阅读说明：本技术 一种斗轮式堆取料机堆场定位系统及定位方法 (Storage yard positioning system and positioning method for bucket wheel type stacker-reclaimer ) 是由 苏岳 刘千波 朱俊良 朱孔帅 李宏洲 王博良 许明华 于 2020-12-10 设计创作，主要内容包括：本发明公开了一种斗轮式堆取料机堆场定位系统及定位方法,所述定位系统包括行走距离检测单元、回转角度检测单元、俯仰角度检测单元、中央控制器和三维显示单元,所述行走距离检测单元、回转角度检测单元、俯仰角度检测单元和三维显示单元分别与中央控制器通讯连接。本发明可最大程度地适应散货堆场复杂恶劣的现场工况,且其管理、使用、保养及维修方便,投入少,性价比高；结合行走距离、回转摆动角度校正装置,可以在预设行走位置及回转0°位置对斗轮式堆取料机位置实时进行校验,可有效提高系统的可靠性,有效防止编码器误测；结合俯仰角度检测系统,可以精确测绘出斗轮式堆取料机的实时三维动态并在驾驶室和中控室内显示。(The invention discloses a bucket wheel type stacker-reclaimer yard positioning system and a positioning method, wherein the positioning system comprises a walking distance detection unit, a rotation angle detection unit, a pitching angle detection unit, a central controller and a three-dimensional display unit, and the walking distance detection unit, the rotation angle detection unit, the pitching angle detection unit and the three-dimensional display unit are respectively in communication connection with the central controller. The invention can adapt to the complicated and severe field working conditions of the bulk cargo storage yard to the greatest extent, and has convenient management, use, maintenance and repair, less investment and high cost performance; by combining the walking distance and the rotary swing angle correcting device, the position of the bucket-wheel stacker-reclaimer can be verified in real time at the preset walking position and the rotary 0-degree position, the reliability of the system can be effectively improved, and the error detection of an encoder can be effectively prevented; by combining the pitching angle detection system, the real-time three-dimensional dynamic state of the bucket-wheel stacker-reclaimer can be accurately mapped and displayed in a cab and a central control room.)

1. A bucket wheel type stacker-reclaimer yard positioning system is characterized by comprising a walking distance detection unit, a rotation angle detection unit, a pitching angle detection unit, a central controller and a three-dimensional display unit, wherein the walking distance detection unit, the rotation angle detection unit, the pitching angle detection unit and the three-dimensional display unit are respectively in communication connection with the central controller, and the walking distance detection unit is used for acquiring pulse signals of the bucket wheel type stacker-reclaimer walking on a track and sending the pulse signals to the central controller; the rotary angle detection unit is used for acquiring pulse signals of the swing angle of the bucket wheel type stacker-reclaimer relative to the forward direction of travel and sending the pulse signals to the central controller, and the central controller is used for summarizing the pulse signals, converting the pulse signals into the real-time position of the bucket wheel type stacker-reclaimer in a storage yard and displaying the position on the three-dimensional display unit.

2. The bucket-wheel stacker-reclaimer yard positioning system of claim 1, wherein the walking distance detection unit comprises a walking encoder, a walking distance correction device, and a control module, the walking encoder is mounted on a tail car walking mechanism driven wheel of the bucket-wheel stacker-reclaimer through a first fixed bracket, and the control module receives and collects pulse signals input by the walking encoder and the walking distance correction device through a data transmission line, and is in communication connection with the central controller.

3. The bucket-wheel stacker-reclaimer yard positioning system of claim 2, wherein the traveling distance calibration device comprises four inductive proximity switches respectively mounted on a tail car beam of the cart of the bucket-wheel stacker-reclaimer, wherein one inductive proximity switch is used for assigning an initial length value of the yard position to the center point of the bucket-wheel stacker-reclaimer gantry, and the other three inductive proximity switches are used for performing real-time distance calibration to the center point of the bucket-wheel stacker-reclaimer gantry.

4. The bucket-wheel stacker-reclaimer yard positioning system of claim 2, wherein the first fixing bracket comprises a fixing platform, a protective cover and a coupler, the fixing platform is fixed on a fixing end cover of a walking wheel bearing of the bucket-wheel stacker-reclaimer, the coupler is connected with the walking encoder, an encoder mounting bracket for mounting the walking encoder is arranged on the fixing platform, a transverse groove is arranged in the middle of the encoder mounting bracket, the connecting position of the walking encoder and the coupler can be adjusted by the transverse groove, and the protective cover is an upper U-shaped shell and a lower U-shaped shell and is mounted on the fixing platform through fixing screws.

5. The bucket wheel stacker-reclaimer yard positioning system of claim 1, wherein the rotation angle detection unit comprises a rotary encoder, a rotation swing angle correction device, and a control module, the rotary encoder is mounted on an outer gear ring of a large rotary bearing of the bucket wheel stacker-reclaimer through a second fixed bracket, and the control module receives and collects pulse signals input by the rotary encoder and the rotation swing angle correction device through a data transmission line, and is in communication connection with the central controller.

