CN103732831B - Method for identifying and tracking the position of a position-variable transfer/loading device of a bucket wheel excavator or bucket chain excavator - Google Patents

Abstract

The invention relates to a method for detecting and tracking the position of a variably positioned transfer device/loading device of a bucket-wheel excavator or bucket chain excavator (1) comprising a loader with a tilting deviceAn excavating device (2) of a pivotable superstructure of an inclined boom (4), a crawler-type undercarriage (9) and a transfer device (12) with a loading boom (13), and a conveyor belt (37) is connected in between or a conveyor belt (37) is not connected in between and the transport is transported by a step conveyor system (17) or by a similar transfer point. The control device (20) specifies the pivot angle and the inclination of the loading boom (13) of the transfer device (12) as a function of the signals of the following measurement sensors: for detecting the current spatial coordinates (x) of the bucket-wheel excavator or bucket chain excavator (1)_B/y_B/z_B) For detecting the current spatial coordinates (x) of the conveyor belt device in transport mode_S/y_S/z_S) A measurement value sensor (22) for detecting the current longitudinal and transverse inclination of the loading boom (13), a measurement value sensor (23) for detecting the current angle of oscillation of the loading boom (13), a measurement value sensor (26) for detecting the current distance of the loading boom (13) above the transport belt device that is active for transport, a measurement value sensor (27) for detecting the current vertical positioning of the loading boom (13) above the transport belt device that is active for transport, a measurement value sensor for monitoring overfilling in/at the transfer location of the loading boom (13).

Description

Method for identifying and tracking the position of a position-variable transfer/loading device of a bucket wheel excavator or bucket chain excavator

technical field

The invention relates to a method for identifying and tracking the position of a variable-position transfer device/loading device of a bucket-wheel excavator or a bucket-chain excavator comprising a swingable boom with a tiltable The excavation equipment (Gewinnungsgerät) of the superstructure (Oberbau), the crawler substructure and the transfer device with the loading boom, and the belt conveyor (Bandwagen, sometimes also called mobile transfer conveyor) connected in between Alternatively, the transported goods can be transported via a stepped conveyor belt system without an intervening belt conveyor or transported via similar transfer points.

Background technique

Bucket-wheel excavators generally consist of a swingable superstructure with a tiltable boom (with bucket wheels fixed there), a crawler-like substructure and a transfer device or with a load-bearing Loading device with loading boom. During operation, the superstructure swings back and forth in its working area on the tracked substructure. The bucket wheel excavator transports the material or conveyed material, such as coal or waste (Abraum), which it obtains in block operation (Blockbetrieb) (step block operation (Strossen blockbetrieb) or side mining operation (Seiten blockbetrieb)) Mobile stepped conveyor belt equipment.

Crawler-type bucket chain excavators are equipped with a swing mechanism for the superstructure. The bucket chain excavator can be operated in upcut and deep dig mode (im Hoch- und Tiefschnitt). The excavator superstructure accommodates a bucket frame perpendicular to the direction of travel, the lower movable part of which is articulated to the superstructure and suspended on a jib via one or more bucket frame winches. An endless (sometimes called endless) bucket chain travels on the bucket frame. Bucket chain excavators are equipped with transfer devices.

The design of the transfer device takes into account that the angle between the load belt of the transfer device and the step conveyor axis (Strossenbandachse) in plan view (Grundriss) can be adjusted. The unloading of the transfer device can be adapted to the distance of the movable step conveyor system and the axis of the excavator (=central axis of the tracked substructure) by means of the pivoting movement of the transfer device. The movable stepped conveyor arrangement is moved parallel to the direction of travel of the tracked substructure of the excavator (bucket chain excavator or bucket wheel excavator) and moves according to the penetration speed.

The intermediate belt conveyor can be used in particular to increase the radius of action of a bucket wheel excavator or a bucket chain excavator when digging.

