Control device of stacker-reclaimer

Abstract

The invention relates to the technical field of stackers and reclaimers, and discloses a stacker and reclaimer control device which comprises a stacker arm platform and a scraper conveyor, and further comprises a material pile height monitoring system which comprises at least two material level height detection radars and a material level scanner which are installed at the head of the stacker arm platform and is used for monitoring the height of a material pile in real time, in the automatic stacking process, the stacking arm platform is controlled to automatically move to the next position after the material level reaches the set height; the material pile height monitoring system, the positioning system, the comprehensive anti-collision system and the video monitoring system are integrated, so that the problems that the automation level of a material piling and taking machine is not high, and information cannot be effectively transmitted in the on-site operation process are solved; and through the comprehensive anti-collision system, the problems that related protection and alarm sensing detection devices on the stacker-reclaimer in a traditional control mode are few, and the operation condition of the devices cannot be grasped in time are solved, and timely early warning of abnormal conditions is achieved.

Description

Technical Field

[0001] This invention relates to the field of stacker-reclaimer technology, specifically to a stacker-reclaimer control device. Background Technology

[0002] Currently, the management methods for some heavy equipment such as stacker-reclaimers in power plants and chemical enterprises are relatively traditional, and the level of equipment automation is not high. The control methods for heavy equipment such as stacker-reclaimers are still mainly based on on-site manual operation and a small amount of semi-automatic control to realize the stacker-reclaimer operation process. The efficiency and safety of the operation depend entirely on the proficiency of the driver and on-site personnel.

[0003] With increasing environmental protection efforts, coal yards often employ enclosed structures. The resulting internal environment, including the generation of toxic and harmful gases, dust, smoke, and sunlight, not only increases the difficulty of work for on-site personnel but also significantly impacts their physical and mental health, as well as equipment safety, posing substantial safety hazards. Specifically: 1. The control method of the stacker-reclaimer is still mainly based on local manual operation and a small amount of semi-automatic control. The accuracy of the stacking and reclaiming position and the safety of the equipment depend entirely on the driver's operation. It is impossible to control in a timely and accurate manner, and the local operation process information cannot be fully transmitted to the coal conveying control room. 2. The stacker-reclaimer has few related protection, alarm sensor detection devices and real-time video monitoring devices, making it impossible to grasp the equipment operation status in a timely manner, to provide timely warnings of abnormal situations, and to obtain comprehensive positioning data of the stacker-reclaimer. 3. The labor intensity of on-site workers increases, and long-term work in dusty environments can harm their health and pose safety hazards during the operation process. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a stacker-reclaimer control device, which mainly solves the problems of low automation in the control methods of heavy equipment such as stacker-reclaimers, inability to promptly grasp the equipment's operating status, inability to provide timely warnings of abnormal situations, and inability to obtain comprehensive positioning data of the stacker-reclaimer.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A stacker-reclaimer control device includes a stacker arm platform and a scraper conveyor, and further includes: The material pile height monitoring system includes at least two material level height detection radars and one material level scanner installed at the head of the stacking arm platform. It is used to monitor the material pile height in real time and control the stacking arm platform to automatically move to the next position after the material level reaches the set height during the automatic stacking process. The positioning system includes a material picking rotary encoder installed on the material picking rotary part and a material stacking rotary encoder installed on the material stacking rotary part. Both the material picking rotary encoder and the material stacking rotary encoder are absolute encoders, used to acquire the rotation value of the scraper conveyor and the rotation value of the stacking boom in real time. The integrated anti-collision system includes two edge detection radars and an anti-collision scanner installed on both sides of the scraper conveyor, which are used to detect obstacles and trigger an alarm or stop operation when the scraper conveyor rotates or pitches. The video surveillance system includes multiple explosion-proof gun-mounted cameras and at least one high-definition intelligent PTZ camera installed at key locations on the stacker-reclaimer, used to monitor equipment operation and the working area.

[0006] Based on the aforementioned solution, the stockpile height monitoring system, positioning system, integrated anti-collision system, and video monitoring system are integrated into one unit.

[0007] As a further embodiment of the present invention, the number of material level detection radars is two, which are symmetrically arranged at the head of the stacker platform.

[0008] Furthermore, the number of explosion-proof gun-proof cameras is twelve, which are distributed and installed at different key locations on the stacker-reclaimer.

[0009] Based on the aforementioned solution, the number of high-definition intelligent PTZ cameras is one, which is installed in a position that can cover the entire working area.

[0010] As a further embodiment of the present invention, the edge detection radar and the anti-collision scanner of the integrated anti-collision system work together to form a safety protection zone for the rotation and pitch motion of the scraper conveyor.

[0011] Furthermore, the rotational positioning data provided by the positioning system is used to realize the automatic stacking and automatic reclaiming operation control of the stacker-reclaimer.

[0012] Based on the aforementioned scheme, the material level scanner uses non-contact measurement technology to accurately and quickly scan the surface of the material pile and generate a three-dimensional model of the material pile.

