EP2707547B1 - Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers - Google Patents

Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers Download PDF

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Publication number
EP2707547B1
EP2707547B1 EP12718993.4A EP12718993A EP2707547B1 EP 2707547 B1 EP2707547 B1 EP 2707547B1 EP 12718993 A EP12718993 A EP 12718993A EP 2707547 B1 EP2707547 B1 EP 2707547B1
Authority
EP
European Patent Office
Prior art keywords
belt
detecting
loading
sensor
current
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.)
Active
Application number
EP12718993.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2707547A1 (de
Inventor
Bernd Gralow
Joachim Gutsche
Sven Alexander
Thomas Bauch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AG Germany
Vattenfall Europe Mining AG
Original Assignee
ABB AG Germany
Vattenfall Europe Mining AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=46027972&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2707547(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by ABB AG Germany, Vattenfall Europe Mining AG filed Critical ABB AG Germany
Priority to PL12718993T priority Critical patent/PL2707547T3/pl
Publication of EP2707547A1 publication Critical patent/EP2707547A1/de
Application granted granted Critical
Publication of EP2707547B1 publication Critical patent/EP2707547B1/de
Priority to HRP20150753TT priority patent/HRP20150753T1/hr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/02—Conveying equipment mounted on a dredger
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
    • E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like

Definitions

  • the invention relates to a method for detecting and tracking the position of a portable transfer device / loading device of a bucket wheel excavator or bucket excavator, which consists of a recovery device with swivel superstructure with tilting boom, a crawler undercarriage and a transfer device with Verladeausleger and a Strossenbandstrom with / without intermediate Bandwagen or a similar transfer point gives up conveyed.
  • a bucket wheel excavator consists in conventional constructions of a pivoting superstructure with a tilting boom with a paddle wheel attached to it, from a crawler-mounted substructure and a transfer device or loading device with Verladeausleger including Verladeband.
  • the superstructure pivots in operation on the crawler-mounted substructure in his work area back and forth.
  • the bucket wheel excavator transfers the masses it has gained in block operation (block-block or side-block operation), or the conveyed material, eg. As coal or overburden, a retractable Strossenbandstrom.
  • Bucket dredgers on caterpillars are equipped with a swivel mechanism for the superstructure. You can work in high and low cut.
  • the excavator superstructure takes up the bucket ladder perpendicular to the direction of travel, the lower moving part of which articulates on the superstructure and on one jib via one or more bucket guide winches is suspended.
  • On the bucket ladder runs an endless bucket chain.
  • the bucket chain excavator is equipped with a transfer device.
  • the construction of the transfer device takes into account that the angle between the loading belt of the transfer device and the Strossenbandachse is adjustable in plan.
  • the retractable conveyor belt system lies parallel to the direction of travel of the tracked undercarriage of the excavator (bucket wheel excavator or bucket wheel excavator) and is moved as a function of the progress of the excavation.
  • An intermediate belt trolley can be used in particular for increasing the operating radius of the bucket wheel excavator or bucket chain excavator during mining.
  • the WO-A-2010 037215 discloses a method for transporting a conveyed material by means of a loading device and a Strossenbandstrom.
  • the angle between the loading device and the Strossenbandstrom can be varied.
  • An essential task during loading is the operation of a slewing gear / hoist of the Verladeauslegers including Verladeband the transfer device including operation of a Verladeschurre for proper belt loading the Strossenbandstrom or a belt truck and control of the mass flow respectively the winninggutstroms.
  • This task is fulfilled by a loading warden.
  • the loading warder carries out the operation of the slewing gear / hoist for the loading boom and the operation of the loading chute for proper belt loading and mass flow control.
  • the invention has for its object to provide an optimized method for detecting and tracking the position of a portable transfer device / loading device of a bucket wheel excavator or bucket excavator.
  • the control / regulating device exerts a direct influence on the belt travel of the Strossenbandes or the receiving band of a belt carriage, taking into account the contamination of the belt system.
