CN108557500A

CN108557500A - A kind of bar shaped stock ground automatic operating system

Info

Publication number: CN108557500A
Application number: CN201810180060.4A
Authority: CN
Inventors: 周泉; 柴皓; 剪欣; 黄欢; 王熙柳
Original assignee: Tai Fu Intelligent Technology Co Ltd
Current assignee: Tai Fu Intelligent Technology Co Ltd
Priority date: 2018-03-05
Filing date: 2018-03-05
Publication date: 2018-09-21
Anticipated expiration: 2038-03-05
Also published as: CN108557500B

Abstract

The present invention relates to a kind of bar shaped stock ground automatic operating systems, including stacker, reclaimer, control module and detection module, the control module is according to windrow, material extracting operation target control discharging overhead traveling crane and reclaimer move to target location and carry out heap, material extracting operation, the detection module gives the data information transfer of detection to the control module, the control module is by the data information combination heap of acquisition, material extracting operation target instruction target word, control result is obtained by controlling operation, the control module controls the feeding conveyor according to control result, discharging overhead traveling crane and material fetching mechanism carry out corresponding motion action and the target that fulfils assignment.The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, and the automatic stacking and taking operation of overall process large-scale bulk goods material heap field realizes heap reclaimer device at the scene without operation driver comprehensively in the case that may be implemented.

Description

A kind of bar shaped stock ground automatic operating system

Technical field

The invention belongs to intelligent handling technique fields, and in particular to a kind of bar shaped stock ground automatic operating system.

Background technology

It is all to be completed using heap reclaimer device, and domestic majority is looked forward to that the heap of bulk cargo, which is taken, in steel, bargh at present The heap reclaimer device of industry is fulfiled assignment task using manual operation, and labor intensity is big, the working time is long, and bulk material pile take it is past Toward that dusty can be caused to pollute, the physical and mental health of the operating personnel for working long hours causes prodigious damage.The prior art In, usually continuous operation when due to bulk cargo stacking and taking operation, the labor intensity of operating staff in operating room is larger；While by Inevitable during bulk material pile takes to generate airborne dust, there is also continuous shakings and noise in operation process for equipment, therefore grasp Make personnel to work under dust, vibration and noise circumstance for a long time, easily causes occupational disease hazards health of human body.In manual operation mould Under formula, each operation shift of each equipment is both needed to 1-2 operating personnel of outfit and operates, when number of devices is more, manpower Cost is also higher, and equipment operation efficiency relies primarily on the experience of operating personnel, in recent years, severe due to operating environment, The young operating personnel of profession recruit difficulty, and lay operators' operating efficiency is low.And when manual operation, due to personnel The factors such as fatigue, the safety accidents such as easily collide, and causes equipment damage even personal injury, significant downtime is caused to lose. More crucially manual operation when, the stockpiling randomness in stock ground is larger, and heap shape is irregular, reduce stock ground utilization rate and take Expect that the position to the stacking of different cultivars material and quantity effectively track and manage efficiency simultaneously, are unfavorable for user and take With.

To sum up, it is urgent to provide a kind of achievable high efficiency, the automatic intelligent of the operation of high accurancy and precision bar shaped stock ground from Dynamic operating system.

Invention content

The object of the present invention is to provide a kind of achievable high efficiency, the bar materials of the automatic intelligent of the operation of high accurancy and precision Field automatic operating system.

Above-mentioned purpose is to be achieved through the following technical solutions：A kind of bar shaped stock ground automatic operating system, including stacker, take Material machine, control module and detection module, the stacker include feeding conveyor and discharging overhead traveling crane, and material passes through feeding conveyor It is transported to discharging overhead traveling crane and carries out windrow operation, the discharging overhead traveling crane is equipped with dump skip and first walking mechanism, and the reclaimer includes Rack, material fetching mechanism and the second walking mechanism being arranged in rack, the material fetching mechanism are connected with rack, the reclaimer Structure adjusts its pitch angle by luffing mechanism, and second walking mechanism can be moved along the track being arranged in bar shaped stock ground, The detection module is respectively used to detection discharging overhead traveling crane direction of advance and direction of retreat including at least what is be arranged below dump skip Material heap is to the forward direction radar wave level-sensing device of the height value between discharging overhead traveling crane discharge port and backward radar wave level-sensing device, setting the It is used to measure discharging overhead traveling crane in the first position measuring device on track of walking, setting in the rack in one walking mechanism For detect material heap geography shape characteristic heap shape detection sensor, for detecting the position of reclaimer on the track Two position-measurement devices, the angular transducer for detecting the angle of material fetching mechanism with respect to the horizontal plane and for detecting feeding The material extracting operation flowmeter for the weight of material flow that mechanism is obtained from bar shaped stock ground, the control module are made according to windrow, feeding Industry target control discharging overhead traveling crane and reclaimer move to target location and carry out heap, material extracting operation, and the detection module will detect Data information transfer give the control module, the control module is by the data information combination heap of acquisition, material extracting operation target Instruction show that control result, the control module control the feeding conveyor, discharging according to control result by controlling operation Overhead traveling crane and material fetching mechanism carry out corresponding motion action and the target that fulfils assignment.

The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, and large-scale bulk goods material heap field may be implemented and realize that heap takes comprehensively The automatic stacking and taking operation of overall process in the case of expecting equipment at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device and other functions, operated without operation driver in heap reclaimer device And monitoring, the personnel that also do not need in Central Control Room carry out whole control operation, to overcome existing bulk cargo stock yard automation Degree is low, operator's labor intensity is high, the low defect low with utilization of area rate of operating efficiency.

Preferably, further technical solution is：The detection module further includes the radar being arranged in the rack Wave level-sensing device, the radar wave level-sensing device is for measuring distance of the material heap below reclaimer away from rack.In this way, radar wave material position Meter can be used as emergent sensor when heap shape detector failures, ensure the operating efficiency of the present invention.

Preferably, further technical solution is：The control module includes control system, the distribution of stock ground material heap and material Heap shape display terminal and job parameter input and job state monitor terminal, the heap shape detection sensor will be with will detecting material heap Shape characteristic data transfer is managed to control system, the material heap geography shape characteristic is distributed by stock ground material heap and material heap shape is aobvious Show that terminal carries out real-time display, inputting relevant material extracting operation with job state monitor terminal by job parameter input refers to It enables and the corresponding motion action of reclaimer progress is controlled by control system and completes heap material extracting operation.

Preferably, further technical solution is：It is logical according to windrow production plan target and stock ground spatial positional information It crosses the job parameter input and inputs windrow job instruction data, the windrow job instruction data with job state monitor terminal Control command and parameter are sent to stacker by control module, and the stacker receives order and moved towards target location, movement The discharging overhead traveling crane location information of detection is sent to control module by first position measuring device in the process, and the control module will connect The location information of receipts is calculated and compared with the coordinates of targets determined, and whether detection discharging overhead traveling crane reaches assigned target position；When After first position measuring device detects that discharging overhead traveling crane reaches assigned target position, control module controls feeding conveyor conveying warp Discharging overhead traveling crane carries out windrow, the stock ground below material heap to dump skip, during windrow, the detection of forward and backward radar wave level-sensing device Data information is simultaneously sent to control module by the altitude information of material heap, the control module by the data information of reception with it is preset It is that material stack height is calculated and compared and judges whether the material heap below dump skip reaches predetermined altitude, is then control module control Discharging overhead traveling crane processed, which is walked forward, continues discharging after preset distance until completing windrow operation.

