Bucket wheel type stacker-reclaimer with grounding protection valve group and control method

Abstract

The invention provides a bucket-wheel stacker-reclaimer with an anti-grounding protection valve group and a control method.The bucket-wheel stacker-reclaimer comprises an arm support structure body, an arm support pitching oil cylinder, an arm support pitching angle sensor and a base, and the arm support pitching angle sensor is installed on the base; the boom structure main body is rotationally connected with the boom pitching angle sensor through a pitching hinge point; a lower hinge point of the cantilever crane pitching oil cylinder is fixed on the base, and an upper hinge point is rotationally connected with the cantilever crane structure main body; a pitching oil cylinder control valve set is installed on the arm frame pitching oil cylinder and used for monitoring the pressure value of the arm frame pitching oil cylinder and preventing the arm frame structure body from making contact with the ground. According to the method, the stress state of the pitching oil cylinder is monitored in real time, abnormal stress is accurately captured, and grounding faults are rapidly recognized and responded; when grounding occurs, grounding force is limited in time, front pull rod looseness caused by excessive descending of the arm support is avoided, and mechanism stress unbalance is prevented from the source.

Description

Technical Field

[0001] This invention relates to the field of fluid transmission and control, and in particular to a bucket wheel stacker-reclaimer with a bottom-touch protection valve assembly and its control method. Background Technology

[0002] In existing technologies, the boom of a hydraulic cylinder luffing stacker-reclaimer is a lever-type balancing mechanism. Using the tower as a fulcrum, the boom and counterweight are connected by front and rear tie rods, transmitting the forces at both ends to the tower to achieve front-to-back force balance. However, each tie rod consists of multiple short tie rods connected by hinges. If the boom's bottoming force is too large, the upward reaction force can cause the front and middle tie rods to slacken, resulting in a sudden imbalance of forces on the tower, potentially leading to abnormal tower stress or even an accident.

[0003] During operations such as material handling, material stacking, and pitching / lowering, the boom is prone to bottoming out due to factors such as obstructed visibility at night, human error, or deviations in automated operations. In particular, the hopper inevitably comes into contact with the material stack during material handling. If the bottoming situation is not assessed in time and the contact force is not limited, it can easily cause serious risks such as deformation and cracking of the support column, or even the entire machine overturning.

[0004] Currently, most boom bottom protection systems on the market use methods such as anti-collision ropes on both sides of the boom, laser scanning radar, or head-contact infrared sensors.

[0005] However, there are significant limitations in direct contact material handling operations: First, human operation relies on the driver's experience, and laser scanning is limited to the digging height, neither of which can detect the softness of the material pile or the contact force between the equipment and the material pile; Second, the problems of the pull rope and lidar are that the protection range is difficult to define, the sensitivity is difficult to control, and there is a blind spot directly under the boom that is not fully covered; Third, infrared sensors are susceptible to dust contamination from bulk materials, which can cause false alarms and affect operational efficiency.

[0006] However, none of these existing technologies monitor and calculate the dynamic forces acting on the overall balancing mechanism, making it difficult to fundamentally prevent safety risks caused by bottoming out.

[0007] In view of this, the inventors of this application have designed a bucket wheel stacker-reclaimer with a bottom-touch protection valve assembly and a control method to overcome the above-mentioned technical problems. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology in which direct contact material handling operations cannot fundamentally prevent the safety risks caused by bottoming out, and to provide a bucket wheel stacker-reclaimer with a bottom-out protection valve group and a control method.

