CN111792396A - Material taking system and method for circular stock ground - Google Patents
Material taking system and method for circular stock ground Download PDFInfo
- Publication number
- CN111792396A CN111792396A CN202010693666.5A CN202010693666A CN111792396A CN 111792396 A CN111792396 A CN 111792396A CN 202010693666 A CN202010693666 A CN 202010693666A CN 111792396 A CN111792396 A CN 111792396A
- Authority
- CN
- China
- Prior art keywords
- point
- material taking
- taken
- area
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The application provides a material taking system and a method for a circular stock ground, wherein the system comprises: laser scanning device and control unit. The control unit is configured to perform the steps of: obtaining a stock pile model; acquiring a first region to be acquired on the surface of the material pile; taking a boundary point of a first area to be taken as a material taking entry point; controlling the scraper big arm to move to a material taking entry point; controlling a scraper big arm to rotate to take materials from a material taking cut-in point; acquiring position parameters corresponding to the material taking points; calculating a first rotation angle corresponding to the material taking point; judging whether the first rotation angle exceeds the boundary line; if the material is not exceeded, the scraper big arm is controlled to continue to rotate to take the material; if the angle exceeds the preset angle, controlling the scraper big arm to reduce the inclination angle; and controlling the scraper big arm to rotate to take materials in the next area to be taken. Adopt the feeding back system that this application embodiment provided, can realize getting the material automation, solved personnel and the equipment safety problem that current manual operation reclaimer brought.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a material taking system and method for a circular stock ground.
Background
In industrial applications, the place where bulk materials are stored or homogenized is called a stock ground, and at present, in order to meet the requirements of environmental protection and land occupation saving, materials are piled up in a circular stock ground. Circular stock ground is covered by hemispherical coal tank shell, and inside material is cyclic annular distribution, and stock ground central authorities are provided with central pillar, and central pillar's effect supports the stacker-reclaimer for the stacker-reclaimer can adjust the windrow position and get the material position around the center post is rotatory.
Referring to the schematic structural diagram of the stacker-reclaimer for the circular stockyard shown in fig. 1, the stacker 1 and the reclaimer 2 are respectively and independently distributed on one side of the central upright post 3, and the stacker-reclaimer has two distinct stacker-reclaimer swing mechanisms and two distinct reclaimer swing mechanisms during material reclaiming and stacking operation, so that the stacker-reclaimer can simultaneously perform material piling and material reclaiming operation. The reclaimer 2 is composed of a scraper big arm 21 and a discharge belt conveyor 22 arranged on the surface of the scraper big arm 21. The scraper big arm 21 is supported by a semi-portal structure across the circular stock ground, a cable is arranged between the semi-portal structure and the scraper big arm 21, and the semi-portal structure pulls the scraper big arm 21 through the cable, so the material taking machine is also called a portal type material taking machine. The other end of the semi-portal structure is supported on a circumferential track arranged on the upper part of a retaining wall of a circular stock yard, and the driving rotation is realized through a trolley set, so that the portal material taking machine performs centering rotation around a central upright post through a material taking rotation mechanism, and the scraper large arm 21 is driven to rotate in the stock yard.
The existing reclaimers are operated manually, each reclaimer is at least provided with one operator, and the operators manually operate the reclaimers in a cab. However, manual operation requires a long time of attention of the operator, which is high in labor intensity and long in working time, and is not beneficial to the safety of the operator. In addition, a plurality of interference factors such as water mist and dust exist on the site, so that the visual line of operators is blocked, the problems of collision and the like are easily caused, and the safe operation of equipment is threatened.
Disclosure of Invention
The application provides a material taking system and method for a circular stock ground, and aims to solve the safety problems of personnel and equipment caused by manual operation of a material taking machine in the prior art.
In a first aspect of the application, a material taking system for a circular stock ground is provided, wherein the circular stock ground is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stock ground, different materials correspond to different stock pile sections, and the overlooking surface of each stock pile section is approximately fan-shaped; the center of the circular stock ground is provided with a central upright post, one side of the central upright post is provided with a reclaimer, the reclaimer comprises a large scraper arm and a discharge belt conveyor arranged at the bottom of the central upright post, one end of the large scraper arm is fixed at the bottom of the central upright post, the other end of the large scraper arm is pulled by a semi-portal structure through a cable, the inclination angle of the large scraper arm is adjusted through the cable, and the rotation angle of the large scraper arm is adjusted by adjusting the position of the semi-portal structure; the system comprises:
the laser scanning device is arranged on the side surface of the scraper large arm and used for emitting laser points to the stockpile interval and receiving reflection points on the surface of the stockpile interval so as to obtain position parameters of each reflection point on the surface of the stockpile interval;
the control unit is arranged on the surface of the central upright column, is connected with the laser scanning device and is used for controlling the action of the scraper arm according to the position parameters of each reflection point on the surface of the material pile section so that the material taking machine can convey the material in the material pile section to a specified position;
the control unit is configured to perform the steps of:
acquiring a stockpile model according to the position parameters of each reflection point on the surface of the stockpile interval, which are sent by a laser scanning device;
according to the stockpile model, a first to-be-taken area on the surface of the stockpile is obtained, the first to-be-taken area is an area defined by at least two boundary lines, and the boundary lines are connecting lines between the center point of the circular stockyard and one point in the first to-be-taken area;
taking the boundary point of the first area to be taken as a material taking entry point;
controlling the scraper blade large arm to move to the material taking entry point;
controlling the scraper blade large arm to rotate to take materials from the material taking entry point;
taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point;
calculating a first rotation angle corresponding to the material taking point according to the position parameter, wherein the first rotation angle is a radial angle of a connecting line between a central point of a circular stock yard and the material taking point in the circular stock yard;
judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not;
if the first rotation angle does not exceed the boundary line of the first area to be taken, controlling the scraper blade large arm to rotate to take materials according to a first preset direction;
if the first rotation angle exceeds the boundary line of the first area to be taken, controlling the scraper blade large arm to reduce the inclination angle according to a first preset value;
and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction.