6. The bucket wheel type stacker-reclaimer yard positioning system of claim 5, wherein the second fixing support comprises a coupling leg, a protective cover, an encoder mounting platform, an encoder mounting support, a coupler, a spur gear cylinder meshing gear, the protective cover comprises two L-shaped housings, the two L-shaped housings are connected through a protective cover fixing screw, the encoder mounting platform is arranged in the protective cover and fixed on the coupling leg through the encoder mounting platform fixing screw, the encoder mounting support is arranged on the encoder mounting platform, the coupler is connected with a rotary encoder, and the spur gear cylinder meshing gear is arranged below the coupler.

7. The bucket wheel stacker-reclaimer yard positioning system of claim 1, wherein the pitch angle detecting unit comprises a pitch encoder, and the pitch encoder is mounted on a pinion shaft of a pitch wire rope reel low speed shaft extension of the bucket wheel stacker-reclaimer through a third fixed bracket and connected with the central controller through a data transmission line.

8. The bucket wheel stacker-reclaimer yard positioning system of claim 7, wherein the third fixing bracket comprises a coupler, an encoder fixing seat, and an encoder shield, the encoder shield is fixedly connected to a gear shaft of the pitch wire rope drum low-speed shaft extension section of the bucket wheel stacker-reclaimer, and the coupler is connected with the pitch encoder and is mounted on the coupler through the encoder fixing seat.

9. The bucket wheel stacker-reclaimer yard positioning system of claim 8, wherein the encoder fixing base comprises an encoder fixing leg, the encoder fixing leg is provided with an encoder fixing hole for fixing the encoder, and the bottom of the encoder fixing leg is provided with an encoder leg fixing hole.

10. A method of positioning a bucket wheel stacker-reclaimer yard positioning system according to any one of claims 1 to 9, comprising the steps of:

(1) a walking encoder of the walking distance detection unit rotates along with a driven wheel of the bucket wheel type stacker-reclaimer to output a pulse signal, the pulse signal is transmitted to a central controller, and the central controller obtains the walking distance S of the bucket wheel type stacker-reclaimer after data processing₁；

(2) Along with the action of the rotation and pitching mechanism of the bucket wheel type stacker-reclaimer, the rotation angle detection unit acquires the angle +/-theta of the left/right rotation swing₀And angle of pitch/yaw + -theta₁So as to obtain the position S of the central point of the bucket wheel at the head part of the cantilever₂：

S₂＝[L＊cos(±θ₁)]＊cos(±θ₀)；

The L is the length from the center point of the gate seat of the bucket-wheel stacker reclaimer to the center point of the cantilever bucket wheel;

further obtaining the storage yard position S of the central point of the bucket wheel type stacker-reclaimer₃：

S₃＝S₁+S；

The S is the length from the central point of the mounting position of the tail wheel traveling encoder to the central point of the gate seat of the bucket wheel stacker-reclaimer;

position S of bucket wheel blanking/taking point at head of bucket wheel type stacker-reclaimer₀：

S₀＝S+S₂。

Technical Field

The invention relates to the technical field of positioning systems, in particular to a positioning system and a positioning method for a storage yard of a bucket wheel type stacker-reclaimer.

Background

The bucket wheel type stacker-reclaimer is a special device for loading and unloading materials in a bulk cargo wharf storage yard, and when the bucket wheel type stacker-reclaimer runs, a driver operates the stacker in a driver cab to operate, listens to the dispatching of a central control room of the storage yard and can operate after the processes of checking and calibrating the storage yard, the cargo seeds, loading and unloading the ship. At present, the bucket wheel type stacker-reclaimer mostly adopts modes such as an encoder, a positioning tag, satellite positioning and the like for yard positioning, wherein the satellite positioning mode is applied more for pushing a bulk cargo wharf to realize automatic unattended operation. The components of a satellite positioning system generally include: 2 sets of satellite signal transceiver on the aircraft, yard position correcting unit, PLC central controller, display device of driver's cabin and central controller, etc. However, when the material pile of the storage yard is high, the positioning signal of the satellite positioning system is attenuated, and the correction signal of the storage yard position is interfered, so that the situations of large positioning deviation or misdetection and the like are easily caused.

Along with the rapid development of automatic and intelligent operation modes, the unmanned propelling work of the bucket-wheel stacker-reclaimer is urgent, and the requirement needs a positioning system which has higher precision and higher stability, can adapt to the working condition of a bulk cargo wharf and is more convenient to maintain to meet the requirement on the automation of a bucket wheel machine.

Disclosure of Invention

In view of the above disadvantages, the present invention aims to provide a positioning system and a positioning method for a bucket-wheel stacker-reclaimer yard, which can meet the use requirements under complex working conditions on site, wherein the positioning system has the advantages of higher precision, better stability, more convenient use and less investment cost, and can meet the unattended requirement of the bucket-wheel stacker-reclaimer yard.

In order to achieve the purpose, the invention provides the following technical scheme:

a bucket wheel type stacker-reclaimer yard positioning system comprises a walking distance detection unit, a rotation angle detection unit, a pitching angle detection unit, a central controller and a three-dimensional display unit, wherein the walking distance detection unit, the rotation angle detection unit, the pitching angle detection unit and the three-dimensional display unit are respectively in communication connection with the central controller, and the walking distance detection unit is used for acquiring pulse signals of the bucket wheel type stacker-reclaimer walking on a track and sending the pulse signals to the central controller; the rotary angle detection unit is used for acquiring pulse signals of the swing angle of the bucket wheel type stacker-reclaimer relative to the forward direction of travel and sending the pulse signals to the central controller, and the central controller is used for summarizing the pulse signals, converting the pulse signals into the real-time position of the bucket wheel type stacker-reclaimer in a storage yard and displaying the position on the three-dimensional display unit.