[0009] The present invention solves the above-mentioned technical problems through the following technical solution: A bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly is characterized in that the bucket wheel stacker-reclaimer includes: a boom structure body, a boom pitch cylinder, a boom pitch angle sensor and a base, wherein the boom pitch angle sensor is installed on the base, and the boom structure body is rotatably connected to the boom pitch angle sensor through a pitch hinge point. The lower hinge point of the boom pitch cylinder is fixed on the base, and the upper hinge point is rotatably connected to the main body of the boom structure. The boom pitch cylinder is equipped with a pitch cylinder control valve assembly. When the boom pitch cylinder performs a telescopic movement, the main body of the boom structure pitches around the pitch hinge point. The pitch cylinder control valve assembly is used to monitor the pressure value of the boom pitch cylinder to prevent the main body of the boom structure from touching the ground.

[0010] According to one embodiment of the present invention, the pitch cylinder control valve assembly includes at least one safety relief valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder, for limiting the maximum pressure values ​​of the rod chamber and the rodless chamber of the boom pitch cylinder.

[0011] According to one embodiment of the present invention, the pitch cylinder control valve group includes at least one check valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder, for timely replenishment of oil from the oil tank to the rod chamber and the rodless chamber of the boom pitch cylinder when the boom pitch cylinder experiences cavitation.

[0012] According to one embodiment of the present invention, the pitch cylinder control valve group includes at least one balance valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder, for maintaining the load of the rod chamber and the rodless chamber of the boom pitch cylinder, and ensuring that the pitch angle of the main body of the boom structure remains constant when the machine is stopped.

[0013] According to one embodiment of the present invention, the pitch cylinder control valve assembly includes a rod chamber pressure sensor and a rodless chamber pressure sensor, which are respectively connected to the rod chamber and the rodless chamber of the boom pitch cylinder for monitoring pressure.

[0014] According to one embodiment of the present invention, the bucket wheel stacker-reclaimer further includes a boom pitch cylinder hydraulic system power station, which is mounted on a base, and the lower hinge point of the boom pitch cylinder is fixedly connected to the boom pitch cylinder hydraulic system power station.

[0015] According to one embodiment of the present invention, the boom pitch cylinder satisfies the following relationship: ; in, This represents the theoretical force on the hydraulic cylinder under no-load conditions; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the hydraulic cylinder monitored in real time during operation.

[0016] According to one embodiment of the present invention, when the boom of the boom structure body is in a horizontal state, the boom pitch cylinder satisfies the following relationship: ; Where M(0) represents the moment of the machine's center of gravity about the boom hinge point when the horizontal pitch angle of the boom is 0 degrees; F(0) represents the no-load force value of the boom pitch cylinder when the horizontal pitch angle of the boom is 0 degrees.

[0017] The present invention also provides a control method for a bottom-out protection valve assembly, characterized in that the control method is used in a bucket wheel stacker-reclaimer with a bottom-out protection valve assembly as described above, and the control method includes the following steps: S1. The boom pitch cylinder receives the pitch descent command and simultaneously monitors the pitch angle and the pressure of the boom pitch cylinder. S2. Perform real-time monitoring and calculation of bottoming out; if If so, proceed to step S3; Then proceed to step S4; S3. The tilting boom of the main boom structure is allowed to continue to descend; S4. The lowering motion of the boom of the main boom structure is restricted, but the ascending motion is permitted; in, This represents the theoretical unloaded force on the boom pitch cylinder; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the boom pitch cylinder monitored in real time during operation.

[0018] According to an embodiment of the present invention, in step S2 ;in, This indicates the area of ​​the rodless chamber of the boom pitch cylinder; This indicates the area of ​​the rod chamber of the boom pitch cylinder; This represents the rodless chamber pressure value of the boom pitch cylinder at the pitch angle θ. This represents the rod chamber pressure value of the boom pitch cylinder when the pitch angle is θ. This indicates the real-time force value of the boom pitch cylinder when the boom pitch angle is θ.

