of the material point when the right bucket wheel reclaims material.

[0050] The present invention further provides a storage medium, wherein a computer program is stored in the storage medium, and the computer program executes the material reclaiming control method when run.

[0051] The present invention also provides a material handling control system for a gantry bucket wheel reclaimer, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the material handling control method when running the computer program.

[0052] The application of the technical solution of the present invention has the following beneficial effects:

[0053] This invention utilizes the total material intake V 总 and material volumetric flow rate V q The total time t for material collection within the collection range is calculated. Then, based on the total time t and the collection stroke of the bucket wheel along the X-axis, the running speed of the bucket wheel within the collection stroke is calculated. This allows the lateral running speed of the bucket wheel within the collection stroke segment to be obtained, controlling the bucket wheel to maintain a uniform speed within the collection stroke segment and avoiding the adverse effects of frequent adjustments to the lateral movement speed of the bucket wheel. Simultaneously, the control method of this invention ensures that the volumetric flow rate of material collected within the collection range remains constant at V each time. q This avoids the problem of unstable material volume and flow rate.

[0054] For gantry double bucket wheel reclaimers, this invention provides a matching control method based on the characteristics of the reclaimer itself, maintaining a constant reclaimed volumetric flow rate of V regardless of whether both bucket wheels are reclaiming material simultaneously or a single bucket wheel is reclaiming material. q This avoids the problems of unstable material volume and flow rate and high labor intensity associated with manual operation.

[0055] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0056] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0057] Figure 1 This is a schematic diagram of a portal bucket wheel reclaimer with a single bucket wheel;

[0058] Figure 2 This is a schematic diagram of a gantry bucket wheel reclaimer with two bucket wheels.

[0059] Figure 3 This is a flowchart of the material handling control method of the portal bucket wheel reclaimer of the present invention;

[0060] Figure 4 This is a schematic diagram of contour lines projected onto the XY plane;

[0061] Among them, 1. Gantry, 2. Bucket wheel bridge rail, 3. Bucket wheel lateral movement rail, 4. Bucket wheel bridge, 5. Gantry sliding rail, 6. Bucket wheel. Detailed Implementation

[0062] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0064] Example 1:

[0065] Figure 1 This is a schematic diagram of a gantry bucket wheel reclaimer, including a gantry frame 1, a bucket wheel bridge frame 4, and a bucket wheel 6. The bottom of the gantry frame 1 is provided with a gantry sliding rail 5. The bucket wheel bridge frame 4 is slidably mounted on the gantry frame 1 via a bucket wheel bridge frame slide rail 2. The bucket wheel 6 is mounted on the bucket wheel bridge frame 4 via a bucket wheel transverse track 3. The position of the bucket wheel 6 can be adjusted in the X, Y, and Z directions through the gantry sliding rail 5, the bucket wheel bridge frame slide rail 2, and the bucket wheel transverse track 3. The gantry sliding rail 5 enables the gantry frame 1 and the components mounted on the gantry frame 1 to move together along the Y direction. The bucket wheel bridge frame slide rail 2 enables the bucket wheel bridge frame 4 and the components mounted on the bucket wheel bridge frame 4 to move together along the Z direction. The bucket wheel transverse track 3 enables the bucket wheel 6 to move along the X direction. The X, Y, and Z directions are perpendicular to each other.

[0066] Gantry bucket wheel reclaimers generally adopt a top-down layered reclaiming process. When reclaiming material, the bucket wheel moves along the X direction from one side of the material pile to the other side (from the left side of the material pile to the right side of the material pile, or from the right side of the material pile to the left side of the material pile), thus completing the reclaiming operation of one section. Then, the feeder moves along the Y direction until the reclaiming of one layer of material is completed.

[0067] To address the issues of high labor intensity, low efficiency, and potential safety risks associated with manual operation during material handling in gantry bucket wheel reclaimers, as well as unstable material flow rates due to irregular material piles, this embodiment provides a material handling control method for gantry bucket wheel reclaimers, such as... Figure 3 As shown, the details are as follows:

[0068] S1, constructing a spatial coordinate system with the width direction of the material pile as the X-axis, the height direction of the material pile as the Z-axis, and the length direction of the material pile as the Y-axis; dividing the material pile into a plurality of material layers to be reclaimed along the height direction, numbering each material layer to be reclaimed sequentially from top to bottom as 1, 2, 3, …, N, and setting m = 1, wherein N is the total number of material layers to be reclaimed;

[0069] Preferably, the height of the material layers to be reclaimed can be preset, and it is not limited that the height of each material layer to be reclaimed must be consistent. For example: the height of the material pile is 10m, the preset height of the material layers to be reclaimed is 3m, a total of 4 material layers to be reclaimed are obtained, wherein one material layer to be reclaimed has a height of 1m, and the other material layers to be reclaimed all have a height of 3m. The material layer to be reclaimed with a height of 1m can be located at the uppermost layer or the lowermost layer; of course, the preset height of the material layers to be reclaimed can also be 2.5m, a total of 4 material layers to be reclaimed are obtained, and the height of each material layer to be reclaimed is consistent.

[0070] Preferably, a material pile model is obtained by scanning the material pile, so that data information about the material pile can be obtained, including the width, length and height of the material pile and the coordinates of each material point on the surface of the material pile in the spatial coordinate system.

[0071] S2, acquiring the contour line of the lower surface of the m-th material layer to be reclaimed, projecting the contour line onto the XY plane to obtain the reclaiming area of the material layer to be reclaimed, as Figure 4 shown;

[0072] S3, confirming the reclaiming range as [x1, x2] according to the intersection points of the transverse reclaiming line where the bucket wheel is located and the reclaiming area; wherein both x1 and x2 are the abscissas of the intersection points of the transverse reclaiming line and the reclaiming area, x1 < x2, and the transverse reclaiming line is parallel to the X-axis;

[0073] S4, based on the total reclaiming volume V within the reclaiming range 总 and the set reclaiming volume flow V q calculating the total time t for completing reclaiming within the reclaiming range, and calculating the operating speed of the bucket wheel within the reclaiming stroke according to the total time t and the reclaiming stroke of the bucket wheel in the X-axis direction; aligning the lowermost end of the bucket wheel with the contour line, and controlling the action of the bucket wheel to complete reclaiming within the reclaiming range (i.e., controlling the bucket wheel to move along the X-axis direction to complete reclaiming within the reclaiming range);

[0074] Preferably, since part of the material will slide down to the next layer when reclaiming boundary materials, an effective reclaiming coefficient k is introduced in this embodiment to accurately calculate the total reclaiming volume V within the reclaiming range 总 , the total reclaiming volume V 总 is expressed as:

[0075]

[0076] wherein: h xH represents the height of the material point within the material collection range [x1, x2]. The material point is located on the line connecting x1 and x2, where x is the abscissa of the material point. For the method of obtaining the material point on the line connecting x1 and x2, please refer to the prior art, which will not be described in detail in this embodiment; H is the height value of the contour line. is the cutting depth when the bucket wheel picks up material; k is the effective material picking coefficient.

[0077] This embodiment provides two methods for determining the effective material extraction coefficient, the first of which is:

[0078] When the bucket wheel picks up material in the boundary area, k is less than 1; when it picks up material in the non-boundary area, k is equal to 1. The boundary area refers to the region within the material picking area that is less than or equal to D from the contour line, and the non-boundary area refers to the region within the material picking area excluding the boundary area, where D is the width of the bucket wheel in the X-axis direction. Furthermore, when picking up material in the boundary area, the effective material picking coefficient k can be calculated based on the calculated value of the material picking volumetric flow rate and the actual value of the material picking volumetric flow rate; in this embodiment, it is preferably 0.95.

[0079] The second method for determining the effective material extraction coefficient provided in this embodiment is as follows:

[0080] The effective material collection coefficient is expressed as k = 1 / w, where w is the slip coefficient. Specifically, the effective material collection coefficient is the reciprocal of the slip coefficient, meaning that the larger the slip coefficient, the less actual material can be collected. The slip coefficient is positively correlated with the height of the material point, inversely correlated with the distance of the material point from the edge, and inversely correlated with the angle of repose α. The slip coefficient w is expressed as:

[0081]

[0082] Where: λ is the proportionality coefficient, |xx1| is the distance from the x-coordinate of the material point to the boundary point x1, |xx2| is the distance from the x-coordinate of the material point to the boundary point x2, and α is the angle of repose.

[0083] In this embodiment, the second method for determining the effective material extraction coefficient can calculate the effective material extraction coefficient based on the location information of each material point. This method can more accurately obtain the effective material extraction coefficient corresponding to different material points, and calculate the total material extraction volume V. 总 It will be more accurate.

[0084] In this embodiment, an effective material collection coefficient k is introduced to accurately calculate the total material collection V within the material collection range [x1, x2]. 总 This allows for the accurate calculation of the total time t for material collection within the designated collection area. Specifically, this involves setting the material collection volume flow rate V. q Under the premise that the material is collected within the collection range, the total time t is expressed as:

[0085]

[0086] Further, since there is only one bucket wheel in the gantry bucket wheel reclaimer of this embodiment, the reclaiming stroke is the difference between x1 and x2, i.e., x2 - x1. Preferably, when controlling the movement of the bucket wheel on the X axis, the bucket wheel may move from x1 to x2, or from x2 to x1. Before the bucket wheel reclaims materials from the reclaiming range, the position of the bucket wheel is adjusted along the Z direction such that the lowermost end of the bucket wheel is flush with the contour line, the bucket wheel is moved to the boundary point of the reclaiming range (i.e., at x1 or x2), and then reclaiming in the reclaiming range is started. After completing reclaiming in one reclaiming range, the bucket wheel is moved along the Y direction, and then reclaiming is performed for the next reclaiming range.

[0087] Specifically, the operating speed v of the bucket wheel within the reclaiming stroke is expressed as:

[0088]

[0089] In this embodiment, controlling the bucket wheel to move at a constant speed v along the X axis can avoid adverse effects caused by frequent speed regulation (e.g., the reduction of the service life of the device caused by frequently adjusting the operating speed of the bucket wheel on the X axis), while ensuring that the reclaiming volumetric flow rate is constantly V q .

[0090] S5, determining whether reclaiming of the current material layer to be reclaimed is completed; if completed, proceed to S6, if not completed, move the bucket wheel along the Y axis and then return to S3;

[0091] Preferably, in this embodiment, the bucket wheel can be set to move in one direction along the Y axis, that is, the bucket wheel moves from one end to the other end in the length direction of the material pile, and the next reclaiming range can be determined after the bucket wheel moves along the Y axis. This process is repeated to complete the reclaiming work of the entire material layer to be reclaimed.

[0092] Further, the judgment condition for judging whether reclaiming of the current material layer to be reclaimed is completed in S5 can be set by those skilled in the art according to actual conditions, for example: counting the interval range [y1, y2] of the reclaiming area in the Y direction, if the bucket wheel has completed reclaiming within the interval range [y1, y2], it is considered that reclaiming of the current material layer to be reclaimed is completed, otherwise it is considered not completed. Of course, in some embodiments, whether reclaiming of the current material layer to be reclaimed is completed can also be judged according to the newly determined reclaiming range and the width D of the bucket wheel in the X-axis direction, that is, if x2-x1 < D, it is considered that reclaiming of the current material layer to be reclaimed is completed, otherwise it is considered not completed.

[0093] S6, if the current m is less than N and the current total reclaiming amount is less than the target reclaiming amount, set m = m+1 and then return to S2, otherwise end the reclaiming process.

[0094] Specifically, if the current m is less than N and the current total material reclaiming amount is less than the target material reclaiming amount, it means that the layered material reclaiming task of the material pile has not been completed. Let m = m + 1 to control the bucket wheel to reclaim the lower layer of material to be reclaimed (at this time, this layer is also the uppermost layer). When m equals N, it means that material is being reclaimed from the last layer. After reclaiming this layer, the reclaimer should stop reclaiming. When the total material reclaiming amount equals the target material reclaiming amount, it means that the set material reclaiming task has been completed, and the reclaimer should also stop reclaiming. Here, the total material reclaiming amount refers to the total accumulated material reclaiming amount from the start of reclaiming, and the target material reclaiming amount is the target amount set for the material reclaiming task.

[0095] The control method in steps S1-S6 above uses a constant speed movement of the bucket wheel within its picking stroke for material picking. This avoids frequent adjustments to the bucket wheel's speed along the X-axis, thus avoiding the adverse effects of frequent speed adjustments. However, it cannot be ruled out that some embodiments may use real-time adjustment of the bucket wheel's speed along the X-axis to achieve a constant material picking volume flow rate of V. q The purpose is to set the material intake volume flow rate V q Based on this, we can reverse-calculate to maintain the material intake volumetric flow rate at V. q The required bucket wheel operating speed, when controlled by real-time adjustment, should be determined as follows in step S4:

[0096] The bottom of the bucket wheel is aligned with the contour line, and the bucket wheel moves along the X-axis (i.e., from one side of the material pile to the other) to complete the material collection within the collection range; the real-time running speed of the bucket wheel on the X-axis is calculated according to formula (1.4):

[0097]

[0098] Among them, h x H represents the height of the material point within the material collection range [x1, x2], where H is the height value of the contour line. Let k be the cutting depth for material extraction, and k be the effective material extraction coefficient. When the bucket wheel extracts material in the boundary region, k is less than 1; when the bucket wheel extracts material in the non-boundary region, k is equal to 1. The real-time running speed of the bucket wheel on the X-axis is calculated according to formula (1.4), thus achieving a constant material extraction volumetric flow rate of V. q The purpose.

[0099] Example 2:

[0100] Figure 2This is a schematic diagram of a gantry double bucket wheel reclaimer, including a gantry frame 1, a bucket wheel bridge frame 4, and two bucket wheels 6. The bottom of the gantry frame 1 is provided with a gantry sliding rail 5. The bucket wheel bridge frame 4 is slidably mounted on the gantry frame 1 via a bucket wheel bridge frame slide rail 2. The two bucket wheels 6 are mounted on the bucket wheel bridge frame 4 via a bucket wheel transverse track 3. The two bucket wheels 6 move synchronously on the bucket wheel bridge frame 4, and the distance between them is a fixed value L. The positions of the two bucket wheels 6 can be adjusted in the X, Y, and Z directions through the gantry sliding rail 5, the bucket wheel bridge frame slide rail 2, and the bucket wheel transverse track 3. The gantry sliding rail 5 enables the gantry frame 1 and the components mounted on the gantry frame 1 to move together along the Y direction. The bucket wheel bridge frame slide rail 2 enables the bucket wheel bridge frame 4 and the components mounted on the bucket wheel bridge frame 4 to move together along the Z direction. The bucket wheel transverse track 3 enables the two bucket wheels 6 to move synchronously along the X direction. The X, Y, and Z directions are perpendicular to each other.

[0101] Gantry double bucket wheel reclaimers generally adopt a top-down layered reclaiming process. During reclaiming, one bucket wheel is set at the boundary point on the same side as the first bucket wheel, and the two bucket wheels move synchronously to the other boundary point (that is, the two bucket wheels may move synchronously from the left side of the material pile to the right side of the material pile, or they may move synchronously from the right side of the material pile to the left side of the material pile), thereby completing the reclaiming operation of one section. Then, the feeder (i.e., bucket wheels) moves along the Y direction until the reclaiming of one layer of material is completed.

[0102] To address the issues of high labor intensity, low efficiency, and potential safety risks associated with manual operation during material handling in gantry double bucket wheel reclaimers, as well as unstable material flow rate due to irregular material piles, this embodiment provides a material handling control method for gantry bucket wheel reclaimers, such as... Figure 3 As shown, the details are as follows:

[0103] S1. Construct a spatial coordinate system with the width direction of the material pile as the X-axis, the height direction of the material pile as the Z-axis, and the length direction of the material pile as the Y-axis; divide the material pile into multiple layers to be taken along the height direction, and number each layer to be taken as 1, 2, 3, ..., N from top to bottom, and take m = 1, where N is the total number of layers to be taken;

[0104] Preferably, the height of the material to be removed can be preset, and there is no restriction that the height of each material to be removed must be the same. For example, if the height of the material pile is 10m, and the preset height of the material to be removed is 3m, a total of 4 material to be removed will be obtained, one of which will be 1m high, and the rest will be 3m high. The material to be removed with a height of 1m can be located at the top or bottom layer; of course, the height of the material to be removed can also be preset to 2.5m, resulting in a total of 4 material to be removed, with each material to be removed having the same height.

[0105] Preferably, a pile model is obtained by scanning the material pile, so that data information about the material pile can be obtained, including the width, length and height of the material pile and the coordinates of each material point on the surface of the material pile in a spatial coordinate system.

[0106] S2, obtaining a contour line of a lower surface of an m-th material layer to be reclaimed, projecting the contour line onto an XY plane to obtain a reclaiming area of the material layer to be reclaimed, as Figure 4 shown in;

[0107] S3, confirming a reclaiming range as [x1, x2] according to an intersection point of a transverse reclaiming straight line where a bucket wheel is located and the reclaiming area; wherein both x1 and x2 are abscissas of intersection points of the transverse reclaiming straight line and the reclaiming area, x1 < x2, that is, x1 and x2 are two boundary points, and the transverse reclaiming straight line is parallel to an X axis;

[0108] S4, based on a total reclaiming amount V within the reclaiming range 总 and a set reclaiming volume flow V q calculating a total time t for completing reclaiming within the reclaiming range, calculating an operating speed of the bucket wheel within the reclaiming stroke according to the total time t and the reclaiming stroke of the bucket wheel in the X-axis direction; aligning a lowermost end of the bucket wheel with the contour line, and controlling the bucket wheel to act to complete reclaiming within the reclaiming range (i.e., controlling the bucket wheel to move along the X-axis direction to complete reclaiming in the reclaiming range);

[0109] Preferably, since part of boundary materials will slide down to the next layer during reclaiming, an effective reclaiming coefficient k is introduced in this embodiment to accurately calculate the total reclaiming amount V within the reclaiming range 总 , the total reclaiming amount V 总 is expressed as:

[0110]

[0111] wherein: h x is the height of a material point in the reclaiming range [x1, x2], the material point is located on a connecting line of x1 and x2, for the obtaining method of material points on the connecting line of x1 and x2, please refer to the prior art, which will not be described in detail in this embodiment; H is a height value of the contour line; is a cutting depth of reclaiming; k is the effective reclaiming coefficient.

[0112] In this embodiment, the determination method of the effective reclaiming coefficient is the same as that in Embodiment 1, introducing the effective reclaiming coefficient k can accurately calculate the total reclaiming amount V in the reclaiming range [x1, x2] 总 , thereby accurately calculating the total time t for completing reclaiming within the reclaiming range, specifically, on the premise that the reclaiming volume flow V q is set, the total time t for completing reclaiming within the reclaiming range is expressed as:

[0113]

[0114] Further, since the gantry double-bucket-wheel reclaimer in this embodiment has two bucket wheels, the reclaimed material volume flow V q is composed of the real-time reclaimed material volume flow of the two bucket wheels, expressed as:

[0115] V q = V l + V r (2.3),

[0116] wherein V l is the real-time reclaimed material volume flow of the left bucket wheel, and V r is the real-time reclaimed material volume flow of the right bucket wheel.

[0117] Since the two bucket wheels move synchronously in one direction during reclaiming, there are four situations in the entire reclaiming process:

[0118] 1) If x2-x1=2L, reclaiming of the entire reclaiming range can be completed only by synchronous reclaiming of the two bucket wheels.

[0119] 2) If x2-x1>2L, the two bucket wheels perform synchronous reclaiming first; when the reclaiming movement stroke of the two bucket wheels is greater than L, only the right bucket wheel or the left bucket wheel needs to continue working to complete reclaiming. When the bucket wheels move from the left side to the right side of the material pile (that is, moving from x1 to x2), after the reclaiming movement stroke of the two bucket wheels is greater than L, only the right bucket wheel needs to continue working to complete reclaiming; when the bucket wheels move from the right side to the left side of the material pile (that is, moving from x2 to x1), after the reclaiming movement stroke of the two bucket wheels is greater than L, only the left bucket wheel needs to continue working to complete reclaiming.

[0120] 3) If L≤x2-x1<2L, the two bucket wheels perform synchronous reclaiming first; when the reclaiming movement stroke of the two bucket wheels is greater than x2-x1-L, only the left bucket wheel or the right bucket wheel needs to continue working to complete reclaiming. When the bucket wheels move from the left side to the right side of the material pile, after the reclaiming movement stroke of the two bucket wheels is greater than x2-x1-L, only the left bucket wheel needs to continue working to complete reclaiming; when the bucket wheels move from the right side to the left side of the material pile, after the reclaiming movement stroke of the two bucket wheels is greater than x2-x1-L, only the right bucket wheel needs to continue working to complete reclaiming.

[0121] 4) If x2-x1<L, this means that only one bucket wheel is required to complete reclaiming of the reclaiming range, that is, only the right bucket wheel or the left bucket wheel works to complete reclaiming, and the situation at this time is the same as that of single-bucket-wheel reclaiming in Embodiment 1.

[0122] In this embodiment, the movement stroke when the two bucket wheels perform synchronous reclaiming is defined as a first reclaiming stroke segment, and the movement stroke when only the left bucket wheel or the right bucket wheel can reclaim material is defined as a second reclaiming stroke segment.

[0123] In the first stage of the material handling stroke, the real-time material handling volume flow rate of the left and right bucket wheels is expressed as:

[0124]

[0125] In the second stage of the material handling stroke, when only the right bucket wheel is handling material, the real-time material handling volume flow rate of the left and right bucket wheels is expressed as:

[0126]

[0127] In the second stage of the material handling stroke, when only the left bucket wheel is handling material, the real-time material handling volume flow rate of the left and right bucket wheels is expressed as:

[0128]

[0129] Among them, h xl h represents the height of the material point when the left bucket wheel picks up material. xr H represents the height of the material point when the right bucket wheel picks up material, where H is the height value of the contour line. denoted as the cutting depth for material extraction (the cutting depth of the two bucket wheels is consistent), v is the speed of the bucket wheel along the X-axis (the two bucket wheels move synchronously, so their speeds along the X-axis are both v), and k is the effective material extraction coefficient.

[0130] Because the number of bucket wheels performing material handling operations differs between the first and second material handling segments, it is necessary to ensure that the material handling volumetric flow rate remains constant at V. q The speeds of the bucket wheel along the X-axis in the first and second material handling segments should also be set differently. Assuming the speed of the bucket wheel along the X-axis in the first segment is v1, and in the second segment it is v2, where v2 = nv1, and n is a set value greater than 1, the relationship between the total time t and the bucket wheel speed under various conditions can be expressed as:

[0131] 1) If x2-x1=2L, the relationship between the total time t and v1 can be expressed as:

[0132]

[0133] After deformation, the running speed v1 of the bucket wheel along the X-axis in the first material handling segment is:

[0134]

[0135] 2) If x2-x1>2L, the relationship between the total time t and v1, v2 can be expressed as:

[0136]

[0137] Obtain the traveling speed v1 of the bucket wheel along the X-axis in the first reclaiming travel segment as:

[0138]

[0139] Obtain the traveling speed v2 of the bucket wheel along the X-axis in the second reclaiming travel segment as:

[0140]

[0141] 3) When L≤x2-x1<2L, the relationship between the total time t, v1 and v2 can be expressed as:

[0142]

[0143] Obtain the traveling speed v1 of the bucket wheel along the X-axis in the first reclaiming travel segment as:

[0144]

[0145] Obtain the traveling speed v2 of the bucket wheel along the X-axis in the second reclaiming travel segment as:

[0146]

[0147] 4) When x2-x1<L, only one bucket wheel is required for reclaiming, so the relationship between the total time t and v2 can be expressed as:

[0148]

[0149] Obtain the traveling speed v2 of the bucket wheel along the X-axis in the second reclaiming travel segment as:

[0150]

[0151] In this embodiment, according to the relationship between the difference value of x2-x1 and L, it can be confirmed that the reclaiming travel of the bucket wheel in the reclaiming range is only the first reclaiming travel segment, or a combination of the first and the second reclaiming travel segments, or only the second reclaiming travel segment, thereby calculating the traveling speed of the bucket wheel under various conditions, so as to ensure that the reclaiming volumetric flow rate of the reclaimer is always constantly V q .

[0152] S5: Determine whether reclaiming of the current material layer to be reclaimed is completed, if yes, proceed to S6; if not, move the bucket wheel along the Y-axis and then re-enter S3;

[0153] Preferably, in this embodiment, the bucket wheel can be set to move in one direction along the Y-axis, that is, the bucket wheel moves from one end of the pile in the length direction to the other end, and after the bucket wheel moves along the Y-axis, the next reclaiming range can be determined, and the process repeats to complete the reclaiming work of the entire material layer to be reclaimed.

[0154] Furthermore, the judgment conditions for determining whether the current material to be picked up has been completed in S5 can be set by those skilled in the art according to the actual situation, as can be seen in the judgment method in Embodiment 1.

[0155] S6. If the current m is less than N and the current total material taking amount is less than the target material taking amount, then take m = m + 1 and re-enter S2; otherwise, end the material taking process.

[0156] Specifically, if the current m is less than N and the current total material reclaiming amount is less than the target material reclaiming amount, it means that the layered material reclaiming task of the material pile has not been completed. Let m = m + 1 to control the bucket wheel to reclaim the lower layer of material to be reclaimed (at this time, this layer is also the uppermost layer). When m equals N, it means that material is being reclaimed from the last layer. After reclaiming this layer, the reclaimer should stop reclaiming. When the total material reclaiming amount equals the target material reclaiming amount, it means that the set material reclaiming task has been completed, and the reclaimer should also stop reclaiming. Here, the total material reclaiming amount refers to the total accumulated material reclaiming amount from the start of reclaiming, and the target material reclaiming amount is the target amount set for the material reclaiming task.

[0157] Similar to Example 1, given the material intake volume flow rate V q Then, based on formulas (2.3)-(2.6) and the composition of the material taking stroke, the real-time running speed of the bucket wheel along the X-axis can also be calculated by reverse calculation. In this embodiment, the reverse calculation process will not be described in detail. The reverse calculation here is common knowledge in the field.

[0158] Example 3:

[0159] This embodiment provides a material handling control system for a portal bucket wheel reclaimer. The control system is used to control the material handling of a portal bucket wheel reclaimer with a single bucket wheel. The system includes a processor and a memory. The memory stores a computer program. When the processor runs the computer program, it executes the material handling control method in Embodiment 1.

[0160] Example 4:

[0161] This embodiment provides a material handling control system for a portal bucket wheel reclaimer. The control system is used to control the material handling of the double bucket wheel portal bucket wheel reclaimer. The system includes a processor and a memory. The memory stores a computer program. When the processor runs the computer program, it executes the material handling control method in Embodiment 2.

[0162] Example 5:

[0163] This embodiment provides a storage medium storing a computer program, which, when run, executes the material handling control method in Embodiment 1 or Embodiment 2.

[0164] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A material handling control method for a gantry bucket wheel reclaimer, characterized in that, include: S1. Construct a spatial coordinate system with the width of the material pile as the X-axis, the height of the material pile as the Z-axis, and the length of the material pile as the Y-axis; The stockpile is divided into multiple layers to be removed along its height, and each layer m is numbered sequentially from top to bottom. Initially, m=1, where This represents the total number of layers to be processed; S2. Obtain the contour lines of the lower surface of the m-th material to be removed, and project the contour lines onto the XY plane to obtain the material removal area of ​​the material to be removed. S3. Determine the material collection range based on the intersection of the transverse material collection line where the bucket wheel is located and the material collection area. ;in, and All are the x-coordinates of the points where the horizontal material-taking line intersects with the material-taking area; S4. Total material taken within the material taking range and the set material intake volume flow rate Calculate the total time required to complete material collection within the designated collection area. Based on total time Calculate the running speed of the bucket wheel within its material-collecting stroke along the X-axis; align the bottom of the bucket wheel with the contour line and control the bucket wheel's movement to complete the material collection within its range; S5. Determine whether the material removal of the current material layer has been completed. If it has been completed, proceed to S6. If it has not been completed, move the bucket wheel along the Y-axis and then re-enter S3. S6. If the current m is less than N and the current total material taking amount is less than the target material taking amount, then take m = m + 1 and re-enter S2; otherwise, end the material taking process. Total amount of material taken within the material taking range The calculation method is as follows: Total time to complete material retrieval within the retrieval range Represented as: in, For material collection range The height of the feeding point, These are the elevation values ​​of the contour lines. This refers to the cutting depth when the bucket wheel picks up material. The effective material extraction coefficient; When the bucket wheel takes material in the boundary area Less than 1, when the bucket wheel takes material in the non-boundary area. =1; the boundary region refers to the area in the material taking area that is less than or equal to D from the contour line, and the non-boundary region refers to the area in the material taking area excluding the boundary region, where D is the width of the bucket wheel in the X-axis direction.

2. The material handling control method for the gantry bucket wheel reclaimer according to claim 1, characterized in that, The effective material extraction coefficient is expressed as: Slip coefficient Represented as: in: This is the proportionality coefficient. x-coordinate of the material point To the boundary point distance, x-coordinate of the material point To the boundary point distance, It is called the Antarctic.

3. The material handling control method for the gantry bucket wheel reclaimer according to any one of claims 1-2, characterized in that, When there is only one bucket wheel, the speed of the bucket wheel during the material handling stroke is expressed as: in, This refers to the speed at which the bucket wheel travels within its material handling stroke.

4. The material handling control method for the gantry bucket wheel reclaimer according to any one of claims 1-2, characterized in that, When the number of bucket wheels is two and the distance between the two bucket wheels is a fixed value. When both bucket wheels are simultaneously picking up material, the stroke is defined as the first picking stroke segment. The stroke when only the left or right bucket wheel can pick up material is defined as the second picking stroke segment. The composition of the picking stroke of the bucket wheels in the X-axis is as follows: like At that time, the bucket wheel's material-taking stroke in the X-axis only includes the material-taking stroke segment one; like At that time, the material picking stroke of the bucket wheel in the X-axis includes material picking stroke segment one and material picking stroke segment two; like L At that time, the material picking stroke of the bucket wheel in the X-axis includes material picking stroke segment one and material picking stroke segment two; like At that time, the bucket wheel's material-taking stroke in the X-axis only includes the second part of the material-taking stroke.

5. The material handling control method for the gantry bucket wheel reclaimer according to claim 4, characterized in that, Assume that the speed of the bucket wheel along the X-axis in the first stage of the material handling process is... The running speed of the bucket wheel along the X-axis in the second stage of the material handling process is: ,in , If the set value is greater than 1, then: like At that time, the running speed of the bucket wheel along the X-axis in the first stage of the material handling stroke is... for: like At that time, the running speed of the bucket wheel along the X-axis in the first stage of the material handling stroke is... And the running speed of the bucket wheel along the X-axis in the second stage of the material handling stroke. They are respectively: like At that time, the running speed of the bucket wheel along the X-axis in the first stage of the material handling stroke is... And the running speed of the bucket wheel along the X-axis in the second stage of the material handling stroke. respectively: like At that time, the running speed of the bucket wheel along the X-axis in the second stage of the material handling stroke is... for: 。 6. The material handling control method for the gantry bucket wheel reclaimer according to claim 5, characterized in that, When the number of bucket wheels is two and the distance between the two bucket wheels is a fixed value. At that time, the volumetric flow rate of the material being taken out The real-time material handling volumetric flow rate, composed of the two bucket wheels, is expressed as: The real-time volumetric flow rate of the left and right bucket wheels in the first stage of the material handling process is expressed as follows: In the second stage of the material handling stroke, when only the right bucket wheel is handling material, the real-time material handling volume flow rate of the left and right bucket wheels is expressed as: In the second stage of the material handling stroke, when only the left bucket wheel is handling material, the real-time material handling volume flow rate of the left and right bucket wheels is expressed as: in, This represents the real-time material handling volumetric flow rate of the left bucket wheel. This represents the real-time material handling volumetric flow rate of the right-side bucket wheel. This refers to the height of the material point when the left bucket wheel picks up material. This refers to the height of the material point when the right bucket wheel picks up material.

7. A storage medium, characterized in that, The storage medium stores a computer program, which, when run, executes the material handling control method as described in any one of claims 1-6.

8. A material handling control system for a gantry bucket wheel reclaimer, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the material handling control method as described in any one of claims 1-6 when running the computer program.

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