Preferably, further technical solution is：The detection module further includes being arranged on the feeding conveyor Windrow operation flowmeter, the windrow operation flowmeter connect with the control module signal；Control module during windrow The data detected according to windrow operation flowmeter judge whether the workload for reaching windrow, are then to terminate windrow operation.

Preferably, further technical solution is：The reclaimer is scraper-type reclaimer, and the material fetching mechanism is to scrape Trigger structure, the both sides of the scraper-type reclaimer are equipped with the second walking mechanism, and the second of the both sides of the scraper-type reclaimer Walking mechanism is equipped with second position measuring device, and the heap shape detection sensor is arranged in the rack.

Preferably, further technical solution is：It is logical according to material extracting operation planned target and stock ground spatial positional information It includes feeding weight, material kind, material heap regional location that the job parameter input, which is crossed, with the input of job state monitor terminal Material extracting operation director data, the material extracting operation director data send control command and parameter to scraper plate feeding by control module Machine, the scraper reclaimer receive order and are moved towards target location, and in motion process, the heap shape detection sensor detects scraper plate The geographical shape characteristic of reclaimer lower section material heap is simultaneously sent to control module, and the Neosinocalamus affinis that the control module updates storage is simultaneously It is distributed by stock ground material heap and material heap shape display terminal carries out real-time display, while second position measuring device is by the position of detection Confidence breath is sent to control module, and the location information of reception is carried out calculating ratio by the control module with the starting point coordinate determined Compared with whether detection scraper reclaimer reaches predetermined start position；When the second position, measuring device detects that scraper reclaimer reaches Behind predetermined start position, the second walking mechanism of control module control continues movement and is travelled to predetermined final position, in driving process Heap shape detection sensor detects the newest heap shape of material heap between predetermined start position and predetermined final position, is sent to control mould Block, Neosinocalamus affinis that the control module updates storage and be distributed by stock ground material heap and material heap shape display terminal carry out it is real-time It has been shown that, while the location information of detection is sent to control module by second position measuring device, the control module is by reception Location information is calculated and compared with the terminating coordinates determined, and whether detection scraper reclaimer reaches predetermined final position；When After two position-measurement devices detect that scraper reclaimer reaches predetermined final position, control module controls the reversed row of scraper reclaimer It sails and returns to predetermined start position；After scraper reclaimer reaches predetermined start position, control module is according to updated material heap landform In the feeding angle and scraping plate mechanism reclaiming process of data and material extracting operation amount calculating scraping plate mechanism under this feeding angle Corresponding feeding walking starting and feeding final position, the control module control luffing mechanism movement and band according to result of calculation The information of the scraping plate mechanism of detection and the angle of horizontal plane is sent to control mould by dynamic scraping plate mechanism movement, the angular transducer Block, the control module count the feeding angle of the information and scraping plate mechanism of the scraping plate mechanism of reception and the angle of horizontal plane Calculation is compared until scraping plate mechanism reaches scheduled feeding angle；Control module controls scraping plate mechanism operation and carries out feeding, same to time control It makes feeding initial position of second walking mechanism under current feeding angle to walk to feeding final position, described in reclaiming process The mass flow data of detection are sent to control module by material extracting operation flowmeter, and the control module is by the mass flow of reception Data are compared with the flow of setting, and adjust the speed of service of the second walking mechanism, ensure that the actual flow of feeding is close Set flow, walk reclaiming process in update institute by region material heap shape, when arrival this feeding angle feeding stop bit It postpones, the operation total amount that control module judges whether to reach feeding according to the data that material extracting operation flowmeter detects is then to terminate Material extracting operation, no, then control module calculates again according to updated material heap terrain data and unfinished material extracting operation amount Corresponding feeding walking is originated and is taken under this feeding angle in the feeding angle and scraping plate mechanism reclaiming process of scraping plate mechanism Expect final position, and reclaimer movement is controlled until completing material extracting operation amount and terminating material extracting operation according to result of calculation.

Preferably, further technical solution is：During material extracting operation reclaimer under scheduled feeding angle from After the completion of feeding initial position is walked to feeding final position, control module judges according to the data that material extracting operation flowmeter detects The operation total amount for whether reaching feeding is then to terminate material extracting operation, no, then judges whether the current angular of scraping plate mechanism is work Minimum angle in industry section is then to terminate material extracting operation, no, then control module according to updated material heap terrain data with And unfinished material extracting operation amount calculate again scraping plate mechanism feeding angle and scraping plate mechanism reclaiming process in this feeding Corresponding feeding walking starting and feeding final position under angle, and reclaimer movement is controlled until completing to take according to result of calculation Material workload simultaneously terminates material extracting operation.

Preferably, further technical solution is：The reclaimer and stacker are equipped with driving control system, described Control system includes the central control unit of centrally disposed control room, the reclaimer in reclaimer driving control system from acting Stacker automatic job control unit in industry control unit and stacker driving control system, the central control unit with The reclaimer automatic job control unit, the communication connection of stacker automatic job control unit.

Further technical solution is：The reclaimer is scraper-type reclaimer, and the material fetching mechanism is scraping plate mechanism, The both sides of the scraper-type reclaimer are equipped with walking mechanism, and the walking mechanism of the both sides of the scraper-type reclaimer is equipped with position Measuring device is set, the heap shape detection sensor is arranged in the rack.

Further technical solution is：The luffing mechanism is scraping plate lifting draft gear, the scraping plate lifting traction Device puts the pitch angle that scraping plate lifting haulage cable adjusts scraping plate mechanism by volume.

Further technical solution is：The control module is by the material heap geography topographic data of reception with DEM figurate number It is stored in data server according to format, and topographic data can be managed in complete feed place and be shown by being converted into 2D or 3D heap shapes, institute It states 2D or 3D heap shapes and shows that including at least the name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape in complete feed field cuts open Face figure information.So set, complete feed field material statistical information can in real time be recorded by this system, and looked by control module Complete feed field material statistical information is ask, realizes the function of making an inventory of goods in a warehouse of complete feed field.

Further technical solution is：Stock ground uses the method for gridding by the region division in effective stockpiling area to connect Continuous grid surface, the vertex of each grid cell has a three dimensional space coordinate value (x, y, z) on curved surface, and described three Dimension space coordinate value a certain static three dimensions point using in stock ground represents material heap table as co-ordinate zero point, wherein x and y coordinates are referred to The positional value of surface grids vertex in the horizontal direction, z values represent the height on material heap surface mesh vertex, i.e. material heap surface specified point Height value, the size of grid can be adjusted according to the requirement of display precision.

So set, in scheduled coordinate system, the abscissa and ordinate that provide material heap any point can calculate The height value of material heap surface specified point, to obtain whole shape characteristic data that surface can be obtained in material heap, then control module Relevant control operation is carried out to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection sensing Device can be the measurement and modeling including 3D laser scanners.

Further technical solution is：Stock ground heap shape and material heap distribution display use plane display mode, stock ground grid The horizontal position on vertex is shown using numerical value, is highly shown using color ruler, and color ruler uses gradual manner.Such as color is redder Color represents that height is higher, and green portion height is less than RED sector, and entire height gauge uses gradual manner, and black portions then indicate The height of the mesh point is less than or equal to the zero plane value in stock ground Z-direction (short transverse).

Further technical solution is：Complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shapes are shown In, the computation model of the heap annular volume of the material heap isIn formula, m and n are stock ground DEM landform Grid number under data format, wherein m is the stock ground line number under DEM terrain data formats, and n is under DEM terrain data formats Stock ground columns, h_ijFor the corresponding grid height value under the i-th row j row, V is the heap annular volume of material heap.