[0019] The positive and progressive effects of this invention are as follows: This invention relates to a bucket wheel stacker-reclaimer with a bottom-touch protection valve assembly and a control method, which has the following advantages: 1. Real-time monitoring of the force state of the pitch cylinder, accurate capture of abnormal forces, and rapid identification and response to bottoming-out faults; Second, immediately limit the bottoming force when bottoming occurs to prevent excessive boom descent that could cause the front tie rod to loosen, thus preventing force imbalance in the mechanism from the source. Third, the stress safety value ΔF can be flexibly adjusted according to the equipment's usage time, aging degree and other working conditions, making it more adaptable; IV. Adaptable to remote, automated, unattended bulk cargo yard operation scenarios to meet the needs of intelligent operation; Fifth, it has a wide range of applications and can be extended to various related models with similar balance beam structure pitching mechanisms. Attached Figure Description

[0020] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always denote the same features, wherein: Figure 1 This is a schematic diagram of the structure of the bucket wheel stacker-reclaimer with bottom-touch protection valve group of the present invention.

[0021] Figure 2 This is a schematic diagram of the boom pitching cylinder in the bucket wheel stacker-reclaimer with bottom-touching protection valve assembly of the present invention.

[0022] Figure 3 This is a schematic diagram of the boom tilt cylinder control valve group in the bucket wheel stacker-reclaimer with bottom-touching protection valve group of the present invention.

[0023] Figure 4 This is a simplified model and coordinate system diagram of the bucket wheel stacker-reclaimer with bottom-touch protection valve group of the present invention.

[0024] Figure 5 This is a schematic diagram of the force model of the boom pitching cylinder in the bucket wheel stacker-reclaimer with bottom-touching protection valve group of the present invention when the boom is in a horizontal state.

[0025] Figure 6 This is a schematic diagram of the force model of the boom pitching cylinder in the bucket wheel stacker-reclaimer with bottom-touching protection valve group of the present invention, when the boom is pitched at an angle θ.

[0026] Figure 7 This is a flowchart of the control method for the bottom-touching protection valve assembly of the present invention.

[0027] Figure 8 This is a graph showing the changes in pitch angle, hydraulic cylinder force, and safe force value of a certain type of stacker-reclaimer.

[0028] Figure 9 This is a graph showing the changes in pitch angle, cylinder force, and safety force value after adjustment. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Embodiments of the invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the invention will now be described in detail, examples of which are shown in the drawings. Wherever possible, the same reference numerals will be used in all the drawings to denote the same or similar parts.

[0031] Furthermore, although the terminology used in this invention is selected from commonly known and used terms, some terms mentioned in this specification may have been selected by the applicant in his or her judgment, and their detailed meanings are explained in the relevant sections of the description herein.

[0032] Furthermore, the invention should be understood not only through the actual terminology used, but also through the meaning implied by each term.

[0033] like Figures 1 to 3 As shown, this invention discloses a bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly, comprising: a boom structure body 10, a boom pitch cylinder 20, a boom pitch angle sensor 30, and a base 40. The boom pitch angle sensor 30 is mounted on the base 40, and the boom structure body 10 is rotatably connected to the boom pitch angle sensor 30 via a pitch hinge point 50. The lower hinge point 21 of the boom pitch cylinder 20 is fixed to the base 40, and the upper hinge point 22 is rotatably connected to the boom structure body 10. A pitch cylinder control valve assembly 60 is installed on the boom pitch cylinder 20. When the boom pitch cylinder 20 extends or retracts, the boom structure body 10 pitches around the pitch hinge point 50. The pitch cylinder control valve assembly 60 monitors the pressure value of the boom pitch cylinder 20 to prevent the boom structure body 10 from touching the ground.