The main purpose during loading is to operate the swing mechanism/lifting mechanism of the loading boom of the loading belt including the transfer device, also including the handling of the loading ramp (Verladeschurre) for following the step conveyor system or the belt conveyor Defined conveyor belt loading (Bandbeladung) and control of material flow or conveying flow. This is achieved by the load manager.

The loading supervisor operates the pivoting/lifting mechanism for the loading boom and the loading chute for the prescribed loading of the conveyor belt and control of the material flow.

Contents of the invention

It is therefore the object of the present invention to provide an optimized method for identifying and tracking the position of a variable transfer device/loading device of a bucket-wheel excavator or bucket chain excavator.

In conjunction with the preamble of claim 1, this object is achieved according to the invention in that the regulating/control device (sometimes referred to as an open-loop/closed-loop control device) regulates the pivoting of the loading boom of the transfer device on the basis of the signals of the measured value sensor Angle and Tilt:

· measured value sensors for detecting the current spatial coordinates of bucket wheel excavators or bucket chain excavators,

· measured value sensor for detecting the current spatial coordinates of the step conveyor system or the take-up belt of the belt conveyor,

· measured value sensors for detecting the current longitudinal and lateral inclinations of the loading boom,

· measured value sensor for detecting the current swivel angle of the loading arm,

· measuring value sensor for detecting the current distance of the loading arm above the step conveyor system or above the take-up belt of the belt conveyor,

· for detecting the current vertical position of the loading boom above the step conveyor system or above the take-up belt of the belt conveyor including the measurement sensor for detecting the center of the belt,

· Measured value sensor for monitoring overfilling in/at the transfer point of the loading boom.

In particular, the advantage achievable according to the invention is that no additional load management personnel are required, since the proposed adjustment/control device now realizes the swiveling of the loading boom that handles the loading belt including the transporting transfer device The mechanism/lifting mechanism also includes the actuation of the loading chute for the defined conveyor loading of the stepped conveyor system or the take-up belt of the belt conveyor and for controlling the material flow or conveying flow. In other words, manual positioning is replaced by automatic positioning (unmanned operation) of the loading boom for conveying the conveyed goods to the conveyor belt system (step conveyor belt system or belt conveyor with receiving belt). device) on.

The regulation/control device directly influences the belt travel of the stepped conveyor belt or the take-up belt of the belt conveyor while taking into account the contamination of the belt equipment. Load the conveyed goods taking belt transitions into account. When there is a risk of material blocking in/at the transfer point (transfer chute), a signal is output to the bucket wheel excavator or bucket chain excavator to adjust the conveying.

Typical application situations of the present invention are:

· Bucket wheel excavators with loading booms for transfer to stepped conveyor equipment,

· Bucket chain excavator with loading boom for transfer to stepped conveyor equipment,

· Bucket wheel excavators with loading booms for transfer to belt conveyors connected in the middle,

· Bucket wheel excavators with loading equipment for transfer to stepped conveyor equipment.

Advantageous refinements of the invention are given in the dependent claims.

Description of drawings

The invention is explained below on the basis of the exemplary embodiments shown in the drawings. in:

Figure 1 shows a schematic view of mining work with a bucket wheel excavator or bucket chain excavator including a position-variable transfer device/loading device and a stepped conveyor device including a stepped conveyor belt as main components, Wherein the position-variable transfer device is embodied with a pivot/lifting mechanism,

FIG. 2 shows an alternative embodiment in which a belt conveyor is additionally arranged between the bucket-wheel excavator or bucket chain excavator and the stepped conveyor system.

Detailed ways

In Fig. 1 is shown the use of a bucket wheel excavator or a bucket chain excavator including a position-variable transfer device and a stepped conveyor belt (step conveyor belt) Belt conveyor) as a schematic diagram of the mining work carried out as the main component, wherein the position-variable transfer device is implemented with a swing mechanism/lifting mechanism.