As a preferred technical scheme, the walking distance detection unit comprises a walking encoder, a walking distance correction device and a control module, the walking encoder is installed on a driven wheel of a tail car walking mechanism of the bucket wheel type stacker-reclaimer through a first fixing support, and the control module receives and collects pulse signals input by the walking encoder and the walking distance correction device through a data transmission line and is in communication connection with a central controller.

As a preferred technical scheme, the walking distance correction device comprises four inductive proximity switches which are respectively installed on a tail car beam of a cart of the bucket-wheel stacker-reclaimer, wherein one inductive proximity switch is used for assigning initial length of a yard position for the center point of a gate seat of the bucket-wheel stacker-reclaimer, and the other three inductive proximity switches are used for correcting the distance of the center point of the gate seat of the bucket-wheel stacker-reclaimer in real time.

When the inductive proximity switch senses the corresponding stop iron within the effective sensing range, the inductive proximity switch sends a pulse signal to the central processing unit, so that the purpose of assignment or distance correction is achieved.

The inductive proximity switch adopted in the walking distance correction device is square (flat), the rated voltage is Ue which is 12-48VDC, the rated current is Ie which is 1.5-100mA, the effective induction range is Sn which is 40mm (namely the maximum induction distance is 40mm), and the protection grade reaches IP65 and above.

As an optimal technical scheme, first fixed bolster includes fixed platform, protection casing, coupler, fixed platform is fixed in and covers at the stiff end of bucket wheel formula stacker-reclaimer walking wheel bearing, the coupler is connected with the walking encoder, is equipped with the encoder installing support that is used for installing the walking encoder on the fixed platform, and the intermediate position of encoder installing support is equipped with the cross slot, the hookup location of the adjustable walking encoder of cross slot and coupler, the protection casing is upper and lower two U type casings, installs on fixed platform through fixed screw.

As a preferred technical scheme, the rotation angle detection unit comprises a rotary encoder, a rotation swing angle correction device and a control module, wherein the rotary encoder is installed on an outer gear ring of a large rotation bearing of the bucket wheel type stacker-reclaimer through a second fixing support, and the control module receives and collects pulse signals input by the rotary encoder and the rotation swing angle correction device through a data transmission line and is in communication connection with the central controller.

The rotary swing angle correcting device is an inductive proximity switch which is arranged below a box girder of a secondary rotary platform of the bucket wheel type stacker-reclaimer and is positioned on a straight line of a central point of a forward direction of travel (on the box girder below the straight line of the central point of a cantilever balance weight frame of the stacker-reclaimer), and the inductive proximity switch is used for presetting 0 degree of rotation and rotary swing angle correction in the forward direction of travel of a cart of the bucket wheel type stacker-reclaimer.

The inductive metal stop iron of the inductive proximity switch of the rotary swing angle correcting device is arranged on a straight line position of a forward direction center point of travel on the upper surface of a first-level rotary platform on a gate seat box beam of the bucket-wheel stacker-reclaimer (on a box beam below a straight line of a center point of a cantilever balance weight frame of the stacker-reclaimer), when the inductive proximity switch senses the stop iron in an effective sensing range, the inductive proximity switch can send a pulse signal to a central processing unit, and the aims of presetting rotary 0 degrees and checking rotary swing angles are fulfilled.

The inductive proximity switch adopted in the rotary swing angle correcting device is cylindrical, the rated voltage is Ue which is 10-30VDC, the rated current is Ie which is 1.5-100mA, the effective induction range is Sn which is 15mm (namely the maximum induction distance is 15mm), and the protection grade reaches IP66 and above.

As an optimal technical scheme, the second fixed bolster is including hookup landing leg, protection casing, encoder mounting platform, encoder mounting bracket, coupler, straight-tooth cylinder meshing gear, the protection casing includes two L type casings, two L type casings pass through protection casing fixed screw erection joint, in the protection casing was located to encoder mounting platform, fix on the hookup landing leg through encoder mounting platform fixed screw, the encoder mounting bracket is located on the encoder mounting platform, the coupler is connected with rotary encoder, straight-tooth cylinder meshing gear locates the below of coupler.

As a preferable technical solution, the pitch angle detecting unit includes a pitch encoder, and the pitch encoder is mounted on a pinion shaft of a low-speed shaft extension section of a pitch wire rope drum of the bucket wheel type stacker-reclaimer through a third fixed bracket, and is connected with the central controller through a data transmission line.

As a preferred technical scheme, the third fixing support comprises a coupler, an encoder fixing seat and an encoder shield, the encoder shield is fixedly connected to a gear shaft of the extension section of the low-speed shaft of the pitching steel wire rope reel of the bucket wheel type stacker-reclaimer, and the coupler is connected with the pitching encoder and is installed on the coupler through the encoder fixing seat.