[0034] The bucket wheel stacker-reclaimer with anti-bottom-out protection valve assembly is a lever-type balancing mechanism. The main boom structure 10 is fulcrumped at the boom column tower 11, with the two ends connected to the front and rear of the boom via tie rods. The front tie rod 12 and the middle tie rod 13 transmit the force from the boom side to the boom column tower 11, and the rear tie rod 14 transmits the force from the counterweight 15 to the boom column tower 11, thus achieving force balance between the front and rear of the boom. The pitch cylinder control valve assembly 60 is installed on the boom pitch cylinder 20. The lower hinge point 21 of the boom pitch cylinder 20 is fixed, and the upper hinge point 22 moves together with the boom column tower 11. When the pitch cylinder 20 performs a telescopic movement, the pitch boom 16 of the boom pitch structure will pitch around the pitch hinge point 50. The ends of the boom support tower 11, the boom front tie rod 12, and the center tie rod 13 are respectively connected to the pitch boom 16, and the outer end of the pitch boom 16 is equipped with a bucket wheel digging mechanism 17. The boom pitch cylinder hydraulic system power station 18 is mounted on the base 40.

[0035] The pitch cylinder control valve group 60 is an integrated valve group that integrates control valve, safety valve and pressure detection sensor. It is installed on the boom pitch cylinder 20. It can improve the stability and reliability of boom pitching and lowering, and can quickly stop the machine in case of bottoming failure during pitching. The bottoming protection value is set accurately and responds in a timely manner, which significantly improves the reliability and safety of the whole machine.

[0036] Preferably, such as Figure 3 As shown, the pitch cylinder control valve assembly 60 includes at least one safety relief valve 61, which is connected in series between the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20, and is used to limit the maximum pressure value of the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20.

[0037] The pitch cylinder control valve assembly 60 includes at least one check valve 62 connected in series between the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20. When the boom pitch cylinder 20 experiences cavitation, it replenishes oil from the oil tank to the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20 in a timely manner.

[0038] The pitch cylinder control valve assembly 60 includes at least one balance valve 63 connected in series between the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20, for maintaining the load on the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20, and ensuring that the pitch angle of the boom structure body 10 remains constant when the machine is stopped.

[0039] Furthermore, the pitch cylinder control valve assembly 60 also includes a rod chamber pressure sensor 64 and a rodless chamber pressure sensor 65, which are connected to the rod chamber 23 and the rodless chamber 24 of the boom pitch cylinder 20, respectively, for monitoring pressure. These sensors can be used for pressure display and, in conjunction with the two chamber areas of the boom pitch cylinder 20 and the pitch bottoming safety threshold, can be used to set and monitor the boom bottoming protection value. Once a bottoming fault is triggered, the pitch descent command is immediately stopped to prevent bottoming.

[0040] The bucket wheel stacker-reclaimer also includes a boom pitch cylinder hydraulic system power station 70, which is installed on the base. The lower hinge point of the boom pitch cylinder is fixedly connected to the boom pitch cylinder hydraulic system power station.

[0041] To construct a mathematical model for the entire machine in order to perform logical control, such as... Figure 4 As shown, Figure 1 The various mechanisms are simplified, and the center of gravity Gi of each mechanism is found. The origin of the coordinate system O (0, 0) is the boom pitch hinge point. When the boom is in a horizontal position and the pitch angle θ is 0, the distance from the pitch hinge point to the center of the bucket wheel is the positive half-axis of the X-axis, and the vertical upward direction through the origin is the positive half-axis of the Y-axis.

[0042] Calculate the resultant force Gi and resultant arm Li at each center of gravity, and then obtain the total moment M(0) of the upper structure about the boom hinge point O. Note that Li has a direction. Li is positive when it is on the positive half-axis of the X-axis, and negative when it is on the negative half-axis of the X-axis (e.g., ...). Figure 4 (L1 is positive, L5 is negative). The lower hinge point A of the boom pitch cylinder 20 (A... x A y ) is a fixed point (corresponding to) Figure 1 Lower hinge point 21). Upper hinge point B of boom pitch cylinder 20 (B x B y Located on the boom column tower (corresponding to) Figure 1 (22) When the hydraulic cylinder performs the extension and retraction action, point B moves in a circle with O (0,0) as the center, thereby driving the entire upper structure to move up and down in pitch.