Further technical solution is：The control module obtains complete feed place reason topographic data by computing module 2D or 3D heap shapes including the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view information It has been shown that, and each material heap progress name of material in show to 2D or 3D heap shapes according to the information to prestore in the control module Mark.

Further technical solution is：The discharge port of the scraper-type reclaimer is equipped with outfeed belt conveyor structure, institute It is ribbon conveyer to state conveying body, and the discharging point of the belt of the ribbon conveyer is equipped with impact idler and side carrying roller, The side carrying roller turns forward along belt-conveying direction to be arranged in predetermined angular.The setting of impact idler can effectively slow down material and fall Impact of the material process to belt ensures the stability of transport, and another outer roller will be arranged in the manner described above to generate phase with belt To sliding speed, can effectively promote belt to return back to the center of ribbon conveyer, so limited can avoid belt deviation.

Further technical solution is：The discharge port of the scraper-type reclaimer is equipped with guide component, the discharge port Material between ribbon conveyer is transported by the guide component, and the ribbon conveyer is equipped with deviation-resisting device for belts, The deviation-resisting device for belts include for drive guide component to move and change guide component discharging point and belt it is opposite The driving device of position and for measure its own arrive belt side distance detecting element, the detecting element, driving dress It sets and is electrically connected with the control module, the control module stores the initial distance data between detecting element and belt side, institute It states detecting element and its range data between belt side of detection is passed into control module, the control module is by reception Range data is compared with the detecting element to prestore with the initial distance data between belt side, and is controlled according to comparison result Driving device drives the movement of guide component to change itself and horizontal direction angle.So set, when detecting that sideslip occurs for belt, Driving guide component movement is controlled the driving device by control module and changes its discharging point on belt, since discharging point changes Cause belt bearing capacity change, discharging point is made to be in the center of belt, realizes the correction to belt deviation, effectively improve life Efficiency is produced, the generation of production accident is reduced.It is preferred that the detecting element is photoelectric sensor or displacement sensor.

Preferably, further technical solution is：Windrow process carries out in accordance with the following steps：(1) Optimum panel cutting point It determines：It is calculated according to the material maximum storage, windrow length and material heap angle of repose of bedding plant design and determines material in bedding plant The first geometric cross section of material heap in the width direction under maximum storage, material heap contour line and storing in first geometric cross section The intersection point of field discharge port is set as discharge point, and the length of side of connection vertex and discharge point is set as the first side in first geometric cross section； Then the second geometric cross section of material heap in the width direction under this workload is calculated：Determine the discharging of second geometric cross section Point is overlapped with the discharge point of the first geometric cross section and the vertex of second geometric cross section is located in first geometric cross section The first side on basic principle, the specific position on the vertex of the second geometric cross section is then determined according to the workload of this subjob It sets, the surface on the vertex in second geometric cross section is Optimum panel cutting point；(2) by the blanking point of the dump skip of stacker It is located in Optimum panel cutting point；(3) stacker carries out windrow until completing this windrow operation.

Windrow operation is carried out using this method, it is ensured that when supplied materials is not abundant during windrow, according to the workload of windrow Optimal blanking point is calculated, ensures heap-type under the premise of meeting windrow close to discharge port, when ensureing that scraping material fetching mechanism starts to take Material on charge level is dropped down onto to the bottom in feeding face from discharge port to be transferred out on material conveying device, ensures scraper reclaimer structure The work surface of its bottom can contact material heap in work, the problem of preventing from doing virtual work, the work that is greatly improved in this way in reclaiming process Industry efficiency, section improve equipment feeding efficiency, save energy consumption, reduce equipment attrition, increase the equipment operation service life, reduce plant maintenance Workload reduces the use cost of factory.It will be appreciated by those skilled in the art that the material heap that heap goes out during windrow is in strip Shape, as bar shaped material heap.

Preferably, further technical solution is：In the step (2) and step (3), the basic of bedding plant is first determined Then storage level determines the Optimum panel cutting point of floor stock amount, computational methods and step according to the floor stock amount of bedding plant (1) the Optimum panel cutting point calculating method in is consistent；Further according to result of calculation by blanking point be moved to floor stock amount it is optimal under Shots carry out blanking operation and are moved to blanking point under homework book subjob amount most after discharge quantity reaches floor stock amount Excellent blanking point carries out blanking operation.The principle that the floor stock amount meets minimum reserve amount according to materials department calculates, such as This setting, when discharge quantity reaches floor stock amount, you can control material fetching mechanism carries out operation, improves operating efficiency.

Preferably, further technical solution is：Under the dump skip drives it to move and change by driving device Shots.

Preferably, further technical solution is：The dump skip includes at least the first blanking funnel and the second blanking Funnel, the first blanking funnel and the second blanking funnel are connected by extensible member, and the extensible member can drive under described first Material funnel and/or the second blanking funnel rotate and change dump skip blanking point, the first blanking funnel and the second blanking funnel It is respectively equipped with the first blanking channel and the second blanking channel, is equipped in the dump skip for adjusting selection material blanking channel Adjustable member.

Preferably, further technical solution is：The adjustable member is returning face plate, the returning face plate and the first blanking chute Bucket, the second blanking funnel are hinged, and the returning face plate can rotate along the hinge of three and realize first blanking channel and the The folding of two blanking channels.

Preferably, further technical solution is：The returning face plate is equipped with shaft, the first blanking funnel, second Blanking funnel is hinged with the shaft, and the dump skip is equipped with motor, and the motor shaft of the motor is connected with the shaft, described Motor drives the shaft to rotate when working, and then drives the returning face plate overturning, and the extensible member can drive under described first Material funnel and/or the second blanking funnel are rotated along the shaft.

Preferably, further technical solution is：The feed opening of the first blanking funnel is as material in bedding plant Blanking point under maximum storage, the extensible member drive the second blanking funnel to move under it according to real-time workload Material mouth is located at Optimum panel cutting point；The material stocking device is equipped with detection module and control module, and the detection module, which includes at least, to be used Geographical Shape measure device in detection bedding plant geography shape characteristic and feed opening position for detecting the second blanking funnel The position detecting device set, the geography shape characteristic includes at least the surface topography of bedding plant material heap and its precalculated position exists Coordinate value in preset coordinate system；The detection module gives the data information transfer of detection to the control module, the control The data information of acquisition is shown that control result, the control module control institute according to control result by molding block by control operation It states material stocking device and its stacker carries out corresponding motion action and the target that fulfils assignment.

Preferably, further technical solution is：The control module receives job instruction, and judges this workload Whether consistent with material maximum storage in bedding plant, when the two is identical, the control module controls to adjust part movement and opens It is closed the second blanking channel while first blanking channel, then controls material stocking device operation and carries out windrow；When the two differs When, the control module obtains position coordinates of the blanking point of current dump skip in stock ground by position detecting device, and will The position coordinates of reception are compared with the coordinate for the Optimum panel cutting point that the calculating in step (1) obtains, and according to comparison result It sends out order control extensible member to work and the feed opening of the second blanking funnel is driven to be moved to Optimum panel cutting point, then controls windrow Device, which is run, carries out windrow, and during windrow, detection data is sent to control module by geographical Shape measure device in real time, described The bedding plant geography shape characteristic data of reception are handled to obtain the heap shape sectional view information of material heap by control module, and with step Suddenly the second geometric cross section of material heap in the width direction under this workload calculated in (1) is compared, and judges that material heap is real-time The vertex of heap shape sectional view whether be on same vertical line with the vertex of the second geometric cross section, no, then control module control is stretched System contracting part works and the feed opening of the second blanking funnel is driven to move and is finely adjusted to blanking point, makees until completing this windrow Industry.