As an optimal technical scheme, the encoder fixing seat comprises an encoder fixing supporting leg, an encoder fixing hole used for fixing the encoder is formed in the encoder fixing supporting leg, and an encoder supporting leg fixing hole is formed in the bottom of the encoder fixing supporting leg.

The invention also provides a positioning method of the positioning system of the bucket-wheel stacker-reclaimer yard, which comprises the following steps:

(1) a walking encoder of the walking distance detection unit rotates along with a driven wheel of the bucket wheel type stacker-reclaimer to output a pulse signal, the pulse signal is transmitted to a central controller, and the central controller obtains the walking distance S of the bucket wheel type stacker-reclaimer after data processing₁；

(2) Along with the action of the rotation and pitching mechanism of the bucket wheel type stacker-reclaimer, the rotation angle detection unit acquires the angle +/-theta of the left/right rotation swing₀And angle of pitch/yaw + -theta₁So as to obtain the position S of the central point of the bucket wheel at the head part of the cantilever₂：

S₂＝[L＊cos(±θ₁)]＊cos(±θ₀)；

The L is the length from the central point of the gate seat of the bucket-wheel stacker reclaimer to the central point of the cantilever bucket wheel;

further obtaining the storage yard position S of the central point of the bucket wheel type stacker-reclaimer₃：

S₃＝S₁+S；

The S is the length from the central point of the mounting position of the tail wheel traveling encoder to the central point of the gate seat of the bucket wheel stacker-reclaimer;

position S of bucket wheel blanking/taking point at head of bucket wheel type stacker-reclaimer₀：

S₀＝S+S₂。

The invention has the beneficial effects that:

the invention can adapt to the complicated and severe field working conditions of the bulk cargo storage yard to the greatest extent, and has convenient management, use, maintenance and repair, less investment and high cost performance; by combining the walking distance and the rotary swing angle correcting device, the position of the bucket-wheel stacker-reclaimer can be verified in real time at the preset walking position and the rotary 0-degree position, the reliability of the system can be effectively improved, and the distance misdetection caused by the damage and the slippage of the encoder or the disconnection of the encoder and the coupler or the fault of a data transmission line can be effectively prevented; the real-time three-dimensional dynamic state of the bucket wheel type stacker-reclaimer can be accurately mapped and displayed by combining a pitching angle detection system, and intelligent monitoring and high-precision modeling under an unattended mode are met.

Drawings

FIG. 1 is a schematic diagram of the positioning system of the bucket wheel stacker-reclaimer yard according to the present invention;

FIG. 2(a) is a schematic structural view (top view) of the first fixing bracket and various components thereon according to the present invention;

FIG. 2(b) is a schematic structural diagram (front view) of the fixed support and various parts on the support of the walking encoder of the present invention;

FIG. 2(c) is a schematic structural view (in a top view) of the fixed mount of the walking encoder of the present invention;

FIG. 3(a) is a schematic structural diagram (side view) of a second fixing bracket and various components on the second fixing bracket according to the present invention;

FIG. 3(b) is a schematic side view of the L-shaped shield shell of the present invention;

FIG. 4(a) is a schematic structural view (front view) of the rotary encoder mounting bracket and various parts thereon according to the present invention;

FIG. 5 is a schematic structural view (in a top view) of a third fixing bracket and various parts of the third fixing bracket according to the present invention;

FIG. 6 is a front view of an encoder holder of the pitch angle detecting unit of the present invention;

FIG. 7 is a schematic diagram of the operation of the bucket wheel stacker-reclaimer yard positioning system of the present invention;

FIG. 8 is a schematic structural view (front view) of each part of a mounting base of the walking distance correcting unit of the present invention;

FIG. 9 is a schematic structural view (front view) of an inductive proximity switch stop support of the walking distance correcting apparatus of the present invention;

FIG. 10 is a schematic structural view (front view) of each component of the swing angle correcting apparatus of the present invention;

fig. 11 is a schematic structural view (front view) of an inductive proximity switch stop support of the swing angle correction apparatus of the present invention.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings. It should be noted that the following examples are illustrative and not limiting, and should not be construed as limiting the scope of the invention.

In the description of the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first feature or the second feature through intervening media. Also, a first feature "on," "over," or "above" a second feature may be directly or diagonally above the first feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," or "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description of the present invention, it is to be understood that the terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly including one or more of the described features.

When an element is referred to as being "secured" to another element, it can be directly secured to the other element or secured through intervening elements. When an element is described as being "connected" to another element, it can be directly connected to the other element or be connected through intervening elements. The terms "upper," "lower," "left," "right," "top," "bottom," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

A bucket wheel type stacker-reclaimer yard positioning system comprises a walking distance detection unit, a rotation angle detection unit, a pitch angle detection unit, a central controller (the central controller of the embodiment adopts a PLC central controller) and a three-dimensional display unit (comprising a three-dimensional display device arranged in a central control room and a three-dimensional display device arranged in a cab), wherein the walking distance detection unit, the rotation angle detection unit, the pitch angle detection unit and the three-dimensional display unit are respectively in communication connection with the central controller (the PLC central controller). The walking distance detection unit is used for acquiring pulse signals of the bucket wheel type stacker-reclaimer walking on a rail and sending the pulse signals to the central controller; the rotary angle detection unit is used for acquiring pulse signals of the swing angle of the bucket wheel type stacker-reclaimer relative to the forward direction of travel and sending the pulse signals to the central controller, and the central controller (a PLC) is used for summarizing the pulse signals, converting the pulse signals into the real-time position of the bucket wheel type stacker-reclaimer in a storage yard and displaying the position on the three-dimensional display unit.