[0043] according to Figure 4 Using the model and coordinate system, a mathematical model of the hydraulic cylinder force is constructed when the boom is in a horizontal state and the boom's horizontal pitch angle θ is 0, thereby obtaining F(0), i.e.: When the boom of the main boom structure is in a horizontal state, the boom pitch cylinder satisfies the following relationship: ; (Where Gi represents G1\G2\G3..., and Li represents L1\L2\L3...)

[0044] therefore:

[0045] Where M(0) represents the moment of the machine's center of gravity about the boom hinge point when the horizontal pitch angle of the boom is 0 degrees; This indicates the center of gravity of each mechanism when the boom is at 0 degrees; This indicates the distance of the lever arm of each mechanism's center of gravity relative to the pitch hinge point when the boom is at 0 degrees. This indicates the angle between the line connecting the boom hinge point and the lower hinge point of the pitch cylinder and the horizontal. H(0) represents the angle between the line connecting the upper and lower hinge points of the boom and the horizontal when the boom is at 0 degrees; H(0) represents the perpendicular line from the boom hinge point to the cylinder when the boom is at 0 degrees; F(0) represents the no-load force value of the boom pitch cylinder when the horizontal pitch angle of the boom is 0 degrees.

[0046] according to Figure 4 When the boom pitch cylinder 20 retracts, the upper hinge point B of the boom pitch cylinder 20 moves counterclockwise around O (0, 0). At this time, the boom pitch decreases, and the pitch angle θ increases. Figure 5 State transition Figure 6 The state.

[0047] Combination Figure 6 The force on the cylinder at angle θ is calculated as follows:

[0048] When the boom is in pitch at angle θ, pressure sensors monitor pressure values ​​Ps1 and Ps2 in real time. The real-time pitch force value is calculated using the following formula. :

[0049] in, This represents the area of ​​the rodless chamber of the pitch cylinder; This indicates the area of ​​the rod-side chamber of the pitch cylinder; This represents the pressure value in the rodless chamber of the hydraulic cylinder at the pitch angle θ. This represents the pressure value in the rod chamber of the hydraulic cylinder at the pitch angle θ. This represents the real-time force value at the pitch angle θ.

[0050] Based on the above mathematical model, the theoretical value F(θ) of the no-load at the pitch angle θ and the real-time monitoring value are compared. By making comparisons and given a safety threshold ΔF, a comparative logical relationship is established, thereby constructing a simplified mechanical model between the pitch angle sensor θ, pressure sensors Ps1 and Ps2, and the safety threshold ΔF: The boom pitch cylinder satisfies the following relationship: ; (or transformed into: ).

[0051] in, This represents the theoretical force on the hydraulic cylinder under no-load conditions; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the hydraulic cylinder monitored in real time during operation.

[0052] That is, when the boom pitches down, F(θ) is compared in real time with the angle as the angle increases. If the difference is less than or equal to ΔF, descent is allowed to continue; if the difference is greater than ΔF, an alarm is immediately triggered and descent is prohibited, retaining only the ascending function, thus determining a bottoming-out fault and activating protection. The logic control relationship is as follows: Figure 7 As shown.

[0053] like Figure 7 As shown, the present invention also provides a control method for a bottom-out protection valve assembly, used in a bucket wheel stacker-reclaimer with a bottom-out protection valve assembly as described above. The control method includes the following steps: Step S1: The boom pitch cylinder receives the pitch descent command and simultaneously monitors the pitch angle and the pressure of the boom pitch cylinder.

[0054] Step S2: Perform real-time monitoring of the bottoming-out process; if Then proceed to step S3; like Then proceed to step S4.

[0055] Preferably, in step S2 .

[0056] in, This indicates the area of ​​the rodless chamber of the boom pitch cylinder; This indicates the area of ​​the rod chamber of the boom pitch cylinder; This represents the rodless chamber pressure value of the boom pitch cylinder at the pitch angle θ. This represents the rod chamber pressure value of the boom pitch cylinder when the pitch angle is θ. This indicates the real-time force value of the boom pitch cylinder when the boom pitch angle is θ.