Description of the drawings

The attached drawing for constituting the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.

Fig. 1 is that a kind of automatic material taking operating system course of work bar material library involved by one embodiment of the present invention is cut Face schematic diagram；

Fig. 2 is a kind of stacker structural schematic diagram involved by one embodiment of the present invention；

Fig. 3 is a kind of structural schematic diagram of reclaimer involved by one embodiment of the present invention；

Fig. 4 is the automatic material taking operating system control module schematic diagram involved by one embodiment of the present invention；

Fig. 5 is the reclaimer control principle schematic diagram involved by one embodiment of the present invention；

Fig. 6 is that the stacker material extracting operation involved by one embodiment of the present invention controls process schematic；

Fig. 7 is that the reclaimer material extracting operation involved by one embodiment of the present invention controls process schematic；

Fig. 8 is the schematic diagram of the material heap shaped grid representation of a surface method involved by one embodiment of the present invention；

Fig. 9 be when stock ground does not reach maximum reserves after the blanking point blanking that maximum capacity accumulates full with substance material heap feeding Situation schematic diagram；

Figure 10 is the quarry selection Optimum panel cutting point blanking solid accumulation state involved by one embodiment of the present invention Schematic diagram；

Figure 11 is the schematic diagram of the stock ground maximum capacity accumulation full with substance state involved by one embodiment of the present invention；

Figure 12 is the structural schematic diagram of the dump skip involved by one embodiment of the present invention；

Figure 13 is the structural schematic diagram of the reclaimer involved by one embodiment of the present invention；

Figure 14 be in Figure 13 of the present invention involved by comb machine K to structural schematic diagram.

In figure：

0 material heap, 1 discharging overhead traveling crane, 2 feeding conveyor

To radar wave level-sensing device before 3 first walking mechanism, 4 dump skip 5

To 7 first position measuring device of radar wave level-sensing device, 8 stacker automatic job control unit after 6

10 scraper reclaimer, 11 rack, 12 scraping plate lifting haulage cable

13 14 second walking mechanism of scraping plate lifting draft gear, 15 outfeed belt conveyor structure

16 driving control system, 17 reclaimer automatic job control unit, 18 heap shape detection sensor

19 radar wave level-sensing device, 20 angular transducer, 21 material extracting operation flowmeter

22 second position measuring device, 24 scraping plate mechanism, 25 grid vertex

26 27 major ingredient broach of comb rack, 28 conveyer chain

29 transmission shaft, 30 rotation broach, 31 barricade

32 feed inlet, 33 first blanking funnel, 34 second blanking funnel

35 extensible member, 36 first blanking channel, 37 second blanking channel

38 returning face plate, 39 shaft, 40 material extracting operation face

41 repose angle of material, 42 maximum storage material heap, 43 discharge port

44 floor stock amount material heap, 45 workload material heap

Specific implementation mode

Present invention will now be described in detail with reference to the accompanying drawings., and the description of this part is only exemplary and explanatory, is not answered There is any restriction effect to protection scope of the present invention.In addition, description of the those skilled in the art according to this document, it can be right Feature in this document in embodiment and in different embodiments carries out the corresponding combination.

The embodiment of the present invention is as follows, referring to Fig.1~4, a kind of bar shaped stock ground automatic operating system, including stacker, feeding Machine, control module and detection module, the stacker include feeding conveyor 2 and discharging overhead traveling crane 1, and material is conveyed by feeding Machine 2 is transported to discharging overhead traveling crane 1 and carries out windrow operation, and the discharging overhead traveling crane 1 is equipped with dump skip 4 and first walking mechanism 3, the feeding Machine includes rack 11, material fetching mechanism and the second walking mechanism 14 being arranged in rack 11, the material fetching mechanism and rack 11 It is connected, the material fetching mechanism adjusts its pitch angle by luffing mechanism, and second walking mechanism 14 can be along setting in bar shaped Track movement in stock ground, the detection module are respectively used to detection discharging overhead traveling crane 1 including at least what is be arranged below dump skip 4 Direction of advance and direction of retreat material heap 0 are to the forward direction radar wave level-sensing device 5 of the height value between 1 discharge port of discharging overhead traveling crane and backward Radar wave level-sensing device 6, be arranged in first walking mechanism 3 for measure discharging overhead traveling crane 1 walking track on first position Measuring device 7 is arranged in the rack 11 heap shape detection sensor 18 for detecting the geographical shape characteristic of material heap 0, is used for Detect the second position measuring device 22 of the position of reclaimer on the track, for detecting material fetching mechanism with respect to the horizontal plane Angle angular transducer 20 and for detect the weight of material flow that material fetching mechanism is obtained from bar shaped stock ground feeding make Industry flowmeter 21, the control module move to target position according to windrow, material extracting operation target control discharging overhead traveling crane 1 and reclaimer Heap, material extracting operation are set and carry out, the detection module gives the data information transfer of detection to the control module, the control mould Block obtains control result, the control mould by the data information combination heap of acquisition, material extracting operation target instruction target word, by controlling operation Root tuber controls the feeding conveyor 2, discharging overhead traveling crane 1 and material fetching mechanism according to control result and carries out corresponding motion action and complete At operative goals.