The bucket-wheel excavator or bucket chain excavator 1 has, as essential components, an excavation device 2 for conveying objects such as coal or waste, and a position-variable transfer device 12 for the conveying objects.

For example, for a bucket wheel excavator, the excavating equipment 2 includes:

· a swingable superstructure 3 with a tiltable cantilever 4 fixed thereto including a receiving belt,

· Bucket wheel 5 for conveying the product fixed at the boom 4 on the end side, which comprises a ramp 6 (conveyor transfer device) for transferring the product from the bucket wheel 5 to the receiving belt,

· Drivable substructure 9 with crawler tracks.

1 shows not only the direction of travel 10 of the substructure 9 but also the swivel direction/swivel angle 8 of the boom 4 over the block width (Blockbreite), wherein the block width or the swivel angle determines the working range, that is to say The excavation volume of the conveyed material (Abtrag).

Delivery device 12 includes:

a loading boom 13 (exit conveyor), which includes a loading belt and a loading chute 14 (transfer chute),

· Swing mechanism/lifting mechanism 15 for loading boom 13 (fixed at excavation equipment 2),

• Receiving chute 7 for conveying the conveyance from the receiving belt of the boom 4 to the transfer device 12 (conveyor transfer device).

The loading device 12 has (as already mentioned) a loading chute 14 (rotary chute, conveyance device, transfer chute) for conveying the conveyed goods from the loading boom 13 to the stepped conveyor arrangement 17 . Furthermore, a stepped conveyor axis 18 is shown, which forms the belt center of the transport-active belt arrangement or stepped conveyor arrangement 17 .

FIG. 2 shows an alternative embodiment in which a belt conveyor is additionally arranged between the bucket wheel excavator or bucket chain excavator and the stepped conveyor system. A bucket wheel excavator or bucket chain excavator 1 can be seen with a loading boom 13 fastened to a pivoting/lifting mechanism 15 , wherein a loading ramp 14 transfers the conveyed material to a belt conveyor 37 The receiving zone is 39 places. The belt conveyor 37 is moved preferably parallel to the stepped conveyor system 17 by means of the crawler substructure 38 and transfers the conveyed goods to the stepped conveyor belt of the stepped conveyor system 17 via a transfer ramp 40 .

For the automatic identification and tracking of the position of the variable transfer device 12/ or the positioning of the loading boom 13 for conveying the conveyed goods onto the stepped conveyor system 17 or the receiving belt 39 of the belt conveyor 37, the following Measured value sensors are important:

a measured value sensor 21 for detecting the current spatial coordinates x _B /y _B /z _B of the bucket wheel excavator or bucket chain excavator 1 ,

· For detecting the current of the step conveyor axis 18 of the step conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) Measured value sensor 22 of spatial coordinates x _S /y _S /z _S ,

a measured value sensor 23 for detecting the current longitudinal and lateral inclination of the loading boom 13,

a measured value sensor 24 for detecting the current swivel angle of the loading boom 13,

a measured value sensor 25 for detecting the current load of the loading boom 13,

· For detecting the current distance of the loading boom 13 relative to the ground (Planum) or above the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or on the take-up belt of the belt conveyor 37 39 (in the embodiment according to FIG. 2 ) the measured value sensor 26 of the current distance above,

· For detection of the loading boom 13 above the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. ) above the current vertical positioning includes a measurement sensor 27 that detects the center of the strip,

· for detecting the current load state of the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) The measured value sensor 28,

· For detection of possible currents of the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) Measured value sensor 29 with deflection (Bandschieflauf),

a measured value sensor 30 for detecting the current angular position of the loading ramp 14,

a measured value sensor 31 for detecting the current inclination of the loading chute 14,

a measured value sensor 32 for detecting objects within the swivel range of the loading boom 13 (collision protection),

a measured value sensor 33 (collision protection) for detecting the current belt overrun (Bandüberstieg) between the take-up belt of the boom 4 and the loading belt of the loading boom 13,

· for detection of the current belt overshoot between the loading belt of the loading boom 13 and the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or between the loading belt and the belt of the loading boom 13 The current belt exceeds the measured value sensor 34 between the receiving belts 39 (in the embodiment according to FIG. 2 ) of the conveyor 37 (collision protection).