Optionally, the step of obtaining a first region to be taken on the surface of the pile according to the pile model includes:
acquiring a ridge line of the stockpile interval according to a preset unit rotation angle interval, wherein the ridge line is a connecting line of ridge points of the sections at intervals of unit rotation angles, and the ridge points are the highest points of the sections of the stockpiles at different rotation angles;
calculating the corresponding inclination angle gamma of each ridge point according to the following formulaθ：
Wherein theta is the rotation angle of the big arm of the scraper, P is the ridge point, (P)θ,x,Pθ,y) The coordinate position of a ridge point P in a planar rectangular coordinate system is defined, the planar rectangular coordinate system takes the center of a stock yard as an origin of coordinates, a connecting line from the origin of coordinates to the position of an inlet of the stock yard is taken as an x-axis, a straight line perpendicular to the direction of the x-axis is taken as a y-axis, and P is defined as the coordinate position of the ridge point P in the planar rectangular coordinate systemθ,zHeight information of the ridge point P;
removing low points in the ridge points, wherein the ridge point with the inclination angle difference value with the highest ridge point larger than a second preset value is taken as the low point, and the highest ridge point is the ridge point corresponding to the highest value of the inclination angles in the ridge points;
and taking the ridge points left after the low points are removed as ridge points to be taken, and taking the area corresponding to the ridge points to be taken as the first area to be taken.
Optionally, the step of controlling the scraper blade boom to move to get the material access point includes:
acquiring a target inclination angle and a target rotation angle corresponding to the material taking cut-in point;
controlling the scraper blade large arm to move to a first position according with the target rotation angle;
and controlling the scraper blade large arm to move to a second position according with the target inclination angle.
Optionally, the step of calculating the first rotation angle corresponding to the material taking point according to the position parameter includes:
acquiring an abscissa value and an ordinate value in the position parameter, wherein the abscissa value and the ordinate value are values obtained in a planar rectangular coordinate system, the planar rectangular coordinate system takes the center of the stock yard as an origin of coordinates, a connecting line from the origin of coordinates to the position of the entrance of the stock yard is taken as an x axis, and a straight line perpendicular to the x axis is taken as a y axis;
calculating the first gyration angle ω according to the following formula:
wherein S isxFor taking the abscissa value of the material point S, SyThe vertical coordinate value of the material taking point S is obtained.
Optionally, the step of controlling the scraper blade boom to perform the next rotary material taking operation of the area to be taken according to a second preset direction opposite to the first preset direction further includes:
calculating the termination inclination angle after material taking is finished according to the following formula:
wherein, V is the predicted material taking amount, (i, j) is the coordinate value of any point Q in a plane rectangular coordinate system, i is more than or equal to 0 and less than or equal to n, j is more than or equal to 0 and less than or equal to m, hi,jThe height of the material pile corresponding to the point Q, d is the horizontal distance from the point Q to the rotation central point, beta is a termination inclination angle corresponding to the point Q, and S is the area represented by a single pixel point;
judging whether the current inclination angle reaches the termination inclination angle;
and if the current inclination angle reaches the termination inclination angle, controlling the scraper blade large arm to stop acting after the material taking is finished under the current inclination angle.
Optionally, the step after determining whether the current tilt angle reaches the termination tilt angle further includes:
if the current inclination angle reaches the termination inclination angle, calculating an actual value of the material taking amount from the material taking starting moment to the current moment;
judging whether the actual value of the material taking amount is larger than or equal to the expected material taking amount or not;
and if the actual value of the material taking amount is larger than or equal to the expected material taking amount, controlling the scraper big arm to stop acting.
In a second aspect of the application, a material taking method for a circular stock ground is provided, wherein the circular stock ground is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stock ground, different materials correspond to different stock pile sections, and the overlooking surface of each stock pile section is approximately fan-shaped; the center of the circular stock ground is provided with a central upright post, one side of the central upright post is provided with a reclaimer, the reclaimer comprises a large scraper arm and a discharge belt conveyor arranged at the bottom of the central upright post, one end of the large scraper arm is fixed at the bottom of the central upright post, the other end of the large scraper arm is pulled by a semi-portal structure through a cable, the inclination angle of the large scraper arm is adjusted through the cable, and the rotation angle of the large scraper arm is adjusted by adjusting the position of the semi-portal structure; the material taking method comprises the following steps:
acquiring position parameters of all reflection points on the surface of a stockpile interval, and calculating a stockpile model, wherein the reflection points are a plurality of points which are selected according to preset intervals and are positioned on the surface of the stockpile;
according to the stockpile model, a first to-be-taken area on the surface of the stockpile is obtained, the first to-be-taken area is an area defined by at least two boundary lines, and the boundary lines are connecting lines between the center point of the circular stockyard and one point in the first to-be-taken area;
taking the boundary point of the first area to be taken as a material taking entry point;
controlling the scraper blade large arm to move to the material taking entry point;
controlling the scraper blade large arm to rotate to take materials from the material taking entry point;
taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point;
calculating a first rotation angle corresponding to the material taking point according to the position parameter, wherein the first rotation angle is a radial angle of a connecting line between a central point of a circular stock yard and the material taking point in the circular stock yard;
judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not;
if the first rotation angle does not exceed the boundary line of the first area to be taken, controlling the scraper blade large arm to rotate to take materials according to a first preset direction;
if the first rotation angle exceeds the boundary line of the first area to be taken, controlling the scraper blade large arm to reduce the inclination angle according to a first preset value;
and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction.