[0013] As a further embodiment of the present invention, both the material handling rotary encoder and the material stacking rotary encoder are connected to the central control system to transmit rotary data in real time, thereby enabling remote monitoring and automatic control.

[0014] Furthermore, the edge detection radar has long-range detection capabilities and can accurately identify obstacles in complex environments.

[0015] Compared with the prior art, the present invention provides a stacker-reclaimer control device, which has the following advantages: 1. This invention integrates a material pile height monitoring system, a positioning system, a comprehensive anti-collision system, and a video monitoring system into one unit, which solves the problems of low automation level of stacker-reclaimers and ineffective transmission of on-site operation process information.

[0016] 2. This invention solves the problems of traditional control methods for stacker-reclaimers, such as the lack of protection and alarm sensing devices, the inability to keep track of equipment operation, the inability to provide timely warnings of abnormal situations, and the inability to obtain comprehensive positioning data of the stacker-reclaimer, through a comprehensive anti-collision system.

[0017] 3. This invention reduces the labor intensity of on-site workers, improves their working environment, and eliminates safety hazards during the operation process.

[0018] 4. The design of the stacker-reclaimer control device of the present invention improves the automation, informatization and intelligence level of the equipment, lays the foundation for the realization of the future digital and intelligent development path, and the realization of the above functions makes it easier for its daily standardized management. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the composition of a stacker-reclaimer control device proposed in this invention; Figure 2 This invention proposes a stacker-reclaimer control device. Figure 1 A magnified schematic diagram of a portion of the image; Figure 3 This invention proposes a stacker-reclaimer control device. Figure 1 A magnified partial schematic diagram.

[0020] In the diagram: 1. Edge detection radar; 2. Material handling rotary encoder; 3. Anti-collision scanner; 4. Explosion-proof gun-proof camera; 5. Stacking rotary encoder; 6. High-definition intelligent PTZ camera; 7. Material level height detection radar; 8. Material level scanner; 9. Wire rope; 10. Drop hopper; 11. Driver's cab; 12. Stacking arm platform; 13. Scraper conveyor. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] The stacker-reclaimer control device of the present invention adopts the following technical solution: like Figures 1-3 As shown, a stockpile height measurement and scanning device has been added to the control system of the widely used stacker-reclaimer. Its main purpose is to achieve real-time monitoring and scanning of the stockpile height. Specific technical details are as follows: Figure 1 As shown, two material level detection radars 7 are installed at the head of the stacker arm platform 12, and a material level scanner 8 is also installed at the head of the stacker arm platform 12. During the automatic stacking process of the stacker-reclaimer, once the material level is detected to have reached the set height, the stacker arm will automatically move to the next position, thereby realizing automatic stacking operation.

[0025] This invention designs a positioning system, such as Figure 1 As shown, a reclaiming rotary encoder 2 and a stacking rotary encoder 5 are installed on the reclaiming and stacking rotary parts of the stacker-reclaimer, respectively. Both encoders on these rotary parts are absolute encoders. Their main purpose is to ensure that the stacker-reclaimer control device can obtain the rotation values ​​of the scraper conveyor 13 and the stacking boom in real time, thereby improving the safety and reliability of the stacker-reclaimer operation.

[0026] In addition, this invention also designs a comprehensive anti-collision system, such as Figure 1As shown, an edge detection radar 1 and an anti-collision scanner 3 are installed on each side of the scraper conveyor 13. The main purpose is that if an obstacle enters the protection area during the rotation or pitching of the scraper conveyor 13, the system will trigger an alarm, and the scraper conveyor 13 will stop running immediately, thereby preventing the scraper conveyor 13 from colliding with the coal pile during rotation or pitching.

[0027] like Figure 1 As shown, 12 explosion-proof gun-operated cameras 4 and 1 high-definition intelligent PTZ camera 6 are installed at key locations of the stacker-reclaimer. Through video monitoring, the operation of the stacker-reclaimer and the working area can be observed at any time, thereby improving the safety of the stacker-reclaimer control device and the efficiency of stacking and reclaiming operations.

[0028] The material level scanner 8 uses non-contact measurement technology, which can accurately and quickly scan the surface of the material pile and generate a three-dimensional model of the material pile, making it easy to accurately calculate the volume and shape of the material pile.

[0029] Both the material handling rotary encoder 2 and the material stacking rotary encoder 5 are connected to the central control system to transmit rotation data in real time, enabling remote monitoring and automatic control.

[0030] The edge detection radar 1 has long-range detection capabilities, enabling it to accurately identify obstacles in complex environments and improve the reliability and stability of the collision avoidance system.

[0031] It should be noted that both the edge detection radar 1 and the collision avoidance scanner 3 of the integrated collision avoidance system can achieve protective actions or alarm functions through different measurement principles or methods.

[0032] Wire rope 9: Mainly used for tensioning the stacker arm and stacker arm of the stacker reclaimer, as well as adjusting the direction of rotation.