The following signals are supplied to the regulation/control unit 20:

the signal A of the measured value sensor 21,

the signal B of the measured value sensor 22,

the signal C of the measured value sensor 23,

the signal D of the measured value sensor 24,

the signal E of the measured value sensor 25,

the signal F of the measured value sensor 26,

the signal G of the measured value sensor 27,

the signal H of the measured value sensor 28,

the signal I of the measured value sensor 29,

the signal K of the measured value sensor 30,

the signal L of the measured value sensor 31,

the signal M of the measured value sensor 32,

the signal N of the measured value sensor 33, and

• Signal O of the measured value sensor 34 . The regulating/controlling device 20 processes the supplied signals, combines them with one another in a predetermined manner and actuates the pivoting mechanism on the basis of these signals and on the basis of the theoretical value/parameter setting 35 for the measured value sensors listed above. Heavy mechanism 15, loading ramp 14 and if possible excavation equipment 2, see

· for the control signal Q of the transmission device 12,

· the control signal R for the loading chute 14, and

• Actuation signal S for the excavation device 2 .

In this case, the regulating/controlling device 20 prescribes the pivoting angle and inclination of the loading boom 13 of the transfer device 12 in the form of an actuating signal Q based on the signals of the following measured value sensors:

the signal A of the measured value sensor 21 for detecting the current spatial coordinates x _B /y _B /z _B of the bucket-wheel excavator or bucket-chain excavator 1 ,

· for detecting the current spatial coordinates x _S /y _S of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 (in the embodiment according to FIG. 2 ) of the belt conveyor 37 Signal B of the measured value sensor 22 of /z _S ,

the signal C of the measured value sensor 23 for detecting the current longitudinal and lateral inclination of the loading boom 13,

the signal D of the measured value sensor 24 for detecting the current swivel angle of the loading boom 13,

· for detecting the current distance of the loading boom 13 above the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or above the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) The signal F of the measured value sensor 26,

· For detection of the current vertical position of the loading boom 13 above the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or above the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) Straight positioning consists of detecting the signal G of the measured value sensor 27 in the center of the belt.

In addition, the regulating/control unit 20 prescribes the swivel angle and the inclination of the loading ramp 14 in the form of a signal R based on the signals of the following measured value sensors:

· for detecting the current load state of the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) The signal H of the measured value sensor 28,

· For detection of possible currents of the stepped conveyor belt of the stepped conveyor system 17 (in the embodiment according to FIG. 1 ) or of the take-up belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) Signal I of the skewed measured value sensor 29,

the signal K of the measured value sensor 30 for detecting the current angular position of the loading ramp 14,

• The signal L of the measured value sensor 31 for detecting the current inclination of the loading ramp 14 .

For better regulation/controlling, a signal E of a measured value sensor 25 for detecting the current load of the load belt of the loading boom 13 is additionally fed to the regulating/controlling device 20 . As a result, possible material blockages in the loading chute 14 (for example due to wet material or conveyed material) are detected and corresponding actuation signals S for the excavating device 2 are output as required for stopping the bucket-wheel excavation. machine or bucket chain excavator and avoid overfilling the loading chute 14.

In order to avoid a collision (collision protection) between the loading boom 13 and the stepped conveyor system 17, additionally the load belt for detecting the loading boom 13 and the stepped conveyor belt of the stepped conveyor system 17 (in accordance with In the embodiment of FIG. 1 ) the current belt exceeds or between the loading belt of the loading boom 13 or the receiving belt 39 of the belt conveyor 37 (in the embodiment according to FIG. 2 ) the current belt exceeds The signal O of the measured value sensor 34 is supplied to the regulation/control unit 20 .