According to the technical scheme, the application provides a material taking system and a method for a circular stock ground, and the system comprises: the laser scanning device is arranged on the side face of the scraper large arm, and the control unit is arranged on the surface of the central upright post. The control unit is configured to perform the steps of: acquiring a stockpile model according to the position parameters of each reflection point on the surface of the stockpile interval; acquiring a first region to be acquired on the surface of the material pile according to the material pile model; taking the boundary point of the first area to be taken as a material taking entry point; controlling the scraper blade large arm to move to the material taking entry point; controlling the scraper blade large arm to rotate to take materials from the material taking entry point; taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point; calculating a first rotation angle corresponding to the material taking point; judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not; if the material is not exceeded, the scraper blade large arm is controlled to rotate to take materials according to a first preset direction; if the angle exceeds the preset value, controlling the scraper big arm to reduce the inclination angle according to the first preset value; and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction. Adopt the feeding back system that this application embodiment provided, can realize getting the material automation, solved personnel and the equipment safety problem that current manual operation reclaimer brought. Further, for manual operation reclaimer, automatic material process of getting can improve work efficiency.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a stacker-reclaimer for a circular stockyard;
fig. 2 is a schematic view of a material taking system for a circular stockyard according to an embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a control unit in a material taking system for a circular stockyard according to an embodiment of the present disclosure;
FIG. 4 is a schematic cross-sectional view of a pile provided in an embodiment of the present application;
fig. 5 is a flowchart of a material taking method for a circular stockyard according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to solve the safety problems of personnel and equipment caused by manual operation of a material taking machine in the prior art, the application provides a material taking system and method for a circular stock ground.
The reclaiming system provided by the embodiment of the application is used for a circular stock ground, and referring to a structural schematic diagram shown in fig. 1, the circular stock ground is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stock ground, different materials correspond to different stock pile sections, and the overlooking surface of each stock pile section is approximate to a sector; the circular stock ground center is provided with central column 3, one side of central column 3 is provided with reclaimer 2, reclaimer 2 includes the big arm 21 of scraper blade and set up in the ejection of compact belt conveyor 22 on the big arm 21 surface of scraper blade, the one end of the big arm 21 of scraper blade is fixed in the bottom of central column 3, and the other end is pull by semi portal structure through the hawser, adjusts the inclination of the big arm 21 of scraper blade through the hawser, adjusts the gyration angle of the big arm 21 of scraper blade through the position of adjustment semi portal structure.
Fig. 2 is a schematic view of a material taking system for a circular stockyard according to an embodiment of the present disclosure. Referring to fig. 2, the reclaiming system includes: the laser scanning device 4 is arranged on the lower surface of the scraper big arm 21, and the control unit 5 is arranged on the surface of the central upright post 3. The laser scanning device 4 is used for emitting laser points to the stockpile interval and receiving reflection points on the surface of the stockpile interval so as to obtain position parameters of each reflection point on the surface of the stockpile interval; the control unit 5 is connected with the laser scanning device 4 and is used for controlling the action of the scraper big arm according to the position parameters of each reflection point on the surface of the material pile section, so that the reclaimer can convey the materials in the material pile section to a specified position.
In the material taking system provided by the embodiment of the application, the laser scanning device 4 is arranged on the lower surface of the scraper blade large arm 21, before material taking, the scraper blade large arm 21 is controlled to rotate above the material pile at a certain speed, in the rotating process, the laser scanning device 4 emits laser to the surface of the material pile according to a specific frequency, points which receive the laser on the surface of the material pile and are reflected serve as reflection points, and then the laser scanning device 4 can obtain position parameters of a plurality of reflection points on the surface of the material pile.
After the laser scanning device 4 finishes scanning, the obtained data are sent to the control unit 5, the control unit 5 processes the data, and a series of calculations are performed according to the processed data, so that the actions of the large machine and the large arm of the material taking machine are controlled, and the automatic material taking process is executed.
Fig. 3 is a flowchart of a control unit in a material taking system for a circular stockyard according to an embodiment of the present application.
Referring to fig. 3, in the embodiment of the present application, the control unit is configured to perform the following steps:
In this step, the position parameters of each reflection point include abscissa and ordinate data of each reflection point in a horizontal rectangular coordinate system, and height data of the reflection point.
And according to the position parameters of each reflection point, a 3D model can be established, and the model is a stockpile model.
102, acquiring a first region to be acquired of the surface of the stockpile according to the stockpile model, wherein the first region to be acquired is a region enclosed by at least two boundary lines, and the boundary lines are connecting points between the central point of the circular stockpile and one point in the first region to be acquired.
In a circular stockyard, the stockpiles of different materials are distributed annularly, and the top view of the stockpiles of different materials is generally approximate to a sector. Obtaining the angular range of the material pile according to the material pile corresponding to the current material taking plan, and identifying the material pile by using the angular range, such as (theta)s,θe) Wherein thetasAnd thetaeThe angle of the two boundary lines of the stockpile in the circular stockyard under the overlooking angle is shown.
