Cantilever and solid-state radar anti-collision system of stacker-reclaimer

Abstract

The utility model provides a cantilever of a stacker-reclaimer and a solid-state radar anti-collision system, and belongs to the technical field of stockyard equipment. The cantilever comprises a cantilever composed of a plurality of cross beams and longitudinal beams, protection structures are symmetrically arranged on the left side and the right side of the cantilever, each protection structure comprises an outer protection plate arranged in the axial direction of the cantilever, each outer protection plate is connected with the cantilever through a plurality of elastic connecting structures, and a pressure detection mechanism is further arranged between each outer protection plate and the cantilever. The cantilever can be protected by the outer protective plates fixed on the left side and the right side of the cantilever through a plurality of elastic connecting structures during collision, and the elastic connecting structures can also buffer during collision, so that the loss is reduced; the pressure detection mechanism can receive a pressure signal and transmit the pressure signal to the controller at the moment that the outer protection plate collides with the obstacle, the cantilever is controlled by the controller to stop continuing to act, and collision loss is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to stockyard equipment technical field relates to a kind of stacker-reclaimer cantilever and a kind of solid-state radar anti-collision system. BACKGROUND

[0002] Stacker-reclaimer is the combination of stacker and reclaimer, mainly applied in some bulk cargo wharf, steel plant, large thermal power plant and mine etc., a large number of bulk materials need stacker-reclaimer, and stacker-reclaimer has become the important production equipment of these plants, and the reliability and safety of the equipment are increasing. The stacker-reclaimer is composed of a bucket wheel cantilever, a rotating mechanism, a counterweight structure, a tail car belt, a cart mechanism, etc. The device can run on the track and rotate a large angle through the driving device. The bucket wheel is driven up and down to meet the requirements of multi-angle and multi-position material taking and stacking, and to improve the working surface and work efficiency.

[0003] During the stacking and taking operation of the stacker-reclaimer, there is a risk of collision between the stacker-reclaimer and the coal pile, between the stacker-reclaimer and the stacker-reclaimer, between the stacker-reclaimer and other mechanical equipment and personnel, etc. When the stacker-reclaimer is used for taking or stacking materials in the stockyard, the operator usually manually operates the stacker-reclaimer in the cab to complete the corresponding operation task. However, due to the influence of the original stockyard working environment, such as water mist, dust, night, etc., the operator's vision is blocked, which easily causes the stacker-reclaimer to collide with the material pile during operation, threatening the safe operation of the equipment. SUMMARY

[0004] The utility model aims at the above problem, and provides a kind of stacker-reclaimer cantilever.

[0005] The utility model aims at the above problem, and provides a kind of solid-state radar anti-collision system.

[0006] To achieve the above object, the utility model adopts the following technical scheme:

[0007] A kind of stacker-reclaimer cantilever, including the cantilever of multiple crossbeam and longitudinal beam, the left and right sides of the cantilever symmetrically provided with protective structure, the protective structure includes the outer cover plate being arranged along the cantilever axial direction, the outer cover plate is connected with the cantilever by several elastic connecting structures, pressure detection mechanism is further provided between the outer cover plate and the cantilever.

[0008] In the above-mentioned stacker-reclaimer cantilever, the elastic connecting structure includes the connecting beam fixed in the inner side of outer cover plate, the connecting beam is inserted horizontally to the side of cantilever and is slidably matched with the cantilever, the connecting beam is provided with buffer spring.

[0009] In the cantilever of the stacker-reclaimer, the pressure detection mechanism comprises a plurality of pressure sensors arranged inside the outer guard plate, and the plurality of pressure sensors are arranged correspondingly with the plurality of buffer springs, and the outer ends of the buffer springs are in contact with the pressure sensors.

[0010] A solid-state radar anti-collision system comprises a cart mechanism, a slewing mechanism, a counterweight mechanism and the cantilever of the stacker-reclaimer, one end of the cantilever is connected with the slewing mechanism, and the solid-state radar scanning instrument, a micro industrial computer for processing scanning data, an absolute value encoder, an anti-collision system permission switch, an anti-collision system PLC, a main control PLC and a UI alarm display device are further included, the scanning data of the solid-state radar scanning instrument is transmitted to the micro industrial computer for processing, and the micro industrial computer transmits the processing result to the anti-collision system PLC and the UI alarm display device, the data of the absolute value encoder is transmitted to the anti-collision system PLC, the anti-collision system permission switch is connected with the anti-collision system PLC, and the information obtained by the anti-collision system PLC after collection and processing is transmitted to the main control PLC and the UI alarm display device, including output warning, deceleration and alarm information.

[0011] In the solid-state radar anti-collision system, the solid-state radar scanning instrument is arranged at the stacker-reclaimer portal of the cart mechanism and is used for scanning whether there is an obstacle at the counterweight mechanism and the cantilever and judging the distance from the obstacle, and the solid-state radar scanning instrument is connected to the micro industrial computer through an Ethernet.