When the device is used, a PLC central controller (central controller) obtains a pulse signal of the walking of the bucket wheel type stacker-reclaimer on a rail through the detection of the walking distance detection unit, obtains a pulse signal of a swing angle of the bucket wheel type stacker-reclaimer relative to the forward direction of the walking through the detection of the rotation angle detection unit, obtains a pulse signal of the upward or downward bending angle of the bucket wheel type stacker-reclaimer relative to the horizontal direction through the detection of the pitching angle detection system, collects and processes the pulse signals, converts the pulse signals into a real-time position of the bucket wheel type stacker-reclaimer in a yard, and displays the position on a three-dimensional display system so as to guide a driver to operate the stacker and the reclaimer, and simultaneously allows a central controller to guide and coordinate the loading and unloading operations of a bulk cargo wharf according to the pulse signals, thereby improving the production fluency and the operation efficiency.

In the embodiment, the walking distance detection unit comprises a walking encoder, a walking distance correction device and a control module, wherein the walking encoder is installed on a driven wheel of a tail car walking mechanism of the bucket wheel type stacker-reclaimer through a first fixing support, and the walking encoder is installed at the position to reduce measurement errors caused by the slipping of a driving wheel; and the control module receives and collects pulse signals input by the walking encoder and the walking distance correction device through a data transmission line and is in communication connection with the central controller.

The data transmission line comprises a profibus communication cable (a twisted pair shielding cable with characteristic impedance of 150 omega and the speed of 9.6 Kbps-12 Mbaud is adopted, the maximum cable length of one section of the stacker-reclaimer is less than 100 meters, and the transmission speed can reach 12Mbaud), and a marine multi-strand transmission flexible cable, wherein the profibus communication cable transmits pulse signals and can prevent signal interference or attenuation; and marine stranded transmission flexible cable is used for on-the-spot supply walking encoder, walking distance correcting unit power, ensures the stability of power, reduces because of the damaged or measurement wrong report that ages and bring of power supply line.

The walking distance correction device comprises four inductive proximity switches which are respectively installed on a tail car beam of a cart of the bucket-wheel stacker-reclaimer, wherein one inductive proximity switch is used for assigning the initial length of the position of a storage yard for the center point of a gate seat of the bucket-wheel stacker-reclaimer, the other three inductive proximity switches are used for correcting the real-time distance of the center point of the gate seat of the bucket-wheel stacker-reclaimer in a mode of 3+1, the accuracy and the precision rate of walking distance detection can be ensured, and the reliability of the system is improved.

As shown in fig. 2(a), the first fixing bracket 4 includes a fixing platform 41, a protecting cover 42, and a coupler 43, the fixing platform 41 is fixed on a fixed end cover of a walking wheel bearing of the bucket wheel stacker-reclaimer, the coupler 43 is connected with the walking encoder 44, an encoder mounting bracket 411 for mounting the walking encoder 44 is provided on the fixing platform 41, a transverse groove is provided at an intermediate position of the encoder mounting bracket 411, the connecting position of the walking encoder 44 and the coupler 43 can be adjusted by the transverse groove, the protecting cover 42 is an upper U-shaped shell and a lower U-shaped shell, and is mounted on the fixing platform 41 by a fixing screw 421, and all the fixing screws 421 all adopt hexagon socket head screws.

As shown in fig. 2(b) -2(c), the walking encoder fixing support 45 includes an encoder fixing base plate 451, an encoder fixing screw hole 452, and a fixing screw hole 453 for connecting with the encoder mounting bracket 411, the walking encoder fixing support 45 is fixed by the fixing screw hole 453 connected with the encoder mounting bracket 411, and the encoder is fixed on the encoder fixing support 45 by the encoder fixing screw hole 452. All the fixing screws are inner hexagonal screws.

First fixed bolster 4 adopts the preparation of full stainless steel, has the light and corrosion-resistant characteristics of dismouting.

The walking encoder 44 is a multi-turn plus-minus absolute value encoder, the output pulse signal is a BCD code, the maximum resolution of the absolute value encoder is 4096 turns (0.05 degrees), and gray binary counting is adopted.

Any angle and turn number of the absolute value encoder in the memory range are not affected by whether the absolute value encoder is electrified or not, and absolute position information is not lost or distorted.

The protection grade of the absolute value encoder is more than IP66, the absolute value encoder can be adapted to the complex and severe working environment of a bulk cargo wharf to the greatest extent, and the absolute value encoder has the advantages of few restriction factors and good detection stability.

As shown in fig. 8, the mounting support of the walking distance correcting device 7 includes a connecting leg 71, a support bottom plate 72, an assigned inductive proximity switch 73, a first corrected inductive proximity switch 74, a second corrected inductive proximity switch 75, a third corrected inductive proximity switch 76, and a fixing screw 77 for fixing each inductive proximity switch, the connecting leg 71 is made of 5# channel steel, the specification of which is 50mm x 37mm x 4.5mm, and is fixed to a tail car beam of the bucket wheel type stacker-reclaimer by welding, the support bottom plate 72 is made of a steel plate, the specification of which is 500mm x 50mm x 6mm, and is welded to the connecting leg 71, four inductive proximity switches are uniformly distributed on the support bottom plate, and all fixing screws are made of hexagon socket head screws.