In the embodiment of the application, the material taking operation is carried out in a layered material taking mode. For the material pile corresponding to the current material taking plan, the material pile model is already calculated in step 101, and then the information such as the height and the appearance of the material pile can be obtained. In the process of material taking operation, the length of the discharging arm is unchanged, the inclination angle and the rotation angle need to be changed continuously along with the change of the material taking position, and under the normal condition, in the same layer of material taking operation, the inclination angle is unchanged and only the rotation angle needs to be changed; when the material taking operation of the upper layer is changed to the material taking operation of the lower layer, because the material which can be transported by the discharging arm per se in unit time needs to be in a proper range, the change of the inclination angle of the discharging arm is limited by the range and is usually preset, namely, the change degree of the inclination angle is preset.
If the initial material taking area is used as a first area to be taken when the material taking operation is carried out by the discharging arm, after the material taking of the first area to be taken is completed, the inclination angle of the discharging arm is changed according to the preset change degree, and then the material taking operation of the next layer can be carried out.
In an implementation manner, the step of obtaining a first region to be taken of the surface of the pile according to the pile model includes:
and 1021, acquiring a ridge line of the stockpile interval according to a preset unit rotation angle interval, wherein the ridge line is a connecting line of ridge points of the section at intervals of unit rotation angles, and the ridge points are the highest points of the section of the stockpile at different rotation angles.
Step 1022, calculating the inclination angle γ corresponding to each ridge point according to the following formulaθ：
Wherein theta is the rotation angle of the big arm of the scraper, P is the ridge point, (P)θ,x,Pθ,y) The coordinate position of a ridge point P in a planar rectangular coordinate system is defined, the planar rectangular coordinate system takes the center of a stock yard as an origin of coordinates, a connecting line from the origin of coordinates to the position of an inlet of the stock yard is taken as an x-axis, a straight line perpendicular to the direction of the x-axis is taken as a y-axis, and P is defined as the coordinate position of the ridge point P in the planar rectangular coordinate systemθ,zIs the height information of the ridge point P.
And 1023, removing low points in the ridge points, wherein the ridge point with the inclination angle difference value larger than a second preset numerical value with the highest ridge point is taken as the low point, and the highest ridge point is the ridge point corresponding to the highest value of the inclination angles in the ridge points.
And 1024, taking the ridge points left after the low points are removed as ridge points to be taken, and taking the area corresponding to the ridge points to be taken as the first area to be taken.
Referring to the schematic cross-sectional view of the pile shown in fig. 4, two different situations are shown (a), (b). Assuming that the number and distribution of ridge points on the surface of the pile are shown in fig. 4, wherein 10 ridge points are included in fig. 4(a) and fig. 4(b), respectively, in fig. 4(a), 3 ridge points on the right side are significantly lower than other ridge points, the inclination angle of each ridge point is calculated according to step 1022, and if the 3 ridge points on the right side are "low points", the 3 ridge points on the right side are removed, and the rest part is used as the first region to be taken. In this case, the first to-be-taken region has two boundary lines, which are continuous regions. In fig. 4(b), after a series of calculations and determinations, if the 4 th point and the 5 th point located in the middle of the cross section belong to "low points", the "low points" are removed, and the first to-be-taken area is divided into two parts by the low points, in which case, there are four boundary lines in the first to-be-taken area. Furthermore, the first region to be taken is divided into a first sub-region to be taken and a second sub-region to be taken, when the first region to be taken is taken, boundary lines of the first sub-region to be taken and the second sub-region to be taken are respectively identified, and then the first sub-region to be taken and the second sub-region to be taken are sequentially taken.
And 103, taking the boundary point of the first area to be taken as a material taking entry point.
In step 102, boundary lines of the first to-be-taken region have been determined, and in this step, a ridge point on one of the boundary lines of the first to-be-taken region is taken as a boundary point.
And 104, controlling the scraper blade large arm to move to the material taking entry point.
In one implementation, the step of controlling the movement of the scraper arm to the material taking entry point comprises:
acquiring a target inclination angle and a target rotation angle corresponding to the material taking cut-in point;
controlling the scraper blade large arm to move to a first position according with the target rotation angle;
and controlling the scraper blade large arm to move to a second position according with the target inclination angle.
And 105, controlling the scraper blade large arm to rotate to take materials from the material taking entry point.
And 106, taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point.
In this step, because the big arm of scraper blade is in the in-process of getting the material on every layer, need rotate constantly, and the first region of waiting to get or other regions of waiting to get are injectd in a specific angle within range, therefore, when the rotatory operation of automatic execution, the control unit need judge whether the big arm of scraper blade is in suitable within range internal rotation, the purpose of judgement is on the one hand to guarantee that the big arm of scraper blade can get the material, on the other hand, when the big arm of scraper blade can not get the material, in time adjust the position of the big arm of scraper blade, so that continue to get the material, avoid the big arm of scraper blade to empty, and reduce and get material efficiency.
And 107, calculating a first rotation angle corresponding to the material taking point according to the position parameter, wherein the first rotation angle is a radial angle of a connecting line between a central point of the circular stock yard and the material taking point in the circular stock yard.