[0033] Feed hopper 10: As a material transfer device, the feed hopper conveys the material to the conveyor belt for the next process.

[0034] Driver's cab 11: Serves as the control room for the stacker-reclaimer, enabling the stacking and unloading control of the stacker-reclaimer.

[0035] Stacking Arm Platform 12: High-definition intelligent PTZ camera, material level detection radar, material level scanner, cables, optical fibers, control box, etc. are all installed on this platform. The stacking arm is responsible for unloading materials to the selected area, realizing fixed-point and fixed-area stacking.

[0036] Scraper conveyor 13: Operates according to the operating procedure, gradually conveying materials to the discharge hopper, and then from the discharge hopper area, the activated coal feeder conveys them to the belt conveyor.

[0037] The control device also features remote monitoring and self-diagnostic capabilities. By integrating an advanced communication module, it can remotely transmit real-time operating data of the stacker-reclaimer, stack height information, positioning system data, and video monitoring footage to the control center, enabling remote monitoring and scheduling. Simultaneously, the built-in self-diagnostic system can monitor the working status of each sensor and actuator in real time. Upon detecting an anomaly, it immediately triggers an alarm and provides detailed fault information, facilitating rapid location and resolution of problems by maintenance personnel, significantly improving equipment operating efficiency and maintenance convenience.

[0038] Through the above innovations and designs, the stacker-reclaimer control device of this invention can achieve the following objectives: It solves the problems of low automation levels and ineffective transmission of on-site operation information in stacker-reclaimers; it addresses the issues of insufficient protection and alarm sensing devices on stacker-reclaimers under traditional control methods, resulting in the inability to promptly grasp equipment operation status, provide timely warnings of abnormal situations, and obtain comprehensive positioning data of the stacker-reclaimer. It reduces the labor intensity of on-site operators, improves their working environment, and eliminates safety hazards during operation. The design of the new stacker-reclaimer control device enhances the automation, informatization, and intelligence levels of the equipment, laying the foundation for future digital and intelligent development. The realization of the above functions facilitates its daily standardized management.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A stacker-reclaimer control device, comprising a stacker arm platform (12) and a scraper conveyor (13), characterized in that, Also includes: The material pile height monitoring system includes at least two material level height detection radars (7) and one material level scanner (8) installed on the head of the stacking arm platform (12) for real-time monitoring of the material pile height and controlling the stacking arm platform (12) to automatically move to the next position after the material level reaches the set height during the automatic stacking process; The positioning system includes a material picking rotary encoder (2) installed on the material picking rotary part and a material stacking rotary encoder (5) installed on the material stacking rotary part. Both the material picking rotary encoder (2) and the material stacking rotary encoder (5) are absolute encoders used to obtain the rotation value of the scraper conveyor (13) and the rotation value of the stacking arm in real time. The integrated anti-collision system includes two edge detection radars (1) installed on both sides of the scraper conveyor (13) and an anti-collision scanner (3) for detecting obstacles and triggering an alarm or stopping operation when the scraper conveyor (13) rotates or pitches. The video surveillance system includes multiple explosion-proof gun-proof cameras (4) installed at key locations of the stacker-reclaimer and at least one high-definition intelligent PTZ camera (6) for monitoring equipment operation and the working area.

2. The stacker-reclaimer control device according to claim 1, characterized in that, The material pile height monitoring system, positioning system, comprehensive anti-collision system and video monitoring system are integrated into one unit.

3. The stacker-reclaimer control device according to claim 1, characterized in that, The number of material level detection radars (7) is two, which are symmetrically arranged at the head of the stacker arm platform (12).

4. The stacker-reclaimer control device according to claim 1, characterized in that, The number of explosion-proof gun-shooting cameras (4) is twelve, which are distributed and installed at different key locations of the stacker-reclaimer.

5. A stacker-reclaimer control device according to claim 1, characterized in that, The number of the high-definition intelligent PTZ camera (6) is one, which is installed in a position that can cover the entire working area.

6. The stacker-reclaimer control device according to claim 1, characterized in that, The edge detection radar (1) and the anti-collision scanner (3) of the integrated anti-collision system work together to form a safety protection zone for the rotation and pitch motion of the scraper conveyor (13).

7. A stacker-reclaimer control device according to claim 1, characterized in that, The rotational positioning data provided by the positioning system is used to realize the automatic stacking and automatic reclaiming operation control of the stacker-reclaimer.

8. A stacker-reclaimer control device according to claim 1, characterized in that, The material level scanner (8) uses non-contact measurement technology to accurately and quickly scan the surface of the material pile and generate a three-dimensional model of the material pile.

9. A stacker-reclaimer control device according to claim 1, characterized in that, The edge detection radar (1) has long-range detection capability and can accurately identify obstacles in complex environments.

10. A stacker-reclaimer control device according to claim 1, characterized in that, The material handling rotary encoder (2) and the material stacking rotary encoder (5) are both connected to the central control system to transmit rotary data in real time, thereby enabling remote monitoring and automatic control.

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