[0057] Step S3: The boom of the main boom structure is allowed to continue to descend.

[0058] Step S4: The lowering motion of the boom of the main boom structure is restricted, but the ascending motion is allowed.

[0059] in, This represents the theoretical unloaded force on the boom pitch cylinder; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the boom pitch cylinder monitored in real time during operation.

[0060] According to the above description, the bucket wheel stacker-reclaimer of the present invention has a bottom-touching protection valve group, which can realize bottom-touching protection of the stacker-reclaimer. When a bottom-touching failure occurs, it can promptly stop the movement of the mechanism and limit the magnitude of the bottom-touching force.

[0061] For example, such as Figure 1 The known parameters of a certain type of balanced stacker-reclaimer are as follows: Figure 8 The gray area in the table on the left is for reference. Figure 4 , Figure 5 , Figure 6 Using a coordinate system and above mechanical model, and given a safety threshold of 30 tons, the curves of the theoretical unloaded force F(θ) and the safe force F are derived when the boom pitch moves from 15 degrees to -12 degrees (0 degrees for boom horizontal position, clockwise is negative, counterclockwise is positive) are obtained. When the pressure sensor monitors the actual force value above the safe force value in the table, the pitch can continue to descend. When the pressure sensor monitors the actual force value below the safe force value in the table, the pitch descent is restricted. Figure 8 As shown.

[0062] After years of use, the load-bearing capacity of the main structure weakens. To improve safety, the operating threshold is lowered to 20 tons. This is based on the mechanical model. Figure 9 The F-curve of the safe force value shows that the restricted force is expanded, the safe force is narrowed, the protection is improved, and the safety performance is enhanced.

[0063] This invention relates to a bucket wheel stacker-reclaimer with a bottom-touch protection valve assembly and a control method, which has the following advantages: 1. Real-time monitoring of the force state of the pitch cylinder, accurate capture of abnormal forces, and rapid identification and response to bottoming-out faults.

[0064] Second, when bottoming out occurs, the bottoming force is immediately limited to prevent the boom from descending excessively and causing the front tie rod to loosen, thus preventing the mechanism from becoming unbalanced from the source; the bottoming safety protection control logic is flexible, adjustable, and precisely controlled.

[0065] Third, the stress safety value ΔF can be flexibly adjusted according to the equipment's usage time, aging degree and other working conditions, making it more adaptable.

[0066] IV. Adaptable to remote, automated, unattended bulk cargo yard operation scenarios, meeting the needs of intelligent operation.

[0067] V. Wide applicability; can be extended to various related models with similar balanced beam pitch mechanisms. The bottom-out protection valve assembly and control system, as a whole, can be mass-produced and used in similar balanced pitch mechanisms.

[0068] For those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0069] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0070] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0071] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0072] Similarly, it should be noted that, in order to simplify the description of the embodiments disclosed in this application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of this application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of this application requires more features than those mentioned in the claims. In fact, the embodiments have fewer features than all the features of a single embodiment disclosed above. Some embodiments use numbers describing the number of components or attributes; it should be understood that such numbers used in the description of embodiments are modified in some examples by the terms "approximately," "about," or "generally."

[0073] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly, characterized in that, The bucket wheel stacker-reclaimer includes: a boom structure body, a boom pitch cylinder, a boom pitch angle sensor and a base. The boom pitch angle sensor is installed on the base, and the boom structure body is rotatably connected to the boom pitch angle sensor through a pitch hinge point. The lower hinge point of the boom pitch cylinder is fixed on the base, and the upper hinge point is rotatably connected to the main body of the boom structure. The boom pitch cylinder is equipped with a pitch cylinder control valve assembly. When the boom pitch cylinder performs a telescopic movement, the main body of the boom structure pitches around the pitch hinge point. The pitch cylinder control valve assembly is used to monitor the pressure value of the boom pitch cylinder to prevent the main body of the boom structure from touching the ground.