As shown in fig. 9, the inductive proximity switch inductive iron stopper support 8 of the walking distance correcting device includes a supporting seat 82 and an inductive iron stopper 81 similar to S shape, the supporting seat 82 is welded to the inductive iron stopper 81, the inductive iron stopper 81 is a steel plate with a thickness of 6mm and has a specification of 50mm x 6mm, the number of the inductive iron stopper supports 8 is four, the inductive iron stoppers are respectively welded to the supporting bracket of the belt conveyor on the ground of the bucket-wheel stacker-reclaimer and are only corresponding to the inductive proximity switch of the specific walking distance correcting device, and the problems of misdetection and misinformation caused by mutual interference do not exist.

In this embodiment, the rotation angle detection unit includes rotary encoder, gyration swing angle correcting unit, control module, rotary encoder installs on the big pivot bearing outer ring of bucket wheel formula stacker-reclaimer through the second fixed bolster, control module receives and gathers the pulse signal of rotary encoder, gyration swing angle correcting unit input through data transmission line to be connected with central controller communication.

The data transmission line comprises a profibus communication cable (a twisted pair shielding cable with characteristic impedance of 150 omega and the speed of 9.6 Kbps-12 Mbaud is adopted, the maximum cable length of one section of the stacker-reclaimer is less than 100 meters, and the transmission speed can reach 12Mbaud), and a marine multi-strand transmission flexible cable, wherein the profibus communication cable transmits pulse signals and can prevent signal interference or attenuation; and the marine multi-strand transmission flexible cable is used for supplying power to the rotary encoder and the rotary swing angle correcting device on site, so that the stability of the power supply is ensured, and the measurement misinformation caused by the damage or the aging of a power supply circuit is reduced.

The PLC central controller receives correction input signals of the walking distance correction device and the rotary swing angle correction device at preset positions, and if the actually measured storage yard position and the correction input signal position are within a system error allowable range, display is allowed on the three-dimensional display unit, so that a driver and central control dispatching personnel are guided to stack and take materials; otherwise, the three-dimensional display unit gives out early warning and inputs the correction position to bane the real-time position of the stacker-reclaimer in the yard and display the position, and guides a driver and central control dispatching personnel to correct the position in time. The induction positions of the walking distance correcting device are arranged at the front, middle and rear positions of the belt gallery in the walking direction of the bucket wheel machine. The rotary swing angle correcting device is arranged on the rotary primary platform and used for detecting, correcting and inspecting.

As shown in fig. 3(a) - (b) and fig. 4(a), the second fixing bracket 5 includes a coupling support leg 51, a protective cover 52, an encoder mounting platform 53, an encoder mounting bracket 54, a coupler 55, and a spur cylinder engaging gear 56, the protective cover 52 includes two L-shaped housings, the two L-shaped housings are mounted and connected by a protective cover fixing screw 521, the encoder mounting platform 53 is disposed in the protective cover 52 and fixed on the coupling support leg 51 by an encoder mounting platform fixing screw 531, the encoder mounting bracket 54 is disposed on the encoder mounting platform 53, the coupler 55 is connected with a rotary encoder, and the spur cylinder engaging gear 56 is disposed below the coupler 55.

As shown in fig. 4(a), the rotary encoder mounting bracket 54 includes an encoder fixing base plate 541, an encoder fixing screw hole 542, and a fixing screw hole 543 for connecting with the encoder mounting platform 53, the mounting bracket 54 is connected with the encoder mounting platform 53 through the fixing screw hole 543, and the encoder is fixed on the encoder mounting bracket 54 through the encoder fixing screw hole 542. All the fixing screws are inner hexagonal screws.

As shown in fig. 10, the installation support of the swing angle corrector 9 includes a connection support leg 91, a support base plate 92, a swing angle correction inductive proximity switch 93 and a cylindrical inductive proximity switch fixing screw 94 for fixing the swing angle correction inductive proximity switch 93, the connection support leg 91 adopts a 5# channel steel with a specification of 50mm x 37mm x 4.5mm, and is welded on a straight line at the center point of the forward direction of travel (on a box girder below the center point of a cantilever balance weight rack of the stacker-reclaimer) under a box girder of a secondary swing platform of the bucket wheel stacker-reclaimer, the support base plate 92 adopts a steel plate with a thickness of 6mm and a specification of 70mm x 50mm x 6mm, and is welded with the connection support leg 91.

As shown in fig. 11, the inductive proximity switch inductive stop iron support 10 of the rotary swing angle correcting device includes a support seat 102 and an inductive stop iron 101, the support seat 102 is welded on a straight line position of a forward direction center point of travel on the upper surface of a first-level rotary platform on a gate seat box beam of a bucket-wheel stacker-reclaimer (on a box beam below a center point straight line of a cantilever counterweight frame of the stacker-reclaimer), the inductive stop iron 101 is welded on the support seat 102, and the inductive stop iron 101 is a steel plate with a thickness of 6mm and has a specification of 20mm x 6 mm.