  • the conveyed goods are loaded taking into account the belt transitions. If there is a risk of mass accumulation in / at the transfer point (transfer chute), a signal is sent to the bucket wheel excavator or bucket chain excavator to stop the delivery.
  • Fig. 1 is a schematic view of a mine operation with a bucket wheel excavator or bucket chain excavator including a portable transfer device and a Strossenbandstrom (Strossenbandegaer) including Strossenband (ab stiindes tape) shown as the main components, the portable transfer device is designed with swivel mechanism / hoist.
  • the bucket wheel excavator or bucket excavator 1 has an extraction device 2 for the conveyed, z. As coal or overburden, and a portable transfer device 12 for the conveyed as the main components.
  • FIG. 1 Both the direction of travel 10 of the substructure 9 and the pivoting direction / swivel angle 8 of the boom 4 are shown over the block width, wherein the block width respectively the swivel angle determines the working area, ie the removal of the conveyed material.
  • the loading device 12 has - as already mentioned - a Verladeschurre 14 (rotary chute, bingogutübergabe responded, transfer chute) for the transfer of the material to be conveyed from Verladeausleger 13 to Strossenbandstrom 17 on. Furthermore is the Strossenbandachse 18 shown, which forms the center of the belt conveyor belt conveyor respectively Strossenbandstrom 17.
  • Verladeschurre 14 rotary chute, bingogutübergabe responded, transfer chute
  • FIG. 2 an alternative embodiment is shown in which an additional band carriage between the bucket wheel excavator or bucket chain excavator and the Strossenbandstrom is provided. It is a bucket wheel excavator or bucket excavator 1 with above the slewing gear / hoist 15 fixed Verladeausleger 13 to recognize, wherein the Verladeschurre 14 transfers the conveyed material to the receiving belt 39 of the belt carriage 37.
  • the belt carriage 37 is moved by means of its substructure 38 with caterpillars preferably parallel to the Strossenbandstrom 17 and passes the conveyed via a transfer chute 40 to the Strossenband the Strossenbandstrom 17th
  • the control / control device 20 is additionally supplied with the signal E of the measuring sensor 25 for detecting the current loading of the loading conveyor 13.
  • the control / control device 20 is additionally supplied with the signal E of the measuring sensor 25 for detecting the current loading of the loading conveyor 13.
  • the control / control device 20 For the purpose of avoiding a collision between Verladeausleger 13 and Strossenbandstrom 17 (collision protection) are the control / control device 20 in addition the signals O of the transmitter 34 for detecting the current band between the Verladeband the Verladeauslegers 13 and the Strossenband the Strossenbandstrom 17 (in the embodiment according to Fig. 1 ) or the receiving tape 39 of the belt carriage 37 (in the embodiment according to FIG Fig. 2 ).
  • the control / control device 20 in addition the signals M of the transmitter 32 for detecting objects within the pivoting range of the Verladeauslegers 13 fed (collision protection).
  • the proposed control / control results in a high availability of the components to be used and in particular a high availability of the desired function "unmanned operation".
  • the regulation / control achieves independence from environmental influences, such as strong sunlight, heavy rainfall, snowfall, fog, frost.
  • insensitivity to steaming coal or conveyed material is achieved. This results in a high degree of accuracy with regard to the positioning and measurement of the strip edges and the belt tracking.
  • both the device and the personal protection are guaranteed under all operating conditions.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Jib Cranes (AREA)
  • Operation Control Of Excavators (AREA)
EP12718993.4A 2011-05-07 2012-05-04 Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers Active EP2707547B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL12718993T PL2707547T3 (pl) 2011-05-07 2012-05-04 Sposób wykrywania i śledzenia położenia urządzenia przekazującego/załadowczego ze zmiennym położeniem czerparki z kołem czerpakowym albo czerpaki łańcuchowo-kubełkowej
HRP20150753TT HRP20150753T1 (hr) 2011-05-07 2015-07-08 Postupak otkrivanja i navođenja pozicije pokretnog transportnog uređaja/uređaja za utovar za jaružar s košarama na kotaču ili jaružar s košarama na lancu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011100890A DE102011100890A1 (de) 2011-05-07 2011-05-07 Verfahren zur Erkennung und Nachführung der Position einer ortsveränderlichen Übergabeeinrichtung / Verladeeinrichtung eines Schaufelradbaggers oder Eimerkettenbaggers
PCT/EP2012/058202 WO2012152674A1 (de) 2011-05-07 2012-05-04 Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers

Publications (2)

Publication Number Publication Date
EP2707547A1 EP2707547A1 (de) 2014-03-19
EP2707547B1 true EP2707547B1 (de) 2015-04-08

Family

ID=46027972

Family Applications (1)

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EP12718993.4A Active EP2707547B1 (de) 2011-05-07 2012-05-04 Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers

Country Status (15)

Country Link
US (1) US20140067194A1 (pl)
EP (1) EP2707547B1 (pl)
CN (1) CN103732831B (pl)
AU (1) AU2012252544B2 (pl)
BR (1) BR112013028622A2 (pl)
CA (1) CA2833999A1 (pl)
CL (1) CL2013003170A1 (pl)
DE (1) DE102011100890A1 (pl)
HR (1) HRP20150753T1 (pl)
HU (1) HUE026594T2 (pl)
PE (1) PE20141751A1 (pl)
PL (1) PL2707547T3 (pl)
RS (1) RS54115B1 (pl)
RU (1) RU2556095C1 (pl)
WO (1) WO2012152674A1 (pl)

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BR102017002299B1 (pt) * 2017-02-03 2020-11-10 Vale S/A sistema e método de controle para recuperadoras
US10504760B2 (en) * 2017-06-28 2019-12-10 Taiwan Semiconductor Manufacturing Company Ltd. System for a semiconductor fabrication facility and method for operating the same
DE102018109498A1 (de) * 2018-02-23 2019-08-29 Liebherr-Components Biberach Gmbh Schaufelradbagger und Verfahren zum Steuern eines Schaufelradbaggers
DE102019004529A1 (de) 2019-01-14 2020-07-16 Joy Global Underground Mining Llc Systeme und verfahren zur automatischen steuerung eines streckenförderer-bootend
BE1027170B1 (de) * 2019-04-03 2020-11-05 Thyssenkrupp Ind Solutions Ag Verfahren und Einrichtung zum automatisierbaren Betrieb einer insbesondere im Tagebau eingesetzten Bandförderanlage
CN112785644B (zh) * 2019-11-08 2022-03-18 大唐环境产业集团股份有限公司 一种基于图像处理的斗轮机大车行走定位方法
CN113003149B (zh) * 2021-02-24 2022-08-05 中冶南方工程技术有限公司 一种臂架型斗轮堆取料机自动取料的控制方法
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DE102019200773A1 (de) 2019-01-23 2020-07-23 Thyssenkrupp Ag Tagebau-Anordnung und Verfahren zum Betreiben einer Tagebau-Anordnung
WO2020151945A1 (de) 2019-01-23 2020-07-30 Thyssenkrupp Industrial Solutions Ag Tagebau-anordnung und verfahren zum betreiben einer tagebau-anordnung

Also Published As

Publication number Publication date
DE102011100890A1 (de) 2012-11-08
CN103732831B (zh) 2015-12-02
RS54115B1 (en) 2015-12-31
HUE026594T2 (hu) 2016-06-28
RU2556095C1 (ru) 2015-07-10
BR112013028622A2 (pt) 2017-01-24
WO2012152674A1 (de) 2012-11-15
US20140067194A1 (en) 2014-03-06
PL2707547T3 (pl) 2015-09-30
AU2012252544B2 (en) 2015-09-03
AU2012252544A1 (en) 2013-11-28
HRP20150753T1 (hr) 2015-09-11
EP2707547A1 (de) 2014-03-19
RU2013154104A (ru) 2015-06-20
CN103732831A (zh) 2014-04-16
CA2833999A1 (en) 2012-11-15
CL2013003170A1 (es) 2014-05-16
PE20141751A1 (es) 2014-11-19

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