The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, and large-scale bulk goods material heap 0 may be implemented and realize heap comprehensively Reclaimer device at the scene without operation driver in the case of the automatic stacking and taking operation of overall process.The present invention can be utilized fully ensuring that stock ground On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device and other functions, operated without operation driver in heap reclaimer device And monitoring, the personnel that also do not need in Central Control Room carry out whole control operation, to overcome existing bulk cargo stock yard automation Degree is low, operator's labor intensity is high, the low defect low with utilization of area rate of operating efficiency.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 2, the detection module further includes that setting exists Radar wave level-sensing device 19 in the rack 11, the radar wave level-sensing device 19 are used to measure the material heap 0 below reclaimer away from machine The distance of frame 11.In this way, emergent sensor when radar wave level-sensing device 19 can be used as heap shape detector failures, ensures the present invention's Operating efficiency.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 4, the control module include control system, The distribution of stock ground material heap 0 and 0 shape display terminal of material heap and job parameter input and job state monitor terminal, the heap shape detection Sensor 18 will detect the geographical shape characteristic data transfer of material heap 0 to control system, and the geographical shape characteristic of the material heap 0 passes through material The field distribution of material heap 0 and 0 shape display terminal of material heap carry out real-time display, pass through job parameter input and job state monitoring Terminal inputs relevant material extracting operation instruction and controls the corresponding motion action of reclaimer progress by control system and complete heap Material extracting operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 6, according to windrow production plan target and material Field spatial positional information inputs windrow job instruction data by job parameter input and job state monitor terminal, described Windrow job instruction data send control command and parameter to stacker by control module, and the stacker receives order towards mesh Cursor position moves, and 1 location information of discharging overhead traveling crane of detection is sent to control mould by first position measuring device 7 in motion process The location information of reception is calculated and compared with the coordinates of targets determined for block, the control module, and whether detection discharging overhead traveling crane 1 Reach assigned target position；After first position measuring device 7 detects that discharging overhead traveling crane 1 reaches assigned target position, mould is controlled Block controls 2 conveying of feeding conveyor and carries out windrow, material heap 0 to the stock ground of 4 lower section of dump skip, windrow process through discharging overhead traveling crane 1 In, data information is simultaneously sent to control module, the control by the altitude information of forward and backward radar wave level-sensing device detection material heap 0 Module by the data information of reception with it is preset be that 0 height of material heap is calculated and compared and judges that the material heap 0 of the lower section of dump skip 4 is No arrival predetermined altitude is, then control module control discharging overhead traveling crane 1, which is walked forward, continues discharging until completing heap after preset distance Expect operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 6, the detection module further includes that setting exists Windrow operation flowmeter on the feeding conveyor 2, the windrow operation flowmeter are connect with the control module signal；Heap Control module judges whether the workload for reaching windrow according to the data that windrow operation flowmeter detects during material, is then to tie Beam windrow operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3 and Fig. 7, the reclaimer takes for scraper-type Material machine, the material fetching mechanism are scraping plate mechanism 24, and the both sides of the scraper-type reclaimer are equipped with the second walking mechanism 14, described Second walking mechanism 14 of the both sides of scraper-type reclaimer is equipped with second position measuring device 22, the heap shape detection sensor 18 are arranged in the rack 11.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 5 and Fig. 7, according to material extracting operation planned target It includes feeding weight, material to be inputted with job state monitor terminal by job parameter input with stock ground spatial positional information The material extracting operation director data of kind, 0 regional location of material heap, the material extracting operation director data are sent by control module and are controlled To scraper reclaimer 10, the scraper reclaimer 10 receives order and is moved towards target location for order and parameter, in motion process, institute It states heap shape detection sensor 18 to detect the geographical shape characteristic of 10 lower section material heap 0 of scraper reclaimer and be sent to control module, institute It states 0 model of material heap that control module updates storage and is shown in real time by the distribution of stock ground material heap 0 and 0 shape display terminal of material heap Show, while the location information of detection is sent to control module by second position measuring device 22, the control module is by reception Location information is calculated and compared with the starting point coordinate determined, and whether detection scraper reclaimer 10 reaches predetermined start position；When After second position measuring device 22 detects that scraper reclaimer 10 reaches predetermined start position, control module controls the second vehicle with walking machine Structure 14 continues movement and is travelled to predetermined final position, and heap shape detection sensor 18 detects predetermined start position and pre- in driving process Determine 0 newest heap shape of material heap between final position, is sent to control module, 0 model of material heap that the control module updates storage And real-time display is carried out by the distribution of stock ground material heap 0 and 0 shape display terminal of material heap, while second position measuring device 22 will The location information of detection is sent to control module, and the control module carries out the location information of reception with the terminating coordinates determined Calculating is compared, and whether detection scraper reclaimer 10 reaches predetermined final position；When second position measuring device 22 detects scraper plate After reclaimer 10 reaches predetermined final position, control module controls 10 backward going of scraper reclaimer and returns to predetermined start position； After scraper reclaimer 10 reaches predetermined start position, control module is according to 0 terrain data of updated material heap and material extracting operation Amount calculate scraping plate mechanism 24 24 reclaiming process of feeding angle and scraping plate mechanism under this feeding angle corresponding feeding row Starting and feeding final position are walked, the control module moves according to result of calculation control luffing mechanism and drives scraping plate mechanism 24 The information of the scraping plate mechanism 24 of detection and the angle of horizontal plane is sent to control module by movement, the angular transducer 20, institute Control module is stated to count the scraping plate mechanism 24 of reception and the information of the angle of horizontal plane and the feeding angle of scraping plate mechanism 24 Calculation is compared until scraping plate mechanism 24 reaches scheduled feeding angle；Control module controls the operation of scraping plate mechanism 24 and carries out feeding, together When control feeding initial position of second walking mechanism 14 under current feeding angle to feeding final position walk, reclaiming process Described in material extracting operation flowmeter 21 the mass flow data of detection are sent to control module, the control module is by reception Mass flow data are compared with the flow of setting, and adjust the speed of service of the second walking mechanism 14, ensure the reality of feeding Border flow close to setting flow, in reclaiming process of walking update institute by region material heap 0 shape, when this feeding angle of arrival After feeding final position, control module judges whether that the operation for reaching feeding is total according to the data that material extracting operation flowmeter 21 detects Amount, is then to terminate material extracting operation, no, then control module is according to 0 terrain data of updated material heap and unfinished feeding Workload calculates corresponding under this feeding angle in 24 reclaiming process of feeding angle and scraping plate mechanism of scraping plate mechanism 24 again Feeding walking starting and feeding final position, and reclaimer movement is controlled until completing material extracting operation amount simultaneously according to result of calculation Terminate material extracting operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 7, reclaimer is pre- during material extracting operation After the completion of walking from feeding initial position to feeding final position under fixed feeding angle, control module is according to material extracting operation flow The data of 21 detection of meter judge whether the operation total amount for reaching feeding, are then to terminate material extracting operation, no, then judge scraping plate mechanism Whether 24 current angular is minimum angle in operation interval, is then to terminate material extracting operation, no, then control module is according to more 0 terrain data of material heap and unfinished material extracting operation amount after new calculate the feeding angle of scraping plate mechanism 24 again, and scrape In 24 reclaiming process of trigger structure under this feeding angle corresponding feeding walking starting and feeding final position, and tied according to calculating Fruit control reclaimer movement is until completing material extracting operation amount and terminating material extracting operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 4, the reclaimer and stacker are equipped with Driving control system 16, the control system include the central control unit of centrally disposed control room, reclaimer transmission control The stacker automatic job in reclaimer automatic job control unit 17 and stacker driving control system 16 in system 16 Control unit 8, the central control unit and the reclaimer automatic job control unit 17, the control of stacker automatic job are single Member 8 communicates to connect.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3 and Fig. 7, the reclaimer takes for scraper-type Material machine, the material fetching mechanism are scraping plate mechanism 24, and the both sides of the scraper-type reclaimer are equipped with walking mechanism, the scraper-type The walking mechanism of the both sides of reclaimer is equipped with position-measurement device, and the heap shape detection sensor 18 is arranged in the rack 11 On.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 7, the luffing mechanism leads for scraping plate lifting Leading-in device 13, the scraping plate lifting draft gear 13 put scraping plate lifting haulage cable 12 by volume and adjust bowing for scraping plate mechanism 24 Elevation angle degree.

On the basis of above-described embodiment, in another embodiment of the present invention, the control module is geographical by the material heap 0 of reception Topographic data is stored in DEM terrain data formats in data server, and can topographic data be managed in complete feed place and be passed through conversion It is shown for 2D or 3D heap shapes, 2D the or 3D heaps shape shows name of material, the heap body including at least each material heap 0 in complete feed field Product, heap shape angle of repose, heap shape sectional view information.So set, complete feed field material statistics can in real time be recorded by this system Information, and complete feed field material statistical information is inquired by control module, realize the function of making an inventory of goods in a warehouse of complete feed field.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 8, stock ground will be had using the method for gridding The region division in stockpiling area is imitated as continuous grid surface, the vertex of each grid cell has a three-dimensional space on curved surface Between coordinate value (x, y, z), the three dimensional space coordinate value using in stock ground a certain static three dimensions point as refer to co-ordinate zero point, Wherein x and y coordinates represent the positional value of 0 surface mesh vertex 25 of material heap in the horizontal direction, and z values represent 0 surface mesh of material heap The height on vertex 25, the i.e. height value of 0 surface specified point of material heap, the size of grid can be adjusted according to the requirement of display precision It is whole.