In an implementation manner, the step of calculating the first rotation angle corresponding to the material taking point according to the position parameter includes:
step 1071, acquiring an abscissa value and an ordinate value in the position parameter, wherein the abscissa value and the ordinate value are obtained in a planar rectangular coordinate system, the planar rectangular coordinate system takes a stock yard center as an origin of coordinates, a connecting line from the origin of coordinates to a position of an entrance of the stock yard is taken as an x-axis, and a straight line perpendicular to the x-axis direction is taken as a y-axis;
step 1072, calculating said first angle of gyration ω according to the following formula:
wherein S isxFor taking the abscissa value of the material point S, SyThe vertical coordinate value of the material taking point S is obtained.
And 108, judging whether the first rotation angle exceeds the boundary line of the first region to be taken.
In this step, if two boundary lines exist in the first area to be taken, and the scraper blade large arm starts to rotate from the first boundary line when the material is taken, only the fact that whether the first rotation angle exceeds the rotation angle corresponding to the other boundary line of the first area to be taken is needed.
If the first to-be-taken area has more than two boundary lines, that is, it is described that the first to-be-taken area is discontinuous, in this case, the material taking operations of the sub-areas are generally performed in sequence according to the same direction, for example, a ridge point corresponding to the left boundary line of the left-most sub-area is taken as a material taking entry point, a material is taken in a rotating manner from this point, it is determined whether the first rotation angle exceeds the rotation angle corresponding to the boundary line of the left-most sub-area, if so, the scraper blade arm is controlled to rotate to the boundary line of the next sub-area, the material taking operation of the next sub-area is performed, and the next layer of material taking operation is performed until the material taking operations of all the sub-areas in the first to-be.
Under the two conditions, the boundary line where the material taking entry point is located is used as an initial boundary line, the other boundary line is used as a target boundary line, the area between the initial boundary line and the target boundary line covers the first area to be taken, whether the first rotation angle exceeds the target boundary line is only needed to be judged, and if not, the operation of the step 109 is executed; if so, the operation of step 1010 is performed.
And step 109, if the first rotation angle does not exceed the boundary line of the first area to be taken, controlling the scraper blade large arm to rotate to take materials according to a first preset direction.
In this step, the angle of inclination at which the blade arm is reduced is usually set in advance.
And step 1011, controlling the scraper blade large arm to perform rotary material taking operation of the next area to be taken according to a second preset direction opposite to the first preset direction.
According to the technical scheme, the material taking system for the circular stock ground is provided, and the system comprises: the laser scanning device is arranged on the side face of the scraper large arm, and the control unit is arranged on the surface of the central upright post. The control unit is configured to perform the steps of: acquiring a stockpile model according to the position parameters of each reflection point on the surface of the stockpile interval; acquiring a first region to be acquired on the surface of the material pile according to the material pile model; taking the boundary point of the first area to be taken as a material taking entry point; controlling the scraper blade large arm to move to the material taking entry point; controlling the scraper blade large arm to rotate to take materials from the material taking entry point; taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point; calculating a first rotation angle corresponding to the material taking point; judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not; if the material is not exceeded, the scraper blade large arm is controlled to rotate to take materials according to a first preset direction; if the angle exceeds the preset value, controlling the scraper big arm to reduce the inclination angle according to the first preset value; and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction. Adopt the feeding back system that this application embodiment provided, can realize getting the material automation, solved personnel and the equipment safety problem that current manual operation reclaimer brought. Further, for manual operation reclaimer, automatic material process of getting can improve work efficiency.
The material taking operation is usually a continuous process, and in order to complete the material taking plan, the material taking time may be preset, for example, the material taking amount corresponding to the material taking plan is 500 tons, and according to the material taking speed of the existing material taking machine, the material taking time is set to 60min, that is, 60min can take 500 tons. In the embodiment of the application, because the mode of taking materials in a layered mode is adopted, and the inclination angle reduced when the material taking machine transfers from the upper layer to the lower layer for taking materials is preset, the inclination angle when the material taking is finished is estimated by considering the material taking amount corresponding to the material taking plan, namely the inclination angle is stopped. Specifically, after step 1011, the embodiment of the present application further includes the following steps:
step 1012, calculating the terminal inclination angle after the material taking is finished according to the following formula:
wherein, V is the predicted material taking amount, (i, j) is the coordinate value of any point Q in a plane rectangular coordinate system, i is more than or equal to 0 and less than or equal to n, j is more than or equal to 0 and less than or equal to m, hi,jThe height of the material pile corresponding to the point Q, d is the horizontal distance from the point Q to the rotation central point, beta is a termination inclination angle corresponding to the point Q, and S is the area represented by a single pixel point;
step 1013, judging whether the current tilt angle reaches the termination tilt angle; if so, the operation of step 1014 is performed; if not, controlling the material taking machine to continue taking the materials.
And 1014, if the current inclination angle reaches the termination inclination angle, controlling the scraper blade large arm to stop acting after the material taking is finished under the current inclination angle.
In the above embodiment, the purpose of calculating the termination inclination angle is to instruct when to terminate the material taking operation, and in order to further verify whether the material taking plan has been completed when the termination inclination angle is reached, the embodiment of the present application further provides the following steps:
step 1015, calculating the ending inclination angle after the material taking is completed according to the following formula:
wherein, V is the predicted material taking amount, (i, j) is the coordinate value of any point Q in a plane rectangular coordinate system, i is more than or equal to 0 and less than or equal to n, j is more than or equal to 0 and less than or equal to m, hi,jThe height of the material pile corresponding to the point Q, d is the horizontal distance from the point Q to the rotation central point, beta is a termination inclination angle corresponding to the point Q, and S is the area represented by a single pixel point;
step 1016, determining whether the current tilt angle reaches the end tilt angle; if so, the operation of step 1017 is performed; if not, controlling the material taking machine to continue taking the materials.
