Cement plant stacker-reclaimer anti-collision system based on millimeter wave radar

Abstract

The utility model relates to the technical field of stacker-reclaimer main bodies of cement plants, in particular to a cement plant stacker-reclaimer anti-collision system based on millimeter wave radar, which comprises a stacker and a reclaimer main body, material rakes are mounted on the front side and the rear side of the reclaimer main body, and a large arm is rotatably connected to the top of the stacker. The driving motor drives the driving wheel to rotate, the stacker and the large arm are moved back and forth through the driving wheel, the position of the large arm is adjusted, after the large arm is adjusted to a proper position, the brake is pressed to lock the driving wheel, the device is prevented from moving again, and then materials are conveyed to the surface of the large arm through the stacker. Materials are conveyed to the high position through the large arm, in the working process of the device, the distance between the large arm and an obstacle and the moving speed of the large arm are detected through the millimeter wave radar body, and when the obstacle is detected, the buzzer, the LED warning lamp and the brake relay are started through the control unit to conduct early warning.

Description

Technical Field

[0001] This utility model relates to the technical field of cement plant stacker-reclaimers, specifically to a collision avoidance system for cement plant stacker-reclaimers based on millimeter-wave radar. Background Technology

[0002] The circular stacker-reclaimer is one of the most critical large-scale equipment in a cement plant. It can simultaneously or separately complete the stacking and mixing of limestone, playing a vital role in the pre-homogenization of limestone, stabilizing kiln conditions, and ensuring clinker quality.

[0003] A search revealed that the announcement number is CN1616329A, titled "A Method for Loading and Unloading Bulk Materials and a Traction-Type Bucket Wheel Stacker-Reclaimer," which includes a tracked vehicle, a thrust bearing, and a frame. Research and analysis revealed that it possesses advantages such as simple structure, low power consumption, good mobility, and high stability.

[0004] Most anti-collision measures rely on mechanical limiters or photoelectric sensors. These methods have problems such as limited detection range and slow response speed. Moreover, due to environmental protection requirements, most operations in storage yards are currently conducted indoors, resulting in a large amount of dust. Lasers are easily affected by dust and high temperatures, leading to a large workload for maintenance, high investment costs, and long construction time, making it difficult to meet the requirements of efficient and safe production. Utility Model Content

[0005] The purpose of this invention is to provide a collision avoidance system for a cement plant stacker-reclaimer based on millimeter-wave radar, which has the advantage of strong anti-interference capability.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A collision avoidance system for a cement plant stacker-reclaimer based on millimeter-wave radar includes a stacker and a reclaimer body. Rakes are installed on the front and rear sides of the reclaimer body. A boom is rotatably connected to the top of the stacker. A millimeter-wave radar body is installed on the front side of the boom. A drive assembly is provided at the bottom of the stacker.

[0008] The millimeter-wave radar body has a control unit that is bidirectionally electrically connected to its output and input ends. The control unit has an alarm module that is bidirectionally electrically connected to its output and input ends. A hydraulic rod is installed on the top of the stacker, and the top of the hydraulic rod is rotatably connected to the boom.

[0009] Preferably, the drive assembly includes a drive motor, the surface of the stacker is connected to the drive motor by bolts, a drive wheel is installed at the bottom of the stacker, and brakes are installed on both the front and rear sides of the stacker.

[0010] Preferably, the bottom of the stacker is bolted to a support frame, and the bottom of the support frame is equipped with rollers.

[0011] Preferably, the alarm module includes a buzzer, an LED warning light, and a brake relay. The output terminal of the control unit is electrically connected to the buzzer and the LED warning light, respectively, and the output terminal and input terminal of the control unit are bidirectionally electrically connected to the brake relay.

[0012] Preferably, the bottom of the rake is welded with a toothed comb, and guardrails are welded to the front and rear sides of the top of the boom.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. This utility model uses a drive motor to drive the drive wheel to rotate, which in turn moves the stacker and boom back and forth to adjust the position of the boom. After adjusting to the appropriate position, the brake is pressed to lock the drive wheel to prevent the device from moving again. Then, the stacker transports the material to the surface of the boom, and the boom transports the material to a higher position. After being transported, the material is picked up and raked by the reclaimer body and the rake.

[0015] 2. During the operation of the device, the millimeter-wave radar detects the distance between the boom and the obstacle and the movement speed of the boom. When an obstacle is detected, the control unit activates the buzzer, LED warning light and brake relay to issue a warning. The warning is usually divided into three levels. The first level warning is issued by sound and light from the buzzer and LED warning light. The second level warning is issued by the brake relay control device to brake and decelerate. The third level warning is issued by the control unit to cut off the power to the entire device, cut off the power and activate the mechanical lock.

[0016] 3. This utility model has high environmental adaptability: millimeter-wave radar has strong penetration and is not affected by dust or light, and its reliability is significantly higher than that of traditional optical sensors; accurate ranging: dynamic resolution reaches ±0.1 meters, supports multi-target tracking, and reduces false alarms; low latency response: the time from detection to braking trigger is ≤200ms, avoiding sudden collisions; strong compatibility: it can be integrated into the existing stacker-reclaimer control system, with low modification cost. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0018] Figure 2 This is a left-side view of the structure of this utility model;

[0019] Figure 3 This is a top view of the structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the system of this utility model;

[0021] Figure 5 This is an expanded diagram of the system principle of this utility model.

[0022] In the diagram: 1. Stacker; 2. Boom; 3. Millimeter-wave radar main body; 4. Hydraulic rod; 5. Reclaimer main body; 6. Rake; 7. Drive motor; 8. Drive wheel; 9. Brake; 10. Drive assembly; 11. Control unit; 12. Alarm module; 13. Buzzer; 14. LED warning light; 15. Brake relay. Detailed Implementation

[0023] Please see Figures 1-5 A collision avoidance system for a cement plant stacker-reclaimer based on millimeter-wave radar includes a stacker 1 and a reclaimer body 5. Rakes 6 are installed on the front and rear sides of the reclaimer body 5. A boom 2 is rotatably connected to the top of the stacker 1. A millimeter-wave radar body 3 is installed on the front side of the boom 2. A drive assembly 10 is provided at the bottom of the stacker 1.

[0024] The millimeter-wave radar body 3 is electrically connected to a control unit 11 in both directions at the output and input ends. The control unit 11 is electrically connected to an alarm module 12 in both directions at the output and input ends. A hydraulic rod 4 is installed on the top of the stacker 1. The top of the hydraulic rod 4 is rotatably connected to the boom 2.

[0025] Please see Figure 1 and Figure 2 The drive assembly 10 includes a drive motor 7. The surface of the stacker 1 is connected to the drive motor 7 by bolts. A drive wheel 8 is installed at the bottom of the stacker 1. Brakes 9 are installed on the front and rear sides of the stacker 1.

[0026] By setting up a drive motor 7, drive wheel 8 and brake 9, the device can be moved automatically without the need for manual pushing by staff, thus reducing the workload of staff.

[0027] Please see Figure 1 and Figure 2 The bottom of the stacker 1 is connected to a support frame by bolts, and the bottom of the support frame is equipped with rollers. By setting up the support frame and rollers, the stacker 1 can be easily supported and kept stable.

[0028] Please see Figure 1 and Figure 5 The alarm module 12 includes a buzzer 13, an LED warning light 14, and a brake relay 15. The output terminal of the control unit 11 is electrically connected to the buzzer 13 and the LED warning light 14 respectively. By setting the buzzer 13 and the LED warning light 14, it is easy to emit sound and light to alarm. The output terminal and the input terminal of the control unit 11 are bidirectionally electrically connected to the brake relay 15. By setting the brake relay 15, it is easy to automatically brake the device.

[0029] Please see Figure 1 The bottom of the rake 6 is welded with a toothed comb, and guardrails are welded to the front and rear sides of the top of the boom 2. By setting guardrails, it is easy to restrict the amount of cement falling from the top of the boom 2.

[0030] The control unit 11 receives data from the millimeter-wave radar body 3, eliminates environmental noise through the multi-target tracking algorithm MTT and adaptive filtering technology, calculates the safe operating area by combining the motion parameters of the stacker-reclaimer, and dynamically generates the anti-collision threshold. The control unit 11 adopts an industrial-grade PLC or embedded controller with a built-in anti-collision algorithm. The coverage area of ​​the millimeter-wave radar body 3 is a 120° fan-shaped area in front.

[0031] In use, the device is controlled by the control unit 11, the drive motor 7 drives the drive wheel 8 to rotate, and the drive wheel 8 moves the stacker 1 and the boom 2 back and forth. The position of the boom 2 is adjusted. After it is adjusted to a suitable position, the brake 9 is pressed to lock the drive wheel 8 to prevent the device from moving again.

[0032] Then, the material is conveyed to the surface of the boom 2 by the stacker 1, and the material is conveyed to a higher position by the boom 2. After being conveyed, the material is picked up and raked by the reclaimer body 5 and the rake 6. During the operation of the device, the distance between the boom 2 and the obstacle and the moving speed of the boom 2 are detected by the millimeter-wave radar body 3.

[0033] When an obstacle is detected, the control unit 11 activates the buzzer 13, LED warning light 14, and brake relay 15 to provide a warning. The warning is usually divided into three levels. The first level warning is provided by the buzzer 13 and LED warning light 14. The second level warning is provided by the brake relay 15 controlling the device to brake and decelerate. The third level warning is provided by the control unit 11 controlling the entire device to cut off the power and activate the mechanical lock.

[0034] In summary, this anti-collision system for cement plant stacker-reclaimers based on millimeter-wave radar, through the control unit 11, alarm module 12, buzzer 13, LED warning light 14, and braking relay 15, solves the problems that most anti-collision measures in this device rely on mechanical limit switches or photoelectric sensors. These methods have problems such as limited detection range and slow response speed. Moreover, due to environmental protection requirements, most stockpiles are currently operated indoors, resulting in a large amount of dust. Lasers are easily affected by dust and high temperatures, leading to a large workload for maintenance, high investment costs, and long construction time, making it difficult to meet the requirements of efficient and safe production.

Claims

1. A millimeter wave radar based anti-collision system for a stacker-reclaimer at a cement plant, characterized by: It includes a stacker (1) and a reclaimer body (5), with material rakes (6) installed on the front and rear sides of the reclaimer body (5); a boom (2) is rotatably connected to the top of the stacker (1), a millimeter-wave radar body (3) is installed on the front side of the boom (2), and a drive assembly (10) is provided at the bottom of the stacker (1); The millimeter-wave radar body (3) is bidirectionally electrically connected to a control unit (11) at its output and input ends. The control unit (11) is bidirectionally electrically connected to an alarm module (12) at its output and input ends. A hydraulic rod (4) is installed on the top of the stacker (1). The top of the hydraulic rod (4) is rotatably connected to the boom (2).

2. A millimeter wave radar-based anti-collision system for a stacker-reclaimer of a cement plant according to claim 1, characterized in that: The drive assembly (10) includes a drive motor (7), the surface of the stacker (1) is connected to the drive motor (7) by bolts, the bottom of the stacker (1) is equipped with a drive wheel (8), and brakes (9) are installed on the front and rear sides of the stacker (1).

3. A millimeter wave radar-based anti-collision system for a stacker-reclaimer of a cement plant according to claim 2, characterized in that: The bottom of the stacker (1) is connected to a support frame by bolts, and the bottom of the support frame is equipped with rollers.

4. The millimeter wave radar-based anti-collision system for a stacker-reclaimer of a cement plant according to claim 1, characterized in that: The alarm module (12) includes a buzzer (13), an LED warning light (14) and a brake relay (15). The output terminal of the control unit (11) is electrically connected to the buzzer (13) and the LED warning light (14) respectively. The output terminal and the input terminal of the control unit (11) are bidirectionally electrically connected to the brake relay (15).

5. The millimeter wave radar-based anti-collision system for a stacker-reclaimer of a cement plant according to claim 1, characterized in that: The bottom of the rake (6) is welded with a toothed comb, and the front and rear sides of the top of the boom (2) are welded with guardrails.

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