1： Problems and improvement of control system of high altitude Reclaimer 
1. The shunting motor of the high-altitude reclaimer is set as a soft starter with light load in the factory, which can not meet the load at the beginning of the shunting of the reclaimer. 
2) The setting of the induced displacement range of the walking deflection of the high-altitude reclaimer is unreasonable, the slash bar is easy to jump, the high-altitude reclaimer is inclined for a long time, and the relevant compensation measures are imperfect. 
3) There is a problem with the wiring. The selection of no and NC points does not exactly match the program. This problem focuses on the limit switch. Because previous manufacturers did not move the car within the whole code range, these installation and wiring problems were not reflected in time. In addition, during the operation of the reclaimer, the control cabinet vibrates greatly, and some lines are loose or fall off. 
4) During shutdown, the induction gear appears when it stops directly above the proximity switch. In the automatic opening mode, the rake truck continues to walk automatically. In the manual start mode, after switching to the automatic control mode, the rake truck will also start automatically, so there is a safety risk. 5) The relevant chain of the high-altitude reclaimer is incomplete and collision may occur. 
2： Improvement program 
Adjust soft starter settings 
In the process of debugging the shunt motor, the equipment manufacturer considered the load itself such as the spacing and deflection between the walking wheel and the track, and ignored the soft starter belt startup (which also occurred in the bucket lifting belt startup controlled by the soft starter). Adjust the starting curve according to the actual starting situation, change the acceleration lamp time from 15s to 4S, and change the current limit from 400% to 500. 
Improvement of deviation correction mechanism of Reclaimer 
Due to the span of the elevator, the walking mode driven by both ends is adopted. The working room is behind the lighter, the discharge belt is below the lighter, and there are fast and slow walking motors in the front, back, North and south. The high-speed traveling motor is used for shunting and is controlled by soft starter. The jogging motor is used for the working gait when collecting materials normally, and is controlled by the frequency converter. In this way, there will be a slight difference in walking speed when walking. After accumulating to a certain extent, the frame of the high-altitude reclaimer may tilt. Therefore, this should be corrected. 
The compensation mechanism is located between two boxes on the front wheel of the sharper and is composed of a fixed rod and a test rod. The fixed rod is welded on the front box wall of the reclaimer, and the reset, left and right deflection and limit gears are installed. The lower bracket of the test rod is welded on the rear box of the reset device, and four proximity switches are fixed on the bracket for reset, (left and right) deflection and limit detection respectively. 
When the reclaimer works, the detection rod swings left and right according to the offset of the reclaimer frame. When the barrier layer triggers the deflection detection proximity switch, the signal will be transmitted to the PLC. The PLC will compensate in real time through the program, the detection rod will be reset in the opposite direction, and the reset guide rail will be reset through the reset detection proximity switch. When the proximity switch is triggered, the compensation ends. 
If the limit braking is triggered by the limit proximity switch, the jump of Li Lei protection stops. During operation, if deflection is detected, the slow party will speed up and return at the normal speed after compensation. In shunt state, if deflection is detected, stop at the fast side and resume normal operation after compensation. In the actual use process, the fixed rod will jump when walking, the compensation is inaccurate or even over compensated, and the high-altitude reclaimer will tilt seriously, resulting in the jumping device.