1017, if the current inclination angle reaches the termination inclination angle, calculating an actual value of the material taking amount from the material taking starting moment to the current moment;
step 1018, determining whether the actual value of the material taking amount is greater than or equal to the expected material taking amount; if so, the operation of step 1019 is performed; if not, controlling the material taking machine to take the materials.
And step 1019, controlling the scraper big arm to stop acting if the actual value of the material taking amount is greater than or equal to the predicted material taking amount.
In the embodiment of the present application, the specific operation processes of step 1015 to step 1016 are the same as the specific operation processes of step 1012 to step 1013, and reference may be made to these operations, which are not described herein again.
Referring to a work flow chart shown in fig. 5, an embodiment of the present application provides a material taking method for a circular stockyard, where the circular stockyard is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stockyard, different materials correspond to different stockpile sections, and a top view of the stockpile sections is approximately fan-shaped; the center of the circular stock ground is provided with a central upright post, one side of the central upright post is provided with a reclaimer, the reclaimer comprises a large scraper arm and a discharge belt conveyor arranged at the bottom of the central upright post, one end of the large scraper arm is fixed at the bottom of the central upright post, the other end of the large scraper arm is pulled by a semi-portal structure through a cable, the inclination angle of the large scraper arm is adjusted through the cable, and the rotation angle of the large scraper arm is adjusted by adjusting the position of the semi-portal structure; the material taking method comprises the following steps:
step 202, acquiring a first region to be acquired on the surface of the stockpile according to the stockpile model, wherein the first region to be acquired is a region enclosed by at least two boundary lines, and the boundary lines are connecting points between the central point of the circular stockyard and one point in the first region to be acquired;
In the embodiment of the present application, the position parameters of each reflection point on the surface of the material pile interval may be obtained by scanning with a laser scanning device, or may be measured by other devices, which is not specifically limited herein. The method provided by the embodiment of the application can be executed by the control unit and also can be manually executed, the automation of the material taking process is realized under the condition that the control unit executes, and the safety problems of personnel and equipment caused by the existing manual operation material taking machine are solved.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (7)
1. A material taking system for a circular stock ground is characterized in that the circular stock ground is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stock ground, different materials correspond to different stock pile sections, and the overlooking surface of each stock pile section is approximately fan-shaped; the center of the circular stock ground is provided with a central upright post, one side of the central upright post is provided with a reclaimer, the reclaimer comprises a large scraper arm and a discharge belt conveyor arranged at the bottom of the central upright post, one end of the large scraper arm is fixed at the bottom of the central upright post, the other end of the large scraper arm is pulled by a semi-portal structure through a cable, the inclination angle of the large scraper arm is adjusted through the cable, and the rotation angle of the large scraper arm is adjusted by adjusting the position of the semi-portal structure; characterized in that the system comprises:
the laser scanning device is arranged on the side surface of the scraper large arm and used for emitting laser points to the stockpile interval and receiving reflection points on the surface of the stockpile interval so as to obtain position parameters of each reflection point on the surface of the stockpile interval;
the control unit is arranged on the surface of the central upright column, is connected with the laser scanning device and is used for controlling the action of the scraper arm according to the position parameters of each reflection point on the surface of the material pile section so that the material taking machine can convey the material in the material pile section to a specified position;
the control unit is configured to perform the steps of:
acquiring a stockpile model according to the position parameters of each reflection point on the surface of the stockpile interval, which are sent by a laser scanning device;
according to the stockpile model, a first to-be-taken area on the surface of the stockpile is obtained, the first to-be-taken area is an area defined by at least two boundary lines, and the boundary lines are connecting lines between the center point of the circular stockyard and one point in the first to-be-taken area;
taking the boundary point of the first area to be taken as a material taking entry point;
controlling the scraper blade large arm to move to the material taking entry point;
controlling the scraper blade large arm to rotate to take materials from the material taking entry point;
taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point;
calculating a first rotation angle corresponding to the material taking point according to the position parameter, wherein the first rotation angle is a radial angle of a connecting line between a central point of a circular stock yard and the material taking point in the circular stock yard;
judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not;
if the first rotation angle does not exceed the boundary line of the first area to be taken, controlling the scraper blade large arm to rotate to take materials according to a first preset direction;
if the first rotation angle exceeds the boundary line of the first area to be taken, controlling the scraper blade large arm to reduce the inclination angle according to a first preset value;
and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction.
2. The reclaiming system as set forth in claim 1 wherein the step of obtaining a first area of the pile surface to be reclaimed from the pile model comprises:
acquiring a ridge line of the stockpile interval according to a preset unit rotation angle interval, wherein the ridge line is a connecting line of ridge points of the sections at intervals of unit rotation angles, and the ridge points are the highest points of the sections of the stockpiles at different rotation angles;
calculating the corresponding inclination angle gamma of each ridge point according to the following formulaθ：
WhereinTheta is the rotation angle of the big arm of the scraper, P is the ridge point, (P)θ,x,Pθ,y) The coordinate position of a ridge point P in a planar rectangular coordinate system is defined, the planar rectangular coordinate system takes the center of a stock yard as an origin of coordinates, a connecting line from the origin of coordinates to the position of an inlet of the stock yard is taken as an x-axis, a straight line perpendicular to the direction of the x-axis is taken as a y-axis, and P is defined as the coordinate position of the ridge point P in the planar rectangular coordinate systemθ,zHeight information of the ridge point P;
removing low points in the ridge points, wherein the ridge point with the inclination angle difference value with the highest ridge point larger than a second preset value is taken as the low point, and the highest ridge point is the ridge point corresponding to the highest value of the inclination angles in the ridge points;
and taking the ridge points left after the low points are removed as ridge points to be taken, and taking the area corresponding to the ridge points to be taken as the first area to be taken.