So set, in scheduled coordinate system, the abscissa and ordinate that provide 0 any point of material heap can calculate Then the height value of 0 surface specified point of material heap controls mould to obtain whole shape characteristic data that surface can be obtained in material heap 0 Block carries out relevant control operation to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection passes Sensor 18 can be the measurement and modeling including 3D laser scanners.

On the basis of above-described embodiment, in another embodiment of the present invention, stock ground heap shape and the distribution display of material heap 0 use plane The horizontal position of display mode, stock ground grid vertex 25 is shown using numerical value, is highly shown using color ruler, and color ruler is using gradually Change mode.Such as the more red representative height of color is higher, green portion height is less than RED sector, and entire height gauge uses gradual change Mode, black portions then indicate that the height of the mesh point is less than or equal to the zero plane value in stock ground Z-direction (short transverse).

On the basis of above-described embodiment, in another embodiment of the present invention, complete feed place reason topographic data is converted into 2D or 3D In the calculating process that heap shape is shown, the computation model of the heap annular volume of the material heap 0 isIn formula, m It is the grid number under the DEM terrain data formats of stock ground with n, wherein m is the stock ground line number under DEM terrain data formats, n DEM Stock ground columns under terrain data format, h_ijFor the corresponding grid height value under the i-th row j row, V is the heap body of material heap 0 Product.

On the basis of above-described embodiment, in another embodiment of the present invention, pattern number is managed in complete feed place by the control module Include that the name of material of each material heap 0 in complete feed field, heap annular volume, heap shape angle of repose, heap shape are cutd open according to by computing module acquisition 2D the or 3D heap shapes of face figure information show, and each in being shown to 2D or 3D heap shapes according to the information to prestore in the control module Material heap 0 carries out the mark of name of material.

On the basis of above-described embodiment, in another embodiment of the present invention, the discharge port of the scraper-type reclaimer is equipped with out Expect that belt conveyor 15, the conveying body are ribbon conveyer, the discharging point of the belt of the ribbon conveyer is set There are impact idler and side carrying roller, the side carrying roller turns forward along belt-conveying direction to be arranged in predetermined angular.Impact idler Impact of the material blanking operation to belt can effectively be slowed down by being arranged, and ensure the stability of transport, another outer roller is according to above-mentioned side Formula setting will generate opposite sliding speed with belt, can effectively promote belt to return back to the center of ribbon conveyer, such as This limited can be avoided belt deviation.

On the basis of above-described embodiment, in another embodiment of the present invention, the discharge port of the scraper-type reclaimer, which is equipped with, leads Expect that component, the material between the discharge port and ribbon conveyer are transported by the guide component, the ribbon conveyer is set It includes for driving guide component to move and changing falling for guide component to have deviation-resisting device for belts, the deviation-resisting device for belts The driving device of shots and the relative position of belt and for measuring its own detecting element for arriving belt side distance, it is described Detecting element, driving device and the control module are electrically connected, and the control module stores between detecting element and belt side Initial distance data, its range data between belt side of detection is passed to control module by the detecting element, described The range data of reception is compared with the detecting element to prestore with the initial distance data between belt side by control module, and It is controlled the driving device according to comparison result and the movement of guide component is driven to change itself and horizontal direction angle.So set, when detection When sideslip occurs to belt, driving guide component movement is controlled the driving device by control module and changes its blanking on belt Point makes discharging point be in the center of belt, realizes to belt deviation since discharging point variation causes belt bearing capacity change Correction, effectively improve production efficiency, reduce the generation of production accident.It is preferred that the detecting element is photoelectric sensor or displacement Sensor.

During the windrow of bedding plant, it will usually the maximum accumulation capacity of design, then by the blanking component of material stocking device The vertex for being fixed on maximum accumulation capacity carries out blanking, and after the completion of blanking, scrapper conveyor carries out feeding；But often bedding plant come Material is not the maximum accumulation capacity of design, or does not reach maximum reserves and just need feeding, or takes partial material away and carry out heap again When material does not reach maximum reserves and just needs feeding, such as Fig. 9, at this time material heap 0 cause material that cannot pile with stock ground, material heap 0 completely Heap-type be not close to discharge port 43, the work surface of its bottom can not contact material heap 0 when reclaimer is started to work, scraping Partial material cannot be fetched into system belt conveyor and transport, and rake can only be transported in stock ground to discharge port 43, and then exist and do virtual work The problem of, this process industry is interior to be known as flat material, this process takes, and consumes energy, and waste of manpower increases equipment attrition, and reduction is set In the standby operation service life, increase plant maintenance workload.On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 10 and Figure 11, windrow process carry out in accordance with the following steps：(1) determination of Optimum panel cutting point：According to the material maximum storage of bedding plant design In the width direction for the material heap 0 under material maximum storage in amount, windrow length and the determining bedding plant of 0 angle of repose of material heap calculating First geometric cross section, 0 contour line of material heap and the intersection point of bedding plant discharge port 43 are set as discharge point in first geometric cross section, institute It states the length of side of connection vertex and discharge point in the first geometric cross section and is set as the first side；Then the material heap 0 under this workload is calculated The second geometric cross section in the width direction：Determine the discharge point of second geometric cross section and the discharge point weight of the first geometric cross section Merge and the vertex of second geometric cross section is located at the basic principle on the first side in first geometric cross section, then root The specific location on the vertex of the second geometric cross section is determined according to the workload of this subjob, the vertex in second geometric cross section Surface is Optimum panel cutting point；(2) blanking point of the dump skip of stacker 4 is located in Optimum panel cutting point；(3) stacker into Row windrow is until complete this windrow operation.

Windrow operation is carried out using this method, it is ensured that when supplied materials is not abundant during windrow, according to the workload of windrow Optimal blanking point is calculated, ensures heap-type under the premise of meeting windrow close to discharge port 43, guarantee scrapes material fetching mechanism and starts to take When charge level on material drop down onto to the bottom in feeding face from discharge port 43 and transferred out on material outfeed belt conveyor structure 15, protect The work surface of its bottom can contact material heap 0 in card 10 structure of scraper reclaimer work, the problem of preventing from doing virtual work, can carry significantly in this way Operating efficiency in high reclaiming process, section improve equipment feeding efficiency, save energy consumption, reduce equipment attrition, increase equipment operation Service life reduces plant maintenance workload, reduces the use cost of factory.It will be appreciated by those skilled in the art that windrow process The material heap 0 that middle heap goes out is elongated, as bar shaped material heap 0.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 10 and Figure 11, the step (2) and step (3) it in, first determines the floor stock amount of bedding plant, the optimal of floor stock amount is then determined according to the floor stock amount of bedding plant Blanking point, computational methods are consistent with the Optimum panel cutting point calculating method in step (1)；Blanking point is moved further according to result of calculation It moves to the Optimum panel cutting point progress blanking operation of floor stock amount and moves blanking point after discharge quantity reaches floor stock amount Optimum panel cutting point under to homework book subjob amount carries out blanking operation.The floor stock amount meets minimum according to materials department The principle of storage level calculates, so set, when discharge quantity reaches floor stock amount, you can control material fetching mechanism is made Industry improves operating efficiency.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 12, the dump skip 4 passes through driving device It drives it to move and changes blanking point.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 12, the dump skip 4 includes at least first Blanking funnel 33 and the second blanking funnel 34, the first blanking funnel 33 and the second blanking funnel 34 pass through 35 phase of extensible member Even, the extensible member 35 can drive the first blanking funnel 33 and/or the second blanking funnel 34 to rotate and change under dump skip 4 Shots, the first blanking funnel 33 and the second blanking funnel 34 are respectively equipped with the first blanking channel 36 and the second blanking channel 37, the interior adjustable member being equipped with for adjusting selection material blanking channel of the dump skip 4.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 12, the adjustable member is returning face plate 38, institute It states returning face plate 38 to be hinged with the first blanking funnel 33, the second blanking funnel 34, the returning face plate 38 can turn along the hinge of three Move and realize the folding of first blanking channel, 36 and second blanking channel 37.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 12, the returning face plate 38 is equipped with shaft 39, The first blanking funnel 33, the second blanking funnel 34 are hinged with the shaft 39, and the dump skip 4 is equipped with motor, the electricity The motor shaft of machine is connected with the shaft 39, and the motor drives the shaft 39 to rotate when working, and then drives the overturning Plate 38 is overturn, and the extensible member 35 can drive the first blanking funnel 33 and/or the second blanking funnel 34 along the shaft 39 Rotation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 10~12, the first blanking funnel 33 Feed opening drives institute as the blanking point under material maximum storage in bedding plant, the extensible member 35 according to real-time workload It states the second blanking funnel 34 and moves to its feed opening and be located at Optimum panel cutting point；The material stocking device is equipped with detection module and control mould Block, the detection module include at least geographical Shape measure device for detecting bedding plant geography shape characteristic and for examining The position detecting device of the feed opening position of the second blanking funnel 34 is surveyed, the geography shape characteristic includes at least bedding plant material heap The coordinate value of 0 surface topography and its precalculated position in preset coordinate system；The detection module believes the data of detection Breath passes to the control module, and the data information of acquisition is obtained control result by the control module by control operation, institute Control module is stated to control the material stocking device and its corresponding motion action of stacker progress according to control result and fulfil assignment Target.

On the basis of above-described embodiment, in another embodiment of the present invention, the control module receives job instruction, and judges Whether this workload is consistent with material maximum storage in bedding plant, and when the two is identical, the control module controls to adjust Part movement is closed the second blanking channel 37 while opening the first blanking channel 36, then controls material stocking device operation and carries out heap Material；When the two differs, the control module obtains the blanking point of current dump skip 4 in stock ground by position detecting device Position coordinates, and the position coordinates of reception are compared with the coordinate of Optimum panel cutting point that the calculating in step (1) obtains, And send out that order control extensible member 35 works and to drive the feed opening of the second blanking funnel 34 to be moved to optimal according to comparison result Blanking point, then control material stocking device, which is run, carries out windrow, and during windrow, geographical Shape measure device is in real time by detection data It is sent to control module, the bedding plant geography shape characteristic data of reception are handled to obtain material heap 0 by the control module Heap shape sectional view information, and cut with the second geometry of the material heap 0 under this workload of calculating in step (1) in the width direction Face is compared, and judges whether the vertex of 0 real-time heap shape sectional view of material heap with the vertex of the second geometric cross section is in same perpendicular No on straight line, then control module control stretches system contracting part and works and the feed opening of the second blanking funnel 34 is driven to move to blanking click-through Row fine tuning, until completing this windrow operation.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 13 and Figure 14, the reclaimer includes that comb is expected Frame 26 and the major ingredient rake being arranged on the comb rack 26 and comb claw, the reclaimer 10 further include the driving major ingredient The driving device that the dynamic comb of scraping is expected and the transmission mechanism for driving comb claw rotation comb material.

The feeding device of present invention comb machine in feeding is distributed in major ingredient rake towards when moving back and forth at material heap 01 The material on feeding face is stirred with the broach on comb claw, is allowed to fall on the bottom in feeding face, the feeding successively run Device is transported, until will be transferred out on material transportation to material outfeed belt conveyor structure 15.The present invention is suitable for goo Expect different areas of activity, and the material strong to viscosity has good fluffing action, solves using traditional structure claw in the stronger object of viscosity The occasion of the operation of material is due to the problems such as unsmooth and resulting work capacity of stream reduces, and excavating resistance increases.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 13 and Figure 14, the comb claw includes several The transmission shaft 29 and rotation broach 30, the transmission shaft 29 of group cooperation comb material are connected with rotation broach 30, the transmission mechanism packet The motor that the conveyer chain 28 being surrounded on comb rack 26 and driving conveyer chain 28 move is included, the motor drives 28 band of conveyer chain Dynamic transmission shaft 29 rotates, to drive the rotation broach 30 to rotate comb material along transmission shaft 29.

On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 13 and Figure 14, the major ingredient rake includes several Major ingredient broach 27, the major ingredient broach 27 are at least evenly distributed on the comb charge level of the comb rack 26, and the driving device packet drives The dynamic reciprocating motion of major ingredient broach 27 carries out comb material.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of bar shaped stock ground automatic operating system, including stacker, reclaimer, control module and detection module, feature exist In the stacker includes feeding conveyor and discharging overhead traveling crane, and material is transported to discharging overhead traveling crane by feeding conveyor and carries out windrow Operation, the discharging overhead traveling crane are equipped with dump skip and first walking mechanism, and the reclaimer includes rack, material fetching mechanism and setting The second walking mechanism in rack, the material fetching mechanism are connected with rack, and the material fetching mechanism adjusts it by luffing mechanism Pitch angle, second walking mechanism can be moved along the track being arranged in bar shaped stock ground, and the detection module includes at least What is be arranged below dump skip is respectively used to detection discharging overhead traveling crane direction of advance and direction of retreat material heap to discharging overhead traveling crane discharge port Between height value forward direction radar wave level-sensing device and backward radar wave level-sensing device, be arranged in first walking mechanism for surveying Amount discharging overhead traveling crane is in the first position measuring device on track of walking, setting for detecting material heap geography pattern in the rack The heap shape detection sensor of feature, is used for the second position measuring device for detecting the position of reclaimer on the track It detects the angular transducer of the angle of material fetching mechanism with respect to the horizontal plane and is obtained from bar shaped stock ground for detecting material fetching mechanism Weight of material flow material extracting operation flowmeter, the control module is according to windrow, material extracting operation target control discharging overhead traveling crane Target location is moved to reclaimer and carries out heap, material extracting operation, and the detection module is by the data information transfer of detection to institute Control module is stated, the control module obtains the data information combination heap of acquisition, material extracting operation target instruction target word by controlling operation Go out control result, the control module controls the feeding conveyor, discharging overhead traveling crane and material fetching mechanism according to control result and carries out Corresponding motion action and the target that fulfils assignment.

2. bar shaped stock ground according to claim 2 automatic operating system, which is characterized in that the control module includes control System, the distribution of stock ground material heap and material heap shape display terminal and job parameter input and job state monitor terminal, the heap shape Detection sensor will detect material heap geography shape characteristic data transfer to control system, and the material heap geography shape characteristic passes through material Field material heap distribution and material heap shape display terminal carry out real-time display, are inputted with job state monitoring eventually by the job parameter End inputs relevant material extracting operation instruction and controls the corresponding motion action of reclaimer progress by control system and complete heap and takes Expect operation.