[0012] In the solid-state radar anti-collision system, the micro industrial computer is arranged in an electric control cabinet of a driver's room and is used for receiving the solid-state radar scanning data and transmitting the processed data to the anti-collision system PLC and the UI alarm display device.

[0013] In the solid-state radar anti-collision system, the absolute value encoder comprises a slewing absolute value encoder, a luffing absolute value encoder and a cart absolute value encoder, the cart absolute value encoder is installed on the left and right sides of the cart mechanism, the slewing absolute value encoder is arranged at a slewing motor transmission shaft of the slewing mechanism, the luffing absolute value encoder is arranged at a luffing angle shaft of the cantilever, and the absolute value encoder is connected with the anti-collision system PLC.

[0014] In the solid-state radar anti-collision system, the anti-collision system permission switch is arranged in a program control room and a driver's room.

[0015] Compared with the prior art, the solid-state radar anti-collision system has the following advantages:

[0016] 1. The outer guard plates fixed on the left and right sides of the cantilever through the elastic connecting structures can protect the cantilever when a collision occurs, the elastic connecting structures can also buffer when the collision occurs, loss is reduced, the pressure detection mechanism can receive the pressure signal at the moment when the outer guard plate collides with the obstacle and transmit the pressure signal to the controller, the cantilever is controlled to stop continuing to act by the controller, and collision loss is reduced.

[0017] 2. After the solid-state radar anti-collision system is adopted, the self-safety and production efficiency of the equipment are greatly improved, the manual monitoring operation method is changed, the driving fatigue of the driver is reduced, the production efficiency and operation safety are improved, the speed of the anti-collision reaction is improved, and foreseeable and unforeseeable collisions are prevented, obstacles can be scanned through different postures and different movement directions of the equipment, and the anti-collision effect of the stockyard is realized.

[0018] Other advantages, objects and features of the present application will be partly illustrated through the following description, and will be partly understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of a stacker-reclaimer cantilever;

[0020] Figure 2 is a frame diagram of a solid-state radar anti-collision system. DETAILED DESCRIPTION

[0021] As shown in Figure 1 , a stacker-reclaimer cantilever comprises a cantilever 1 composed of a plurality of cross beams and longitudinal beams, symmetrical protection structures 2 are arranged on the left and right sides of the cantilever 1, the protection structure 2 comprises an outer guard plate 3 arranged in the axial direction of the cantilever 1, the outer guard plate 3 is connected with the cantilever 1 through a plurality of elastic connecting structures, and a pressure detection mechanism 4 is further arranged between the outer guard plate 3 and the cantilever 1.

[0022] In the present application, the outer guard plates fixed on the left and right sides of the cantilever through the elastic connecting structures can protect the cantilever when a collision occurs, the elastic connecting structures can also buffer when the collision occurs, loss is reduced, the pressure detection mechanism can receive the pressure signal at the moment when the outer guard plate collides with the obstacle and transmit the pressure signal to the controller, the cantilever is controlled to stop continuing to act by the controller, and collision loss is reduced.

[0023] Specifically, the elastic connecting structure comprises a connecting beam 5 fixed in the inner side of the outer guard plate 3, the connecting beam 5 is horizontally inserted into the side of the cantilever 1 and is in sliding cooperation with the cantilever 1, and a buffer spring 6 is sleeved on the connecting beam 5. The buffer spring can buffer and reduce loss when the outer guard plate is impacted.

[0024] Specifically, the pressure detection mechanism 4 includes a plurality of pressure sensors 7 arranged inside the outer cover 3, and the plurality of pressure sensors 7 are arranged correspondingly to the plurality of buffer springs 6, and the outer end of the buffer spring 6 is in contact with the pressure sensor 7. When an impact occurs, the pressure signal received by the pressure sensor 7 instantaneously increases, and when the pressure signal instantaneously increases, the pressure sensor can transmit the signal to the controller and control the cantilever to stop continuing to act, thereby reducing the collision loss.

[0025] As shown in Figure 2 A solid-state radar anti-collision system, including a large vehicle mechanism, a slewing mechanism, a counterweight mechanism and the cantilever of the stacker-reclaimer, one end of the cantilever 1 is connected with the slewing mechanism, further comprising a solid-state radar scanning instrument 8, a micro-industrial computer 9 for processing scanning data, an absolute value encoder 10, an anti-collision system permission switch 11, an anti-collision system PLC 12, a master control PLC 13, and a UI alarm display device 14, the scanning data of the solid-state radar scanning instrument 8 is transmitted to the micro-industrial computer 9 for processing, and the processing result is transmitted to the anti-collision system PLC 12 and the UI alarm display device 14 by the micro-industrial computer 9, the data of the absolute value encoder 10 is transmitted to the anti-collision system PLC 12, the anti-collision system permission switch 11 is connected with the anti-collision system PLC 12, and the information collected and processed by the anti-collision system PLC 12 includes output warning, deceleration and alarm information transmitted to the master control PLC 13 and the UI alarm display device 14. After adopting the solid-state radar anti-collision system, the self-safety of the equipment and the production efficiency are greatly improved, the manual monitoring operation method is changed, the driving fatigue of the driver is reduced, it is suitable for various complex working conditions of the stockyard, the production efficiency and the operation safety are improved, the speed of the anti-collision reaction is improved, the foreseeable and unforeseeable collisions are prevented, the obstacles can be scanned through different postures and different motion directions of the equipment, and the anti-collision effect of the stockyard is realized.

[0026] Specifically, the anti-collision system PLC plays a role of receiving data, processing data and transmitting data, includes processing of anti-collision algorithm in each direction of the same track equipment based on equipment positioning and posture information, receiving distance anti-collision algorithm processing of the solid-state radar from the unpredictable obstacles at the prominent parts of the counterweight and the cantilever during operation, and finally transmitting warning, deceleration, shutdown and other signals to the master control PLC through DP communication; meanwhile, the signals are also transmitted to the UI alarm display device 14 for vividly displaying the equipment operation state.

[0027] Specifically, the solid-state radar scanning instrument 8 is arranged at the stacker-reclaimer portal of the cart mechanism and is used to scan whether there is an obstacle at the counterweight mechanism and the cantilever 1 and to judge the distance between the obstacle and the cantilever 1, the solid-state radar scanning instrument 8 is connected to the micro industrial computer 9 through Ethernet, the micro industrial computer 9 is arranged in the electric control cabinet of the driver room and is used to receive the solid-state radar scanning data and to transmit the processed data to the anti-collision system PLC 12 and the UI alarm display device 14.

[0028] Specifically, the absolute value encoder 10 includes a slewing absolute value encoder 15, a luffing absolute value encoder 16 and a cart absolute value encoder 17, the cart absolute value encoder 17 is arranged at the left and right sides of the cart mechanism, the slewing absolute value encoder 15 is arranged at the transmission shaft of the slewing motor of the slewing mechanism, and the luffing absolute value encoder 16 is arranged at the luffing angle shaft of the cantilever 1, the absolute value encoder 10 is connected to the anti-collision system PLC 12. The absolute value encoder is equipped with a calibration function to ensure and calibrate the accuracy of the data; the absolute value encoder is connected to the anti-collision system PLC through DP communication.

[0029] Specifically, the anti-collision system permission switch 11 is arranged in the program control room and the driver room

[0030] The working principle of the solid-state radar anti-collision system is as follows:

[0031] 1. The solid-state radar scanning instrument forms a safety protection area behind the cantilever and the counterweight mechanism, and the safety protection area is divided into area levels according to the working conditions: an alarm area, a deceleration area and a stop area;

[0032] 2. The solid-state radar scanning instrument transmits the scanned obstacle image point cloud to the micro industrial computer through Ethernet, the micro industrial computer materializes the data, transmits the anti-collision data to the anti-collision system PLC through Ethernet, and the equipment transmits the absolute value encoder data to the anti-collision system PLC, and the anti-collision system PLC processes the data;

[0033] 3. The anti-collision system PLC establishes a stockyard coordinate in combination with the equipment positioning parameters, adds the scanned data of the solid-state radar scanning instrument to the coordinate calculation, obtains the alarm, deceleration and stop signals, and transmits the signals to the main control PLC through DP communication, the main control system PLC 6 transmits the obtained alarm signal to the UI alarm display device through the on-off value, and the deceleration and stop signals are connected to the control logic of the stacker-reclaimer to control and limit the actions of the cart and the slewing mechanism of the stacker-reclaimer.

[0034] The specific implementation is as follows:

[0035] a. There is no obstacle in the alarm area, the deceleration area and the stop area, the UI alarm display device does not act, and does not participate in the operation control of the equipment;

[0036] b. The alarm area exists obstacles, the anti-collision system PLC reads the distance between the obstacles and the device cantilever or counterweight, combined with the device positioning and running posture, the UI alarm display device displays the distance of the obstacles, if the device moves towards the obstacles, the UI alarm display device will issue an alarm, but does not participate in the operation control of the device;

[0037] c. Obstacles exist in the deceleration area, if the solid-state radar scans the vertical distance of the counterweight or cantilever obstacles, it is transmitted to the anti-collision system PLC and the UI alarm display device through the industrial computer, the anti-collision system PLC combines the device positioning and posture information, outputs the alarm and deceleration information to the main control PLC, the UI alarm display device displays the distance of the obstacles, the UI alarm display device alarms, and the device is controlled to decelerate when running towards the direction of approaching the obstacles, and is not affected when running away from the obstacles;

[0038] d. Obstacles exist in the stopping area, the solid-state scanning has transmitted the point cloud graph of the scanned obstacles to the micro industrial computer, the micro industrial computer accepts and processes the point cloud graph, and transmits the vertical distance from the scanned obstacles to the device counterweight and cantilever to the anti-collision system PLC, the anti-collision system PLC accepts and processes the data, transmits the stop signal to the UI alarm display interface to display the distance of the obstacles, the UI alarm display device alarms, and at the same time, the stop signal is connected to the device running logic, so that the device cannot run towards the direction of approaching the obstacles, and the device decelerates when moving away from the obstacles.

[0039] The anti-collision system permission switch is provided in the driver's room and the control room respectively, the solid-state radar anti-collision system is started by default, if there is a human or sometimes maintenance demand, the anti-collision system of the device can be closed through the permission switch, but after being closed, the UI alarm display wall will light and the UI alarm display device will warn.

[0040] The specific embodiments described in the present document are merely illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. A stacker-reclaimer boom comprising a boom (1) consisting of a plurality of cross beams and longitudinal beams, characterized in that, The cantilever (1) is symmetrically provided with a protection structure (2) on the left and right sides, the protection structure (2) comprises an outer guard plate (3) arranged along the axial direction of the cantilever (1), the outer guard plate (3) is connected with the cantilever (1) through a plurality of elastic connecting structures, and a pressure detection mechanism (4) is further arranged between the outer guard plate (3) and the cantilever (1).

2. A stacker-reclaimer cantilever according to claim 1, characterised in that, The elastic connecting structure comprises a connecting beam (5) fixed to the inner side of the outer guard plate (3), the connecting beam (5) is horizontally inserted into the side of the cantilever (1) and is in sliding fit with the cantilever (1), and a buffer spring (6) is sleeved on the connecting beam (5).

3. A stacker / reclaimer boom as claimed in claim 2, characterized in that The pressure detection mechanism (4) comprises a plurality of pressure sensors (7) arranged on the inner side of the outer guard plate (3), the plurality of pressure sensors (7) are correspondingly arranged with the plurality of buffer springs (6), and the outer end of the buffer spring (6) is in contact with the pressure sensor (7).

4. A solid state radar collision avoidance system characterized by, The cantilever comprises a cart mechanism, a slewing mechanism, a counterweight mechanism and the cantilever of any one of claims 1-3, one end of the cantilever (1) is connected with the slewing mechanism, further comprising a solid-state radar scanning instrument (8), a micro industrial computer (9) for processing scanning data, an absolute value encoder (10), a collision avoidance system permission switch (11), a collision avoidance system PLC (12), a main control PLC (13) and a UI alarm display device (14), the scanning data of the solid-state radar scanning instrument (8) is transmitted to the micro industrial computer (9) for processing, and the micro industrial computer (9) transmits the processing result to the collision avoidance system PLC (12) and the UI alarm display device (14), the absolute value encoder (10) transmits data to the collision avoidance system PLC (12), the collision avoidance system permission switch (11) is connected with the collision avoidance system PLC (12), and the information collected and processed by the collision avoidance system PLC (12) includes output early warning, deceleration and alarm information transmitted to the main control PLC (13) and the UI alarm display device (14).

5. A solid state radar collision avoidance system according to claim 4, wherein, The solid-state radar scanning instrument (8) is arranged at the stacker-reclaimer portal of the cart mechanism and is used for scanning whether there is an obstacle at the counterweight mechanism and the cantilever (1) and judging the distance from the obstacle, and the solid-state radar scanning instrument (8) is connected to the micro industrial computer (9) through Ethernet.

6. A solid state radar collision avoidance system according to claim 4, wherein, The micro industrial computer (9) is arranged in the electric control cabinet of the driver's room and is used for receiving the solid-state radar scanning data and transmitting the processed data to the collision avoidance system PLC (12) and the UI alarm display device (14).

7. A solid state radar collision avoidance system according to claim 4, wherein, The absolute value encoder (10) comprises a slewing absolute value encoder (15), a luffing absolute value encoder (16) and a cart absolute value encoder (17), the cart absolute value encoder (17) is installed on the left and right sides of the cart mechanism, the slewing absolute value encoder (15) is arranged at the transmission shaft of the slewing motor of the slewing mechanism, the luffing absolute value encoder (16) is arranged at the luffing angle shaft of the cantilever (1), and the absolute value encoder (10) is connected with the collision avoidance system PLC (12).

8. A solid state radar collision avoidance system according to claim 4, wherein, The collision avoidance system permission switch (11) is arranged in the program control room and the driver's room.

Images