3. The reclaiming system as set forth in claim 1 wherein the step of controlling the squeegee blade boom to move to the reclaiming access point comprises:
acquiring a target inclination angle and a target rotation angle corresponding to the material taking cut-in point;
controlling the scraper blade large arm to move to a first position according with the target rotation angle;
and controlling the scraper blade large arm to move to a second position according with the target inclination angle.
4. The reclaiming system as set forth in claim 1, wherein calculating a first angle of gyration corresponding to the reclaiming point based on the positional parameter includes:
acquiring an abscissa value and an ordinate value in the position parameter, wherein the abscissa value and the ordinate value are values obtained in a planar rectangular coordinate system, the planar rectangular coordinate system takes the center of the stock yard as an origin of coordinates, a connecting line from the origin of coordinates to the position of the entrance of the stock yard is taken as an x axis, and a straight line perpendicular to the x axis is taken as a y axis;
calculating the first gyration angle ω according to the following formula:
wherein S isxFor taking the abscissa value of the material point S, SyThe vertical coordinate value of the material taking point S is obtained.
5. The reclaiming system as claimed in claim 1 wherein the step after controlling the squeegee macro-arm to rotate in a second predetermined direction opposite the first predetermined direction to remove material from the next area to be removed further comprises:
calculating the termination inclination angle after material taking is finished according to the following formula:
wherein, V is the predicted material taking amount, (i, j) is the coordinate value of any point Q in a plane rectangular coordinate system, i is more than or equal to 0 and less than or equal to n, j is more than or equal to 0 and less than or equal to m, hi,jIs the height of the material pile corresponding to the point Q, d is the horizontal distance from the point Q to the rotating central point, beta is the ending inclination angle corresponding to the point Q,
is the area represented by a single pixel point;
judging whether the current inclination angle reaches the termination inclination angle;
and if the current inclination angle reaches the termination inclination angle, controlling the scraper blade large arm to stop acting after the material taking is finished under the current inclination angle.
6. The reclaiming system as set forth in claim 5 wherein the step after determining whether the current grade angle reaches the terminal grade angle further includes:
if the current inclination angle reaches the termination inclination angle, calculating an actual value of the material taking amount from the material taking starting moment to the current moment;
judging whether the actual value of the material taking amount is larger than or equal to the expected material taking amount or not;
and if the actual value of the material taking amount is larger than or equal to the expected material taking amount, controlling the scraper big arm to stop acting.
7. A material taking method for a circular stock ground is characterized in that the circular stock ground is covered by a hemispherical coal tank shell and is used for stacking at least one material, the materials are annularly distributed in the circular stock ground, different materials correspond to different stock pile sections, and the overlooking surface of each stock pile section is approximately in a sector shape; the center of the circular stock ground is provided with a central upright post, one side of the central upright post is provided with a reclaimer, the reclaimer comprises a large scraper arm and a discharge belt conveyor arranged at the bottom of the central upright post, one end of the large scraper arm is fixed at the bottom of the central upright post, the other end of the large scraper arm is pulled by a semi-portal structure through a cable, the inclination angle of the large scraper arm is adjusted through the cable, and the rotation angle of the large scraper arm is adjusted by adjusting the position of the semi-portal structure; the material taking method is characterized by comprising the following steps:
acquiring position parameters of all reflection points on the surface of a stockpile interval, and calculating a stockpile model, wherein the reflection points are a plurality of points which are selected according to preset intervals and are positioned on the surface of the stockpile;
according to the stockpile model, a first to-be-taken area on the surface of the stockpile is obtained, the first to-be-taken area is an area defined by at least two boundary lines, and the boundary lines are connecting lines between the center point of the circular stockyard and one point in the first to-be-taken area;
taking the boundary point of the first area to be taken as a material taking entry point;
controlling the scraper blade large arm to move to the material taking entry point;
controlling the scraper blade large arm to rotate to take materials from the material taking entry point;
taking a contact point of the scraper blade large arm and the first area to be taken as a material taking point, and acquiring a position parameter corresponding to the material taking point;
calculating a first rotation angle corresponding to the material taking point according to the position parameter, wherein the first rotation angle is a radial angle of a connecting line between a central point of a circular stock yard and the material taking point in the circular stock yard;
judging whether the first rotation angle exceeds the boundary line of the first area to be taken or not;
if the first rotation angle does not exceed the boundary line of the first area to be taken, controlling the scraper blade large arm to rotate to take materials according to a first preset direction;
if the first rotation angle exceeds the boundary line of the first area to be taken, controlling the scraper blade large arm to reduce the inclination angle according to a first preset value;