In order to avoid collisions between the loading boom 13 and objects such as equipment or persons, the signal M of the measured value sensor 32 for detecting objects within the swivel range of the loading boom 13 is additionally fed to the regulating/control device 20 ( collision protection).

The signals O, M are taken into account in the generation of the actuation signals R and Q, if possible also of the signal S.

Overall, the proposed regulation/control results in a high availability of the components to be used and in particular a high availability of the desired function (“unmanned operation”). This regulation/control achieves independence from environmental influences such as strong solar radiation, heavy rain, snow, fog, frost. Furthermore, insensitivity to dampened coal or transport is achieved. This results in a high degree of precision in the positioning and measurement of the conveyor belt edges as well as in the detection of belt travel. Furthermore, equipment protection as well as personnel protection are ensured under all operating conditions.

List of reference numerals

1 bucket wheel excavator or bucket chain excavator

2 Excavation equipment for bucket wheel excavators or bucket chain excavators

3 Swingable superstructure

4 Tiltable boom including take-up belt

5 bucket wheel

6 ramps

7 Receiving chute for loading boom 13

8 The swing direction/swing angle of the cantilever 4 on the width of the mining area

9 Substructure with tracks

10 Driving direction of substructure 9

11 -

12 Position-variable transfer device for bucket-wheel excavators or bucket-chain excavators

13 Loading boom (exit conveyor) including loading belt

14 Loading chute of transfer device (rotating chute, conveying chute)

15 Swing mechanism/lifting mechanism for loading jib

16 -

17 Step conveyor belt equipment (step conveyor belt conveyors) including step conveyor belts

18 Step conveyor belt axis = belt center of step conveyor belt equipment 17

19 –

20 Adjustment/control device

21 Measured value sensor for detecting the current spatial coordinates x _B /y _B /z _B of the bucket wheel excavator or bucket chain excavator 1 → signal A

22 Measured value sensor for detecting the current spatial coordinates x _S /y _S /z _S of the step conveyor axis 18 or of the take-up belt 39 of the belt conveyor 37 → signal B

23 Measured value sensor for detecting the current longitudinal and lateral inclination of the loading boom 13 → signal C

24 Measured value sensor for detecting the current swivel angle of the loading arm 13 → signal D

25 Measured value sensor for detecting the current load of the loading boom 13 → signal E

26 Measured value sensor → signal F for detecting the current distance of the loading boom 13 relative to the ground or above the stepped conveyor belt of the stepped conveyor system 17 or above the take-up belt 39 of the belt conveyor 37

27 For detecting the current vertical position of the loading boom 13 above the stepped conveyor belt of the stepped conveyor system 17 or above the take-up belt 39 of the belt conveyor 37 including the measurement sensor for detecting the center of the belt → signal G

28 Measured value sensor → signal H for detecting the current load state of the stepped conveyor belt of the stepped conveyor system 17 or of the take-up belt 39 of the belt conveyor 37

29 Measured value sensor → signal I for detecting a possible current belt deflection of the stepped conveyor belt of the stepped conveyor system 17 or of the take-up belt 39 of the belt conveyor 37

30 Measured value sensor for detecting the current angular position of the loading ramp 14 → signal K

31 Measured value sensor for detecting the current inclination of the loading chute 14 → signal L

32 Measured value sensor 32 (collision protection) for detecting objects within the swivel range of the loading boom 13 → signal M

33 Measured value sensor (collision protection) for detecting the current belt overshoot between the take-up belt of the boom 4 and the loading belt of the loading boom 13 → signal N

34 For detecting the current belt overhang between the loading belt of the loading boom 13 and the step conveyor belt of the step conveyor system 17 or between the loading belt of the loading boom 13 and the take-up belt 39 of the belt conveyor 37 The current sensor 34 with exceeded measured value → signal O

35 Theoretical value preset/parameter preset

36 -

37 belt conveyor

38 Substructure with tracks

39 Receiver belt

40 conveyor chute

Claims (7)

1. one kind for identifying and follow the tracks of the method for the position of the transfer device/loading attachment of the position changeable of bucket-wheel excavator or bucket chain excavator (1), described bucket-wheel excavator or bucket chain excavator comprise the excavating equipment (2) with the swingable superstructure with tiltable cantilever (4), can crawler type travel substructure (9) and with load cantilever (13) transfer device (12), and when centre is connected with band conveyor (37) or be not connected with band conveyor (37) in centre by step conveyer belt apparatus (17) transmission transport thing or by similar transmission position transmission transport thing, it is characterized in that, adjustment/control device (20) specifies pendulum angle and the inclination of the loading cantilever (13) of described transfer device (12) according to the signal of following measuring value sensor:

For detecting the current spatial coordinate (x of described bucket-wheel excavator or bucket chain excavator (1) _b/ y _b/ z _b) measuring value sensor (21),

For detecting the current spatial coordinate (x of the receiving belt (39) of described step conveyer belt apparatus (17) or described band conveyor (37) _s/ y _s/ z _s) measuring value sensor (22),

For the measuring value sensor (23) of the current fore-and-aft tilt and lateral inclination that detect described loading cantilever (13),

For detecting the measuring value sensor (24) of the current oscillation angle of described loading cantilever (13),

For detecting the measuring value sensor (26) of the current distance of described loading cantilever (13) above described step conveyer belt apparatus (17) top or the receiving belt (39) in described band conveyor (37)

Locate at the current vertical of described step conveyer belt apparatus (17) top or the top of the receiving belt (39) in described band conveyor (37) measuring value sensor (27) comprising surveying tape center for detecting described loading cantilever (13)

For monitoring in the transmission position of described loading cantilever (13)/measuring value sensor of excessive filling at place.

2. method according to claim 1, wherein, transported substance is transported to receiving belt (39) place of described step conveyer belt apparatus (17) place or described band conveyor (37) by described loading cantilever (13) by loading chute (14), it is characterized in that, described adjustment/control device (20) specifies pendulum angle and the inclination of described loading chute (14) according to the signal of following measuring value sensor:

For detect the step conveyer belt of described step conveyer belt apparatus (17) or the measuring value sensor (28) of current loading condition of receiving belt (39) of described band conveyor (37),

For detect the step conveyer belt of described step conveyer belt apparatus (17) or the measuring value sensor (29) of possible current tape skew of receiving belt (39) of described band conveyor (37),

For detecting the measuring value sensor (30) of the current angle position of described loading chute (14),

For detecting the measuring value sensor of the current tilt of described loading chute (14).

3. method according to claim 1, it is characterized in that, additionally the signal of the measuring value sensor (25) being used for the present load of the carrier tape detecting described loading cantilever (13) is transported to described adjustment/control device (20).

4. method according to claim 2, it is characterized in that, additionally the signal of the measuring value sensor (25) being used for the present load of the carrier tape detecting described loading cantilever (13) is transported to described adjustment/control device (20).

5. the method according to any one of claim 1-4, it is characterized in that, additionally the signal being used for detecting the measuring value sensor (33) that the current band between the receiving belt and the carrier tape of described loading cantilever (13) of described cantilever (4) exceeds is transported to described adjustment/control device (20).

6. the method according to any one of claim 1-4, it is characterized in that, additionally the signal being used for detecting the measuring value sensor (34) that the current band between the carrier tape of described loading cantilever (13) and the receiving belt (39) of the step conveyer belt of described step conveyer belt apparatus (17) or described band conveyor (37) exceeds is transported to described adjustment/control device (20).

7. the method according to any one of claim 1-4, it is characterized in that, additionally the signal of the measuring value sensor (32) being used for the object detected within the hunting range of described loading cantilever (13) is transported to described adjustment/control device (20).