The rotary encoder is a multi-turn plus-minus absolute value encoder, the output pulse signal is BCD code, the maximum resolution of the absolute value encoder is 4096 turns (0.05 degrees), and Gray binary counting is adopted.

Any angle and turn number of the absolute value encoder in the memory range are not affected by whether the absolute value encoder is electrified or not, and absolute position information is not lost or distorted.

The protection grade of the absolute value encoder is more than IP66, the absolute value encoder can be adapted to the complex and severe working environment of a bulk cargo wharf to the greatest extent, and the absolute value encoder has the advantages of few restriction factors and good detection stability.

In this embodiment, the pitching angle detecting unit includes a pitching encoder, and the pitching encoder is mounted on a pinion shaft of the extension section of the low-speed shaft of the pitching steel wire rope drum of the bucket wheel type stacker-reclaimer through a third fixing support, and is connected with the central controller through a data transmission line.

The data transmission line comprises a profibus communication cable (a twisted pair shielding cable with characteristic impedance of 150 omega and the speed of 9.6 Kbps-12 Mbaud is adopted, the maximum cable length of one section of the stacker-reclaimer is less than 100 meters, and the transmission speed can reach 12Mbaud), and a marine multi-strand transmission flexible cable, wherein the profibus communication cable transmits pulse signals and can prevent signal interference or attenuation; and the marine multi-strand transmission flexible cable is used for supplying a power supply of the pitching encoder on site, so that the stability of the power supply is ensured, and the measurement misinformation caused by the damage or the aging of a power supply circuit is reduced.

As shown in fig. 5 and 6, the third fixing bracket 6 includes a coupler 62, an encoder fixing seat 63, and an encoder shield 65, where the encoder shield 65 includes two L-shaped housings, the two housings are connected through an encoder shield fixing hole 64, the encoder shield 65 is fixedly connected to the gear shaft 61 of the extension section of the low-speed shaft of the pitch cable drum of the bucket wheel type stacker-reclaimer, and the coupler 62 is connected to the pitch encoder 66 and is mounted on the coupler 62 through the encoder fixing seat 63.

The encoder fixing base 63 includes an encoder fixing leg 631, an encoder fixing hole 632 for fixing the pitch encoder 66 is formed in the encoder fixing leg 631, and an encoder leg fixing hole 633 is further formed in the bottom of the encoder fixing leg 631.

The pitch encoder is a multi-turn plus-minus absolute value encoder, the output pulse signal is a BCD code, the maximum resolution of the absolute value encoder is 4096 turns (0.05 degrees), and Gray binary counting is adopted.

Any angle and turn number of the absolute value encoder in the memory range are not affected by whether the absolute value encoder is electrified or not, and absolute position information is not lost or distorted.

The protection grade of the absolute value encoder is more than IP66, the absolute value encoder can be adapted to the complex and severe working environment of a bulk cargo wharf to the greatest extent, and the absolute value encoder has the advantages of few restriction factors and good detection stability.

The invention adopts the absolute value encoder to carry out real-time distance measurement and angle measurement, and combines the first fixed bracket, the second fixed bracket and the third fixed bracket, thus effectively improving the precision and stability of detection, being capable of adapting to the complex and severe field working conditions of the bulk cargo yard to the maximum extent, and having convenient management, use, maintenance and repair, less investment and high cost performance; by combining the walking distance correction device and the rotary swing angle correction device, the position of the bucket-wheel stacker-reclaimer can be checked in real time at a preset walking position and a rotary 0-degree position, the reliability of the system can be effectively improved, and distance misdetection caused by damage and slippage of an encoder, disconnection of the encoder and a coupler or fault of a data transmission line can be effectively prevented; the real-time three-dimensional dynamic state of the bucket wheel type stacker-reclaimer can be accurately mapped and displayed by combining the pitching angle detection unit, and the intelligent monitoring and high-precision modeling under the unattended mode are met.

Working principle of absolute value encoder: the absolute value encoder can be directly or indirectly connected with the measured object through the coupler, the measured object rotates to drive the absolute value encoder to rotate and output metering pulses, and each metering pulse is used for reading light on an optical code disc of the encoderThe channel reticle obtains a group of unique binary gray codes from the zero power of 2 to the (n-1) power of 2, the pulse of each measured object position corresponding to the value read by the encoder has uniqueness, the pulse is determined by the mechanical position of the photoelectric code disc, the position is memorized by means of an internal counting device, and the memorized position is not changed when the encoder is not in motion or power failure. The encoder resolution being determined by the number of bits, e.g. 12-bit multi-turn absolute encoder, with a 360 degree circumference capable of reading 1¹²The code, angular resolution is:

advantages of multi-turn absolute value encoders include: the measuring range is wide, when the device is used for measuring the length and the angle, the allowance is large, and the debugging is simple; and the resolution is high, and the method is completely suitable for occasions with very high requirements on speed and position accuracy.

The absolute value encoder has higher protection grade reaching IP66 and above, and can meet the use requirement of a bulk cargo storage yard under complex working conditions; the anti-interference capability is strong, and a high-quality feedback pulse signal can be provided; and various communication protocols such as an RS485 protocol, a ModbusRTU protocol, SSI/analog output and the like are supported.

The working principle of the inductive proximity switch is as follows: the normal operation of the inductive proximity switch is based on the electromagnetic induction principle, and mainly comprises an oscillator, a switching circuit and an amplifying circuit, wherein the oscillator is an alternating magnetic field generator, when a metal object approaches the alternating magnetic field, the magnetic field is changed (oscillation attenuation or vibration stop), and the amplifying circuit amplifies and processes the change, and then converts the change into a switching signal (pulse signal); when the linear distance between the metal object and the induction surface of the inductive proximity switch is within the effective induction range Sn, the purposes of non-contact detection and triggering of the drive control device can be achieved.

The inductive proximity switch has the advantages that: the structure is simple, the installation is convenient, no active electric contact is arranged in the device, the detection is reliable, and the service life is long; the sensor has high sensitivity and resolution, and can meet the detection and control requirements in severe environments with more coal, ore sand or dust; the dynamic response is fast, and non-contact metal object measurement can be conveniently realized; the protection level is higher, reaches IP65 and above, and can meet the use requirement of the bulk cargo yard under complex working conditions.

As shown in fig. 7, the positioning method of the bucket wheel stacker-reclaimer yard positioning system includes the following steps:

(1) a walking encoder of the walking distance detection unit rotates along with a driven wheel of the bucket wheel type stacker-reclaimer to output a pulse signal, the pulse signal is transmitted to a configurable PLC central controller (central controller), and the configurable PLC central controller (central controller) obtains the walking distance S of the bucket wheel type stacker-reclaimer after data processing₁；

(2) Along with the action of the rotation and pitching mechanism of the bucket wheel type stacker-reclaimer, the rotation angle detection unit acquires the angle +/-theta of the left/right rotation swing of the bucket wheel type stacker-reclaimer₀And angle of pitch/yaw + -theta₁So as to obtain the position S of the central point of the bucket wheel at the head part of the cantilever₂：

S₂＝[L＊cos(±θ₁)]＊cos(±θ₀)

(wherein L is the length from the center point of the gate seat of the bucket-wheel stacker reclaimer to the center point of the cantilever bucket-wheel);

further obtaining the storage yard position S of the central point of the bucket wheel type stacker-reclaimer₃：

S₃＝S₁+S；

The S is the length from the central point of the mounting position of the tail wheel traveling encoder to the central point of the gate seat of the bucket wheel stacker-reclaimer;

position S of bucket wheel blanking/taking point at head of bucket wheel type stacker-reclaimer₀：

S₀＝S+S₂。

The belt corridor in the advancing direction of the bucket wheel type stacker-reclaimer is provided with the walking distance correcting and counting device in the mode of 3+1, the used proximity switch is a flat inductive proximity switch produced by Schneider, and the walking distance of the stacker-reclaimer is automatically corrected or counted when the inductive proximity switch acts, so that a redundant correction system is formed, multiple inspection and correction are carried out, and the accuracy of the real-time walking distance and the stability and reliability of the system are ensured. When the rotary swing is carried out to the center point of the advancing direction each time, the rotary swing angle correcting device is arranged on an angle correcting inductive proximity switch (the used proximity switch is a cylindrical inductive proximity switch produced by IFM company) of the 1-level rotary platform to act, and the rotary measuring angle is corrected and stored in real time; the configurable PLC central controller carries out information interaction with a cab three-dimensional display device of the bucket-wheel stacker-reclaimer through a data transmission line, models and displays the real-time position of the stacker-reclaimer in a yard, and can also carry out three-dimensional display on the real-time position of the stacker-reclaimer in a central control room through a wireless communication network of the three-dimensional display device so as to facilitate the central control room staff to guide the operation flow.

The bucket wheel type stacker-reclaimer yard positioning system fully integrates the restriction factors of large dust, high humidity, complex operation environment and the like of a bulk coal mine yard, adopts a simpler multi-circle absolute value encoder to measure and position and a multiple detection and verification mode, and ensures the stability, reliability and positioning accuracy of the positioning system; the three-dimensional display device can clearly display the real-time position of the stacker-reclaimer in the yard in the driver's cab and the central control room, and provides reliable reference data for drivers and central control dispatching and commanding personnel to guide production, improve production efficiency, and prevent production accidents such as ' wrong stacking ' and ' wrong reclaiming '.

Actually measuring: on a 250-meter storage yard, the walking measurement accuracy of the positioning system of the bucket-wheel stacker-reclaimer storage yard is about 200/4096 meters, namely centimeter-level accuracy is achieved, and the rotation angle of the stacker-reclaimer during working is-110 degrees to +110 degrees, so the angle measurement accuracy can reach 0.05 degrees.

The yard positioning system of the bucket-wheel type stacker-reclaimer can further combine equipment such as an ultrasonic material level instrument, a camera and an ambient temperature detection sensor to realize that the stacker-reclaimer completes three-dimensional modeling display work of the yard material pile and the equipment under unattended operation, realize automatic and intelligent operation of a bulk cargo wharf and accelerate the promotion of the construction process of the intelligent bulk cargo wharf.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and their concepts should be considered to be equivalent or modified within the technical scope of the present invention.