3. bar shaped stock ground according to claim 2 automatic operating system, which is characterized in that according to windrow production plan target Windrow job instruction data are inputted with job state monitor terminal by job parameter input with stock ground spatial positional information, The windrow job instruction data send control command and parameter to stacker by control module, and the stacker receives order It is moved towards target location, the discharging overhead traveling crane location information of detection is sent to control mould by first position measuring device in motion process The location information of reception is calculated and compared with the coordinates of targets determined for block, the control module, and whether detection discharging overhead traveling crane Reach assigned target position；After when first position, measuring device detects that discharging overhead traveling crane reaches assigned target position, control module It controls feeding conveyor conveying and carries out windrow through discharging overhead traveling crane, the stock ground below material heap to dump skip, during windrow, preceding, Data information is simultaneously sent to control module by the altitude information of backward radar wave level-sensing device detection material heap, and the control module will connect The data information of receipts with it is preset be that material stack height is calculated and compared and it is predetermined to judge whether the material heap below dump skip reaches Highly, it is that then control module control discharging overhead traveling crane, which is walked forward, continues discharging after preset distance until completing windrow operation.

4. bar shaped stock ground according to claim 3 automatic operating system, which is characterized in that the detection module further includes setting The windrow operation flowmeter on the feeding conveyor is set, the windrow operation flowmeter connects with the control module signal It connects；Control module judges whether the workload for reaching windrow according to the data that windrow operation flowmeter detects during windrow, is, Then terminate windrow operation.

5. bar shaped stock ground according to claim 3 automatic operating system, which is characterized in that, the reclaimer is scraper-type Reclaimer, the material fetching mechanism are scraping plate mechanism, and the both sides of the scraper-type reclaimer are equipped with the second walking mechanism, described to scrape Second walking mechanism of the both sides of board-like reclaimer is equipped with second position measuring device, and the heap shape detection sensor setting exists In the rack.

6. bar shaped stock ground according to claim 5 automatic operating system, which is characterized in that according to material extracting operation planned target It includes feeding weight, material to be inputted with job state monitor terminal by job parameter input with stock ground spatial positional information The material extracting operation director data of kind, material heap regional location, the material extracting operation director data are sent by control module and are controlled To scraper reclaimer, the scraper reclaimer receives order and is moved towards target location for order and parameter, in motion process, the heap The geographical shape characteristic of shape detection sensor detection scraper reclaimer lower section material heap is simultaneously sent to control module, the control module The Neosinocalamus affinis that updates storage simultaneously is distributed and material heap shape display terminal carries out real-time display, while second by stock ground material heap Set measuring device the location information of detection be sent to control module, the control module by the location information of reception with determine Starting point coordinate is calculated and compared, and whether detection scraper reclaimer reaches predetermined start position；When second position measuring device is examined After measuring scraper reclaimer arrival predetermined start position, control module controls the second walking mechanism and continues movement to predetermined stop bit Traveling is set, heap shape detection sensor detects the newest heap of material heap between predetermined start position and predetermined final position in driving process Shape is sent to control module, and the Neosinocalamus affinis that the control module updates storage simultaneously is distributed and material heap shape by stock ground material heap Display terminal carries out real-time display, while the location information of detection is sent to control module by second position measuring device, described The location information of reception is calculated and compared control module with the terminating coordinates determined, and it is pre- whether detection scraper reclaimer reaches Determine final position；After when the second position, measuring device detects that scraper reclaimer reaches predetermined final position, control module control Scraper reclaimer backward going returns to predetermined start position；After scraper reclaimer reaches predetermined start position, control module according to Updated material heap terrain data and material extracting operation amount calculate the feeding angle and scraping plate mechanism reclaiming process of scraping plate mechanism In under this feeding angle corresponding feeding walking starting and feeding final position, the control module controlled according to result of calculation Luffing mechanism moves and scraping plate mechanism is driven to move, and the angular transducer is by the angle of the scraping plate mechanism of detection and horizontal plane Information is sent to control module, and the control module is by the information and scraping plate mechanism of the scraping plate mechanism of reception and the angle of horizontal plane Feeding angle be calculated and compared until scraping plate mechanism reach scheduled feeding angle；Control module controls scraping plate mechanism operation Feeding is carried out, while controlling feeding initial position of second walking mechanism under current feeding angle to feeding final position row It walks, the mass flow data of detection are sent to control module, the control mould by material extracting operation flowmeter described in reclaiming process The mass flow data of reception are compared by block with the flow of setting, and adjust the speed of service of the second walking mechanism, are ensured The actual flow of feeding is close to setting flow, and update institute is by the material heap shape in region in reclaiming process of walking, and when arrival, this takes After the feeding final position for expecting angle, control module judges whether to reach feeding according to the data that material extracting operation flowmeter detects Operation total amount is then to terminate material extracting operation, no, then control module is according to updated material heap terrain data and unfinished Material extracting operation amount calculate again scraping plate mechanism feeding angle and scraping plate mechanism reclaiming process in it is corresponding under this feeding angle Feeding walking starting and feeding final position, and reclaimer movement is controlled until completing material extracting operation amount simultaneously according to result of calculation Terminate material extracting operation.

7. bar shaped stock ground according to claim 6 automatic operating system, which is characterized in that reclaimer during material extracting operation After the completion of walking from feeding initial position to feeding final position under scheduled feeding angle, control module is according to material extracting operation The data of flowmeter detection judge whether the operation total amount for reaching feeding, are then to terminate material extracting operation, no, then judge scrapper conveyor Whether the current angular of structure is minimum angle in operation interval, is then to terminate material extracting operation, no, then control module is according to more Material heap terrain data and unfinished material extracting operation amount after new calculate the feeding angle and scrapper conveyor of scraping plate mechanism again In structure reclaiming process under this feeding angle corresponding feeding walking starting and feeding final position, and controlled according to result of calculation Reclaimer movement is until completing material extracting operation amount and terminating material extracting operation.

8. bar shaped stock ground according to claim 7 automatic operating system, which is characterized in that the reclaimer and stacker are equal Equipped with driving control system, the control system includes the central control unit of centrally disposed control room, reclaimer transmission control Stacker automatic job control in reclaimer automatic job control unit and stacker driving control system in system processed Unit, the central control unit are communicated with the reclaimer automatic job control unit, stacker automatic job control unit Connection.

9. bar shaped stock ground according to claim 7 automatic operating system, which is characterized in that windrow process is in accordance with the following steps It carries out：

(1) determination of Optimum panel cutting point：Material maximum storage, windrow length and the material heap angle of repose meter designed according to bedding plant It calculates and determines the first geometric cross section of the material heap in bedding plant under material maximum storage in the width direction, first geometric cross section The intersection point of middle material heap contour line and bedding plant discharge port is set as discharge point, and vertex and discharge point are connected in first geometric cross section The length of side be set as the first side；Then the second geometric cross section of material heap in the width direction under this workload is calculated：Described in determination The discharge point of second geometric cross section is overlapped with the discharge point of the first geometric cross section and the vertex of second geometric cross section is located at Then the basic principle on the first side in first geometric cross section determines that the second geometry is cut according to the workload of this subjob The surface of the specific location on the vertex in face, the vertex in second geometric cross section is Optimum panel cutting point；

(2) blanking point of the dump skip of stacker is located in Optimum panel cutting point；

(3) stacker carries out windrow until completing this windrow operation.

10. bar shaped stock ground according to claim 9 automatic operating system, which is characterized in that the step (2) and step (3) it in, first determines the floor stock amount of bedding plant, the optimal of floor stock amount is then determined according to the floor stock amount of bedding plant Blanking point, computational methods are consistent with the Optimum panel cutting point calculating method in step (1)；Blanking point is moved further according to result of calculation It moves to the Optimum panel cutting point progress blanking operation of floor stock amount and moves blanking point after discharge quantity reaches floor stock amount Optimum panel cutting point under to homework book subjob amount carries out blanking operation.