2. The bucket wheel stacker-reclaimer with bottom-touching protection valve assembly as described in claim 1, characterized in that, The pitch cylinder control valve assembly includes at least one safety relief valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder, used to limit the maximum pressure values ​​of the rod chamber and the rodless chamber of the boom pitch cylinder.

3. The bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly as described in claim 1, characterized in that, The pitch cylinder control valve assembly includes at least one check valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder. This valve is used to replenish oil from the oil tank to the rod chamber and the rodless chamber of the boom pitch cylinder in a timely manner when the boom pitch cylinder experiences cavitation.

4. The bucket wheel stacker-reclaimer with anti-bottom-touch protection valve assembly as described in claim 1, characterized in that, The pitch cylinder control valve group includes at least one balance valve connected in series between the rod chamber and the rodless chamber of the boom pitch cylinder to maintain the load on the rod chamber and the rodless chamber of the boom pitch cylinder, ensuring that the pitch angle of the main body of the boom structure remains constant when the machine is stopped.

5. The bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly as described in claim 1, characterized in that, The pitch cylinder control valve assembly includes a rod chamber pressure sensor and a rodless chamber pressure sensor, which are connected to the rod chamber and rodless chamber of the boom pitch cylinder, respectively, for monitoring pressure.

6. The bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly as described in claim 1, characterized in that, The bucket wheel stacker-reclaimer also includes a boom pitch cylinder hydraulic system power station, which is mounted on the base, and the lower hinge point of the boom pitch cylinder is fixedly connected to the boom pitch cylinder hydraulic system power station.

7. The bucket wheel stacker-reclaimer with bottom-touching protection valve assembly as described in claim 1, characterized in that, The boom pitch cylinder satisfies the following relationship: ; in, This represents the theoretical force on the hydraulic cylinder under no-load conditions; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the hydraulic cylinder monitored in real time during operation.

8. The bucket wheel stacker-reclaimer with a bottom-touching protection valve assembly as described in claim 1, characterized in that, When the boom of the main boom structure is in a horizontal state, the boom pitch cylinder satisfies the following relationship: ; Where M(0) represents the moment of the machine's center of gravity about the boom hinge when the horizontal pitch angle of the boom is 0 degrees; F(0) represents the no-load force value of the boom pitch cylinder when the horizontal pitch angle of the boom is 0 degrees.

9. A control method for an anti-bottom-out protection valve assembly, characterized in that, The control method is used in a bucket wheel stacker-reclaimer with a bottom-touch protection valve assembly as described in any one of claims 1-8, and the control method includes the following steps: S1. The boom pitch cylinder receives the pitch descent command and simultaneously monitors the pitch angle and the pressure of the boom pitch cylinder. S2. Perform real-time monitoring and calculation of bottoming out; if Then proceed to step S3; like Then proceed to step S4; S3. The tilting boom of the main boom structure is allowed to continue to descend; S4. The lowering motion of the boom of the main boom structure is restricted, but the ascending motion is permitted; in, This represents the theoretical unloaded force on the boom pitch cylinder; θ represents the pitch angle. This indicates the permissible safe stress value for a mechanical structure; This indicates the force on the boom pitch cylinder monitored in real time during operation.

10. The control method for the anti-bottom-out protection valve assembly as described in claim 9, characterized in that, In step S2 ; in, This indicates the area of ​​the rodless chamber of the boom pitch cylinder; This indicates the area of ​​the rod chamber of the boom pitch cylinder; This represents the rodless chamber pressure value of the boom pitch cylinder at the pitch angle θ. This represents the rod chamber pressure value of the boom pitch cylinder when the pitch angle is θ. This indicates the real-time force value of the boom pitch cylinder when the boom pitch angle is θ.

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