and controlling the scraper blade large arm to rotate and take materials in the next area to be taken according to a second preset direction opposite to the first preset direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010693666.5A CN111792396B (en) | 2020-07-17 | 2020-07-17 | Material taking system and method for circular stock ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010693666.5A CN111792396B (en) | 2020-07-17 | 2020-07-17 | Material taking system and method for circular stock ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111792396A true CN111792396A (en) | 2020-10-20 |
| CN111792396B CN111792396B (en) | 2021-12-28 |
Family
ID=72806777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010693666.5A Active CN111792396B (en) | 2020-07-17 | 2020-07-17 | Material taking system and method for circular stock ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111792396B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030908A (en) * | 2021-10-27 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Automatic stacking control method and device for bucket wheel machine |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4221886A1 (en) * | 1992-04-13 | 1993-10-14 | Orenstein & Koppel Ag | Equipment for stacking bulk material in and out - comprises angled jib lowerable and raisable on travel frame movable along heap |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101776867A (en) * | 2009-01-14 | 2010-07-14 | 宝山钢铁股份有限公司 | Automatic material taking control device and method of material piling and taking machine |
| CN102642721A (en) * | 2012-04-17 | 2012-08-22 | 三一集团有限公司 | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer |
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN104724507A (en) * | 2013-12-20 | 2015-06-24 | 上海岫峤机电工程有限公司 | Method and system for acquiring automatic taking turning speed |
| CN105523389A (en) * | 2016-02-25 | 2016-04-27 | 中冶华天南京工程技术有限公司 | Environment-friendly pitching stacking circular material yard |
| CN106044253A (en) * | 2016-05-31 | 2016-10-26 | 中国神华能源股份有限公司 | Material taking method |
| CN108502483A (en) * | 2018-02-09 | 2018-09-07 | 中国神华能源股份有限公司 | Feeding control method and device for reclaimer |
| CN108549337A (en) * | 2018-04-02 | 2018-09-18 | 泰富智能科技有限公司 | A kind of dispatching method of feeding |
| CN109928223A (en) * | 2019-03-28 | 2019-06-25 | 华电电力科学研究院有限公司 | A kind of the feeding control method and Related product of coal yard stacker-reclaimer |
-
2020
- 2020-07-17 CN CN202010693666.5A patent/CN111792396B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4221886A1 (en) * | 1992-04-13 | 1993-10-14 | Orenstein & Koppel Ag | Equipment for stacking bulk material in and out - comprises angled jib lowerable and raisable on travel frame movable along heap |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101776867A (en) * | 2009-01-14 | 2010-07-14 | 宝山钢铁股份有限公司 | Automatic material taking control device and method of material piling and taking machine |
| CN102642721A (en) * | 2012-04-17 | 2012-08-22 | 三一集团有限公司 | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer |
| CN104724507A (en) * | 2013-12-20 | 2015-06-24 | 上海岫峤机电工程有限公司 | Method and system for acquiring automatic taking turning speed |
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN105523389A (en) * | 2016-02-25 | 2016-04-27 | 中冶华天南京工程技术有限公司 | Environment-friendly pitching stacking circular material yard |
| CN106044253A (en) * | 2016-05-31 | 2016-10-26 | 中国神华能源股份有限公司 | Material taking method |
| CN108502483A (en) * | 2018-02-09 | 2018-09-07 | 中国神华能源股份有限公司 | Feeding control method and device for reclaimer |
| CN108549337A (en) * | 2018-04-02 | 2018-09-18 | 泰富智能科技有限公司 | A kind of dispatching method of feeding |
| CN109928223A (en) * | 2019-03-28 | 2019-06-25 | 华电电力科学研究院有限公司 | A kind of the feeding control method and Related product of coal yard stacker-reclaimer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030908A (en) * | 2021-10-27 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Automatic stacking control method and device for bucket wheel machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111792396B (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111674954B (en) | Material taking system and method | |
| CN109132592B (en) | Bucket wheel machine unattended operation control method based on PLC data partition storage | |
| CN108557500B (en) | Automatic operation system for strip-shaped stock ground | |
| CN102642721B (en) | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer | |
| CN201773315U (en) | Full-automatic bulk cargo stowage piling and taking machine | |
| CN111487918A (en) | Bulk material unmanned loading control method, system and device based on multi-line laser radar | |
| CN113320995A (en) | Unmanned control system for stockyard stacker-reclaimer | |
| CN109928223A (en) | A kind of the feeding control method and Related product of coal yard stacker-reclaimer | |
| CN102336340A (en) | Full-automatic bulk cargo storage yard stacking and taking method | |
| CN111792396B (en) | Material taking system and method for circular stock ground | |
| CN111731868B (en) | Stockpiling system and method for circular stockyard | |
| CN109976276A (en) | A kind of the windrow control method and Related product of coal yard stacker-reclaimer | |
| CN113233210B (en) | Constant-flow automatic material taking method and system for bucket wheel material taking machine | |
| CN107324075A (en) | The windrow method moved based on stacker row | |
| CN108033279A (en) | A kind of automatic material stacking and fetching system | |
| CN110239968B (en) | Real-time flow control method and system for scraper reclaimer | |
| CN111115289A (en) | Automatic material piling and taking wharf control method and system based on three-dimensional modeling | |
| CN210176068U (en) | Digitalized system of unmanned chain bucket type continuous ship unloader | |
| CN114560310B (en) | Full-automatic job scheduling method for screw ship unloader | |
| CN108082954B (en) | Material piling method | |
| CN113003149B (en) | Control method for automatic material taking of cantilever type bucket-wheel stacker-reclaimer | |
| CN114671349A (en) | Full-automatic control method and system for gantry crane | |
| CN113291854B (en) | Material piling method and material piling device | |
| CN115557263A (en) | Bucket wheel machine cantilever angle control method | |
| CN211971065U (en) | Semi-portal scraper reclaimer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |