CN111847014A - Material shoveling actuating mechanism and material recovery system - Google Patents

Abstract

The invention provides a shoveling actuating mechanism, which comprises a shoveling rack, a bucket assembly and a sweeping assisting assembly, wherein the shoveling rack is arranged on the rack; the scraper bucket assembly is arranged on the material shoveling rack and is provided with a feeding hole; the sweeping assisting assembly is arranged on the shovel rack and located on the front side of the bucket assembly, and corresponds to the feeding port of the bucket assembly. Meanwhile, the invention also provides a material recovery system which comprises the shoveling executing mechanism. Compared with the prior art, the shovel material actuating mechanism and the material recovery system provided by the invention can effectively improve the material cleaning effect, have higher cleaning efficiency and can effectively reduce the labor cost.

Description

Material shoveling actuating mechanism and material recovery system

Technical Field

The invention relates to the technical field of railway transportation, in particular to a shoveling actuating mechanism and a material recovery system.

Background

The open wagon is one of the types of railway wagons and is characterized by being provided with no cover and four side plates. The open wagon is mainly used for conveying bulk goods such as coal, ores, mineral materials, wood, steel and the like, and can also be used for conveying mechanical equipment with low weight. When the open wagon transports materials to a preset place, the materials in the open wagon are usually turned out through a tipper, and due to the reasons of moisture, freezing, hardening and the like, a large amount of materials are left at the bottom of a carriage of the open wagon, and the carriage can be cleared and then can be handed to a railway department for next use.

In the prior art, for large or large particle materials scattered in a carriage, such as stones, coal, iron ore and the like, the large or large particle materials are difficult to be directly cleaned outside the carriage through modes of pumping and the like. At present, in actual operation, the door of the carriage is opened manually and the bulk materials are fed into the carriage to clean the carriage, or the bulk materials are cleaned by mechanical equipment, for example, a cleaning scheme of bulk hardened materials is implemented by combining a scraper and a spiral pushing device with a vibration excitation device, or bulk materials are conveyed to the outside of the carriage by a spiral lifting device.

However, the closed carriage door clamped by the wooden wedge needs to be opened manually, the carriage door is cleaned in the carriage, time and labor are wasted, the labor efficiency is low, the cost is high, and personal injury caused by dust pollution is easily caused. Through scraper blade, spiral propelling movement combine the vibration exciting device, the card material problem of bold material has partly been solved, nevertheless need the manual work to open the airtight carriage door that the wooden wedge blocked, increased the work load, steel wire hoist and mount execution end mechanism, reliability poor stability. Though realized mechanized promotion through the spiral lifting mode, spiral lifting device is subject to the size of a dimension of material, needs earlier to carry out shredding to the material, and the bold material blocks dead spiral lifting device easily otherwise, and overall structure is comparatively complicated, and it is also inconvenient that helical blade changes after wearing and tearing.

Disclosure of Invention

The technical problem that the cleaning effect is not good and the human cost is high is solved for the scheme of cleaning the residual materials in the carriage of the gondola car in the prior art. The invention provides a material shoveling actuating mechanism which is better in cleaning effect and capable of effectively reducing labor cost.

A scooping actuator, comprising:

a shoveling machine frame;

the scraper bucket assembly is arranged on the material shoveling rack and is provided with a feeding hole;

and the sweeping assisting assembly is arranged on the shoveling rack and is positioned at the front side of the bucket assembly and corresponds to the feeding port of the bucket assembly.

Preferably, the sweeping assembly comprises:

the sweeping-assistant rack is fixedly connected with the shoveling rack;

one end of the rolling brush supporting arm is arranged on the sweeping assisting rack;

the rolling brush device is sleeved at the other end of the rolling brush supporting arm and is correspondingly positioned at the feed inlet of the bucket assembly;

the rolling brush driving device is connected with the rolling brush device and used for driving the rolling brush device to rotate;

and one end of the adjusting device is connected with the sweeping assisting rack, and the other end of the adjusting device is connected with the rolling brush supporting arm and used for adjusting the height of the rolling brush device.

Preferably, the roll brush device includes:

the rolling brush driving shaft is sleeved on the rolling brush supporting arm;

a central roll brush provided to a side surface of the roll brush driving shaft;

the rolling brush driving device is connected with the rolling brush driving shaft.

Preferably, the roll brush device further includes:

and the side rolling brush is arranged on the end surface of the rolling brush driving shaft.

Preferably, the shoveling actuator further comprises:

the car wall cleans the subassembly, set up in on the shovel material frame, the car wall cleans the subassembly and includes:

the fixed rack is fixedly connected with the shoveling rack;

one end of the rack connecting rod is hinged with the fixed rack;

the movable rack is hinged with the other end of the rack connecting rod;

the column brush device is arranged on the movable rack;

the wall disc brush device is arranged on the movable rack;

and the wall cleaning driving device is connected with the movable rack and used for driving the movable rack to move.

Preferably, the sweeping assembly further comprises:

dish brush subassembly set up in the front side of round brush device, dish brush subassembly includes:

the disc brush rack is fixed on the sweeping assisting rack;

one end of the parallelogram mechanism is hinged with the disc brush machine frame;

the disc brush angle adjusting seat is connected with the other end of the parallelogram mechanism;

the disc brush device is arranged on the disc brush angle adjusting seat;

the disc brush compensation device is arranged in the parallelogram mechanism and used for driving the parallelogram mechanism to move;

and one end of the buffer device is connected with the sweeping assisting rack, and the other end of the buffer device is connected with the parallelogram mechanism and used for driving the parallelogram mechanism to move relative to the disc brush rack.

Preferably, the parallelogram mechanism includes:

the rear end of the swinging rack is hinged with the disc brush rack;

the lifting connecting rod seat is spaced from the swinging rack;

one end of the connecting rod is hinged with the front end of the swinging rack, and the other end of the connecting rod is hinged with the lifting connecting rod seat;

one end of the connecting plate is hinged with the front end of the swinging rack, and the other end of the connecting plate is hinged with the lifting connecting rod seat;

the disc brush adjusting seat is connected with the lifting connecting rod seat, one end of the disc brush compensating device is connected with the front end of the swinging rack, the other end of the disc brush compensating device is connected with the connecting plate, the buffer device is provided with an energy accumulator, and the buffer device is connected with the side end of the swinging rack.

Preferably, the bucket assembly includes:

one end of the first connecting rod is hinged with the shoveling rack;

one end of the second connecting rod is hinged with the other end of the first connecting rod;

a bucket hinged with the other end of the second connecting rod;

and one end of the bucket driving device is connected with the shoveling rack, and the other end of the bucket driving device is connected to the hinged position of the first connecting rod and the second connecting rod and used for driving the second connecting rod to drive the bucket to rotate.

Meanwhile, the invention also provides a material recovery system, which comprises:

a support system;

the material shoveling system comprises a movable frame body and a material shoveling actuating mechanism, the movable frame body is arranged on the supporting system, and the material shoveling actuating mechanism is arranged on the movable frame body;

the discharging system is positioned below the movable frame body and used for recovering materials in the shoveling system;

wherein, the material shoveling actuating mechanism is any one of the material shoveling actuating mechanisms.

Preferably, the last walking track that is provided with of braced system, remove the support body and include:

the first walking device is arranged on the walking track and can move along the walking track;

the second walking device is arranged on the first walking device and can move along the first walking device;

the lifting device is arranged on the second walking device and used for driving the shoveling executing mechanism to lift;

the rotating device is arranged on the lifting device and used for driving the shoveling actuating mechanism to rotate;

the discharge system comprises:

the grate ditch is arranged below the first travelling device and is provided with a plurality of through holes;

the crusher is arranged on the grate ditch;

and the conveyor is arranged right below the grate ditch.

Compared with the prior art, the shovel material actuating mechanism provided by the invention has the advantages that the sweeping-assistant assembly is arranged at the feeding port of the bucket assembly, materials can be well swept and guided into the bucket assembly through the sweeping-assistant assembly, so that the cleaning efficiency is improved, the bonded materials can be loosened through the sweeping-assistant assembly, and the cleaning effect is also improved. Meanwhile, the labor intensity of workers can be effectively reduced through a mechanical cleaning mode, and the labor cost is reduced.

Correspondingly, the material recovery system provided by the invention adopts the shoveling actuating mechanism, so that the cleaning efficiency is improved, and the cleaning effect is also improved. Simultaneously the scraper bowl subassembly with the subassembly of sweeping the help set up in on the removal support body, through remove the support body can drive the scraper bowl subassembly with the subassembly of sweeping the help removes, realizes the clearance to each region, through automatic clearance, has also effectively reduced the human cost.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a material recycling system according to a first embodiment;

FIG. 2 is a schematic perspective view of the shoveling system shown in FIG. 1;

fig. 3 is a schematic perspective view of the movable frame body shown in fig. 2;

FIG. 4 is a schematic perspective view of a portion of the components of the slewing device shown in FIG. 2 and a material shoveling actuator;

FIG. 5 is a perspective view of the roller brush assembly shown in FIG. 4;

FIG. 6 is a schematic view of an angled, planar configuration of the roller brush assembly of FIG. 5;

fig. 7 is a schematic perspective view of a shoveling actuator in the material recycling system according to the second embodiment;

FIG. 8 is a perspective view of the brush assembly of FIG. 7;

fig. 9 is a schematic perspective view of a part of components of a rotating device and a shoveling actuator in a material recycling system according to a third embodiment.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the practical limit conditions of the present application, so that the modifications of the structures, the changes of the ratio relationships, or the adjustment of the sizes, do not have the technical essence, and the modifications, the changes of the ratio relationships, or the adjustment of the sizes, are all within the scope of the technical contents disclosed in the present application without affecting the efficacy and the achievable purpose of the present application.

The invention provides a shoveling actuating mechanism, which comprises a shoveling rack, a bucket assembly and a sweeping assisting assembly, wherein the shoveling rack is arranged on the rack; the scraper bucket assembly is arranged on the material shoveling rack and is provided with a feeding hole; the sweeping assisting assembly is arranged on the shovel rack and located on the front side of the bucket assembly, and corresponds to the feeding port of the bucket assembly. The shovel material actuating mechanism can effectively improve the material cleaning effect, is higher in cleaning efficiency, and can effectively reduce the labor cost.

Example one

Please refer to fig. 1. The present embodiment provides a material recycling system 100 for recycling materials transported by a train. Specifically, in this embodiment, material recovery system 100 is used for carrying out material recovery to gondola car 200 after the tipper unloads, will remain be in material clearance in the gondola car 200 carriage is retrieved, reduces carriage dwell time, guarantees the stability of carriage cleanliness factor. Preferably, a material crushing system can be further arranged in front of the material recovery system 100, that is, the material recovery system 100 can be arranged behind the material crushing system, so that the materials in the carriage of the open wagon 200 are crushed by the crushing system and then cleaned and recovered by the material recovery system 100, and the cleaning efficiency of the material recovery system 100 is guaranteed.

Material recovery system 100 includes braced system 10, shovel material system 20 and discharge system 30, braced system 10 is used for with shovel material system 20 supports in predetermineeing the height, makes shovel material system 20 can follow gondola car 200 top enters into in the carriage of gondola car 200, thereby need not with the clearance recovery to the material can be realized to open gondola car 200's carriage side door, has effectively reduced the human cost, has also increased cleaning efficiency. The shovel system 20 is used for sweeping and collecting materials left in the compartment of the gondola car 200, and conveying and discharging the collected materials into the discharging system 30, and conveying and recovering the materials through the discharging system 30.

The supporting system 10 includes two supporting mechanisms 11 disposed at an interval, the gondola 200 and the discharging system 30 are located between the two supporting mechanisms 11, the gondola 200 is located at a side close to one of the supporting mechanisms 11, and the discharging system 30 is located at a side close to the other supporting mechanism 11. The shoveling system 20 is connected to the two supporting mechanisms 11 respectively, so that the two supporting mechanisms 11 support the shoveling system 20 above the open wagon 200. The supporting mechanism 11 includes a column 111 and a beam 112 fixedly connected to the column 111, and the beam 112 is disposed in the same direction as the track 300 of the open wagon 200. And a walking rail 1121 is arranged on the cross beam 112, and the arrangement direction of the walking rail 1121 is the same as the direction of the rail 300. The shoveling system 20 is disposed on the traveling rail 1121, and the shoveling system 20 can move along the traveling rail 1121. Specifically, the support system 10 is a steel structure support system.

Please refer to fig. 2. Shovel material system 20 including remove support body 21 and set up in remove shovel material actuating mechanism 22 on the support body 21, shovel material actuating mechanism 22 is used for right remaining material cleans the collection in the carriage of gondola car 200, it is used for driving to remove support body 21 shovel material actuating mechanism 22 removes, realizes shovel material actuating mechanism 22 is right each region in the gondola car 200 carriage cleans. Specifically, the moving frame body 21 is a four-degree-of-freedom rectangular coordinate robot, so that the four-degree-of-freedom rectangular coordinate robot is used as a basis to be combined with the shoveling executing mechanism 22, and the path planning is performed by detecting and feeding back the position information of the executing end in real time through a sensor, so that the cleaning and recovery work of residual materials such as large particles, frozen blocks and the like in the carriage of the gondola car 200 is realized. Meanwhile, an anti-collision system can be installed on the shoveling system 20 to realize manual remote control operation or one-key automatic operation: the method comprises the following steps of remotely controlling a four-degree-of-freedom rectangular coordinate robot to move in multiple degrees of freedom by adopting a handle control and camera observation mode, and cleaning the bottom of the carriage of the gondola car 200 at a fixed point or in a whole area; and a one-key automatic button is adopted to automatically clean all the areas in the carriage.

The moving frame body 21 is a carrier of the shoveling actuating mechanism 22, and realizes linear motion of the shoveling actuating mechanism 22 along three directions of the truck length, the truck width and the truck height of the open truck 200 and integral rotary motion around a vertical axis. Specifically, the moving frame 21 includes a first traveling device 211, a second traveling device 212, a lifting device 213 and a revolving device 214, the shoveling actuator 22 is disposed on the revolving device 214, the revolving device 214 is disposed on the lifting device 213, the lifting device 213 is disposed on the second traveling device 212, and the first traveling device 211 is disposed on the traveling track 1121. The first traveling device 211 can move along the traveling rail 1121, so as to drive the shoveling actuator 22 to move along the length direction of the open wagon 200. The second traveling device 212 can move along the first traveling device 211, so as to drive the shoveling actuator 22 to move along the vehicle width direction of the open wagon 200. The lifting device 213 can drive the revolving device 214 to lift, thereby driving the shoveling actuator 22 to move along the height direction of the open wagon 200. The turning device 214 may drive the shoveling actuator 22 to integrally rotate, thereby realizing the integral turning motion of the shoveling actuator 22 around the vertical axis.

Please refer to fig. 3. The first traveling device 211 comprises a cart frame 2111 and a cart traveling device 2112 arranged at the bottom of the cart frame 2111, the cart frame 2111 comprises two first frames 2113 arranged oppositely and two second frames 2114 connecting the two first frames 2113, the two first frames 2113 and the two second frames 2114 form a hollow rectangular frame-shaped structure together, and the second traveling device 212 is arranged in a space formed by the two first frames 2113 and the two second frames 2114. The cart traveling device 2112 includes two driving wheels 2115 and two driven wheels 2116, and the driving wheels 2115 and the driven wheels 2116 are respectively and correspondingly located on the two traveling rails 1121, so that the driving wheels 2115 are applied with driving force to drive the first traveling device 211 to move on the traveling rails 1121, that is, to move along the length direction of the open wagon 200. Specifically, a second running gear guide rail 2117 is provided on the inner side of the second carriage 2114, the second running gear guide rail 2117 is provided along the width direction of the open wagon 200, and the second running gear 212 is correspondingly provided on the second running gear guide rail 2117.

The second walking device 212 includes a trolley frame 2121 and a driving and guiding device 2122 disposed on the trolley frame 2121, wherein the driving and guiding device 2122 is disposed corresponding to the second walking device guide rail 2117, so that the driving and guiding device 2122 can drive the trolley frame 2121 to move along the second walking device guide rail 2117, i.e., move along the width direction of the open wagon 200. The lifting device 213 is disposed on the trolley frame 2121, so that the lifting device 213 can be driven by the first traveling device 211 and the second traveling device 212 to move along the length and width directions of the open wagon 200.

The lifting device 213 includes a lifting frame 2131, a lifting driving device 2132 disposed on the lifting frame 2131, and a lifting platform 2133 disposed on the lifting driving device 2132, the lifting frame 2131 is fixed on the trolley frame 2121, and the revolving device 214 is disposed on the lifting platform 2133. The lifting driving device 2132 is used for driving the lifting platform 2133 to perform lifting movement, so as to drive the shoveling executing mechanism 22 to perform lifting movement along the height direction of the open wagon 200. Specifically, the lifting driving device 2132 may be any device capable of driving the lifting platform 2133 to lift, such as a chain lifting mechanism, a rack and pinion mechanism, a steel wire rope winding mechanism, a hydraulic cylinder lifting mechanism, and other linear motion mechanisms. Preferably, the lifting platform 2133 is further provided with a guide device 2134, and the guide device 2134 can move up and down along a guide rail on the lifting frame 2131, so that the lifting driving device 2132 can drive the lifting platform 2133 to lift more stably.

The rotation device 214 includes a rotation driving device 2141 and a rotation supporting device, the rotation driving device 2141 is fixed to the lifting platform 2133, and the rotation driving device 2141 is configured to drive the rotation driving device 2141 to rotate. The turning device 214 can drive the shoveling actuating mechanism 22 to integrally rotate, so as to adjust the operation direction, and realize the function of adjusting the posture and direction of the shoveling actuating mechanism 22 during operation.

Please refer to fig. 4. The slewing bearing device comprises a slewing upper support, a slewing lower support 2142 and a slewing bearing 2143, the slewing upper support and the lifting platform 2133 are of an integrated structure, the slewing upper support is fixedly connected with a fixing ring of the slewing bearing 2143, and the slewing lower support 2142 is fixedly connected with a rotating ring of the slewing bearing 2143. The slewing bearing 2143 bears all the loads of the shoveling actuator 22, and the slewing driving device 2141 is used for driving the slewing bearing 2143 to rotate, so as to drive the shoveling actuator 22 to rotate integrally.

The shoveling executing mechanism 22 comprises a shoveling frame 221, a bucket assembly 222 and a sweeping assisting assembly 223, the shoveling frame 221 is fixedly connected with the rotary lower support 2142, the bucket assembly 222 is provided with a feeding hole, the sweeping assisting assembly 223 is located on the front side of the bucket assembly 222, and the sweeping assisting assembly 223 is correspondingly located on the feeding hole of the bucket assembly 222. Wherein, the front side of the bucket assembly 222 is the side toward which the feed inlet of the bucket assembly 222 faces, and the rear side of the bucket assembly 222 is the side away from which the feed inlet of the bucket assembly 222 faces. Therefore, materials in the compartment of the open wagon 200 can be guided and collected into the bucket assembly 222 through the sweeping assisting assembly 223, the cleaning efficiency of the material shoveling executing mechanism 22 is accelerated, the sweeping assisting assembly 223 can also clean the materials, the materials are prevented from being bonded on the inner wall of the compartment of the open wagon 200, and the cleaning effect of the material shoveling executing mechanism 22 on the materials is better. When the material in the bucket assembly 222 is full, the moving frame 21 can transport the bucket assembly 222 to the top of the discharging system 30, and the material in the bucket assembly 222 is dumped into the discharging system 30 for recycling.

Specifically, the shoveling frame 221 is fixed below the lower rotary support 2142 through a lower rotary support connecting seat 2144.

The bucket assembly 222 includes a bucket driving device 2221, a first link 2222, a second link 2223 and a bucket 2224, wherein two ends of the first link 2222 are respectively hinged to the second link 2223 and the material shoveling frame 221, and two ends of the second link 2223 are respectively hinged to the first link 2222 and the bucket 2224. In this embodiment, the bucket driving device 2221 is a hydraulic cylinder, and two ends of the bucket driving device 2221 are respectively hinged to the lower swing seat connecting seat 2144, the first connecting rod 2222, and the second connecting rod 2223. The shoveling frame 221, the first link 2222, the second link 2223, and the bucket 2224 together form a four-link mechanism, and the four-link mechanism can drive the bucket 2224 to swing, so that the bucket 2224 can be in different postures. Specifically, when the bucket 2224 is in a horizontal state, the bucket 2224 can recycle the materials in the compartment of the truck 200, and when the bucket 2224 is in an approximately vertical state, the bucket 2224 can dump and discharge the collected materials. One hinge point of the bucket driving device 2221 is connected to a hinge point on the lower swing support connecting seat 2144, and the other hinge point of the bucket driving device 2221 is connected to hinge points on the first connecting rod 2222 and the second connecting rod 2223, so that the bucket driving device 2221 drives the hinge points of the first connecting rod 2222 and the second connecting rod 2223 to move, and further drives the four-bar linkage to move, thereby changing the posture of the bucket 2224. The sweeping assisting assembly 223 is disposed at a feeding port of the bucket 2224 to sweep and guide the materials into the bucket 2224, that is, the sweeping assisting assembly 223 is disposed right in front of the bucket 2224 to assist in sweeping and recycling the materials. The second link 2223 is connected to a rear end of the bucket 2224 to control a posture of the bucket 2224, thereby discharging the material collected in the bucket 2224. Of course, in other embodiments, the bucket driving device 2221 may be hinged at any position, as long as the bucket driving device 2221 can drive the bucket 2224 to change the posture, for example, the bucket driving device 2221 may also be hinged to the shoveling frame 221.

Preferably, a vibration device can be arranged inside the bucket 2224, so that when the bucket 2224 dumps materials, the materials adhered inside can be vibrated down by the vibration device, and the materials are prevented from being adhered inside the bucket 2224 to affect the working efficiency and the cleaning efficiency of the bucket 2224. Meanwhile, a detection device can be arranged inside the bucket 2224, the volume of the materials inside the bucket 2224 can be automatically detected by detecting the amount of the materials inside the bucket 2224, and the materials are prevented from overflowing after being filled in the bucket 2224.

Please refer to fig. 5 and fig. 6 in combination. In this embodiment, the sweeping module 223 is a rolling brush module, the sweeping module 223 includes a sweeping frame 224, a rolling brush supporting arm 225, a rolling brush device 226, a rolling brush driving device 227 and an adjusting device 228, the sweeping frame 224 is fixedly connected to the shoveling frame 221, one end of the rolling brush supporting arm 225 is connected to the rolling brush device 226 to support the rolling brush device 226, and the other end of the rolling brush supporting arm 225 is hinged to the sweeping frame 224 through a rotating shaft 229. The rolling brush device 226 is disposed at an end of the rolling brush support arm 225 away from the sweeping machine frame 224, the rolling brush driving device 227 is connected to the rolling brush device 226 for driving the rolling brush device 226 to rotate, and one end of the adjusting device 228 is hinged to the sweeping machine frame 224, and the other end is hinged to the rolling brush support arm 225.

Specifically, two rolling brush supporting arms 225 are provided, the two rolling brush supporting arms 225 are respectively hinged to two ends of the sweeping assisting machine frame 224, and the two rolling brush supporting arms 225 are respectively connected with the rolling brush device 226 to support the rolling brush device 226. Correspondingly, two adjusting devices 228 are provided, and one adjusting device 228 is correspondingly provided on each rolling brush supporting arm 225. In this embodiment, the adjusting device 228 is an adjusting cylinder, one hinge point of the adjusting device 228 is connected to the sweeping machine frame 224, and the other hinge point of the adjusting device 228 is connected to the middle of the rolling brush supporting arm 225. Since the roll brush support arm 225 is hinged to the sweeping machine frame 224 by the rotation shaft 229, the roll brush support arm 225 can rotate about the rotation shaft 229 with respect to the sweeping machine frame 224.

The rolling brush device 226 includes a rolling brush driving shaft 2261, a central rolling brush 2262 and a side rolling brush 2263, wherein the rolling brush driving shaft 2261 is sleeved on one end of the rolling brush supporting arm 225 far away from the sweeping assisting frame 224, and specifically, the rolling brush driving shaft 2261 is sleeved on a hinge point of one end of the rolling brush supporting arm 225 far away from the sweeping assisting frame 224, so that the rolling brush driving shaft 2261 can rotate around the hinge point. The rolling brush driving device 227 is connected to the rolling brush driving shaft 2261 to drive the rolling brush driving shaft 2261 to rotate, so as to drive the central rolling brush 2262 and the side rolling brushes 2263 to rotate to clean the material. The central rolling brush 2262 is fixed to a side surface of the rolling brush driving shaft 2261, and the side rolling brushes 2263 are fixed to an end surface of the rolling brush driving shaft 2261, specifically, two side rolling brushes 2263 are provided, and the two side rolling brushes 2263 are respectively and correspondingly fixed to two end surfaces of the rolling brush driving shaft 2261. The central rolling brush 2262 is disposed corresponding to the feeding hole of the bucket 2224 to sweep and guide the materials into the bucket 2224, and when the central rolling brush 2262 works, the rolling brush device 226 may form an approximately tangent state with the bottom surface of the bucket 2224 in a horizontal state, so as to sweep the materials better. The two side rolling brushes 2263 are used for cleaning residual materials on the side wall of the compartment of the open wagon 200, and the side rolling brushes 2263 are arranged to prevent the material shoveling actuator 22 from colliding with the side wall of the compartment of the open wagon 200, preferably, a spacing distance between the two side rolling brushes 2263 is greater than the length of the bucket 2224, that is, the length between the two side rolling brushes 2263 is the longest length of each component in the material shoveling actuator 22, so that the two side rolling brushes 2263 effectively prevent other components of the material shoveling actuator 22 from colliding with the side wall of the compartment of the open wagon 200, and the operation stability of the material shoveling actuator 22 is effectively guaranteed.

The rolling brush driving device 227 comprises a hydraulic motor 2271 and a chain transmission unit 2272, wherein one end of the chain transmission unit 2272 is connected with the hydraulic motor 2271, and the other end is connected with the rolling brush driving shaft 2261, so that the hydraulic motor 2271 drives the chain transmission unit 2272 to move, and then the rolling brush driving shaft 2261 is driven to rotate. Specifically, the hydraulic motor 2271 and the driving sprocket of the chain transmission unit 2272 are fixed to the roller brush support arm 225, and the driven sprocket of the chain transmission unit 2272 is fixed to the roller brush drive shaft 2261. More specifically, the driven sprocket of the chain transmission unit 2272 is located between the central rolling brush 2262 and the side rolling brush 2263, and the hydraulic motor 2271 is located inside the sweeping assisting assembly 223, that is, the hydraulic motor 2271 is located at a side close to the central rolling brush 2262, so that the hydraulic motor 2271 can be effectively prevented from colliding with the compartment of the open wagon 200, the hydraulic motor 2271 is effectively protected, and the stable operation of the shoveling actuator 22 is ensured.

The sweeping assisting frame 224, the rolling brush supporting arms 225, the adjusting device 228 and the rolling brush driving shaft 2261 form a rolling brush compensation device, the two adjusting devices 228 drive the two rolling brush supporting arms 225 to swing synchronously, so as to drive the rolling brush driving shaft 2261 to swing up and down, and when the central rolling brush 2262 is worn, the wear loss of the central rolling brush 2262 can be automatically compensated through the rolling brush compensation device, so that the working effectiveness of the sweeping assisting assembly 223 is ensured.

It will be appreciated that when the sweeping assembly 223 encounters large masses of material that exceed the rolling brush handling capacity, the rolling brush assembly 226 can be swung upwardly as a whole by the rolling brush compensation device, lifting the rolling brush assembly 226 as a whole, so that the material can be scooped directly for recovery via the bucket 2224.

Please continue to refer to fig. 1. The discharging system 30 comprises a grate groove 31, a jaw crusher 32 and a belt conveyor, wherein the grate groove 31 is arranged on the side edge of the track 300, the grate groove 31 is positioned between the two supporting mechanisms 11, and the arrangement direction of the grate groove 31 is the same as that of the track 300. The jaw crusher 32 is arranged on the grate groove 31, the belt conveyor is arranged under the grate groove 31, a plurality of through holes are formed in the grate groove 31, and materials can flow into the belt conveyor through the through holes. The jaw crusher 32 is used for crushing large-sized materials, aggregated massive materials, large-sized frozen materials in winter and the like in the compartment of the gondola car 200, and prevents the large-sized materials from blocking the grate channel 31. When the material that fills up in the scraper bowl 2224 is when the size is great, the scraper bowl 2224 moves to through removing support body 21 the pan feeding mouth above the jaw crusher 32, then the scraper bowl 2224 is poured the material into carry out the breakage in the jaw crusher 32, break into the great material of size and accord with the grate ditch 31 leaks the specification, then the rethread grate ditch 31 falls into band conveyer, again by band conveyer carries the material to the assigned position. When the bucket 2224 is filled with a small amount of material, the bucket 2224 can directly dump the material into the grate channel 31, and the belt conveyor can convey the material to a designated position.

It is understood that in this embodiment, the jaw crusher 32 is used in the discharge system 30, although in other embodiments, other types of crushing mechanisms may be used in the discharge system 30.

The working principle of the material recovery system 100 is as follows: after the carriage of the truck 200 is positioned and fixed, the shoveling actuator 22 moves to the material position in the carriage of the truck 200 through the moving frame body 21, and the bucket assembly 222 recovers the residual material of the residual material including large particles and most medium particles into the bucket 2224 of the bucket assembly 222 through the sweeping-assistant assembly 223 and in cooperation with the movement of the moving frame body 21. When the bucket 2224 is filled with the material, the bucket 2224 moves above the grate channel 31 by the moving frame 21, and then the bucket 2224 dumps the material into the grate channel 31 or the jaw crusher 32 as the case may be, and finally the material is carried to a designated position by the belt conveyor below the grate channel 31. If the material of the dipper 2224 is small particles, then the material is poured directly into the grate channel 31; when the material of the bucket 2224 is large pieces of large particulate material, then the material is dumped into the jaw crusher 32.

The shoveling actuator 22 obtains linear motion along the length direction of the carriage of the open wagon 200 through the linear motion of the first traveling device 211, obtains linear motion along the width direction of the carriage of the open wagon 200 through the linear motion of the second traveling device 212, obtains linear motion along the height direction of the carriage of the open wagon 200 through the linear motion of the lifting device 213, and obtains 360-degree integral rotary motion around a vertical shaft through the rotary motion of the rotary device 214.

The shoveling executing mechanism 22 is driven by the moving frame body 21 to obtain four-axis motion inside the carriage of the open wagon 200, can perform path planning by detecting and feeding back position information of an executing end in real time through a sensor, and completes automatic/semi-automatic mechanical cleaning and recovery work of residual materials including large particles and most small and medium-sized particles inside the carriage of the open wagon 200 by matching with an anti-collision system.

It should be noted that the driving devices for the components in the material recycling system 100 are not limited to hydraulic driving, and the driving devices for the components in the material recycling system 100 may also be any other driving methods, for example, the driving by the hydraulic motor 2271 may be changed to driving by an electric motor.

It can be understood that the material recovery system 100 provided by the embodiment does not need to open or close the compartment door of the open wagon 200 during operation, thereby reducing a large amount of labor force and labor intensity; can improve carriage material cleaning efficiency by a wide margin, reduce carriage detention time, guarantee the stability of carriage cleanliness factor, reduce by the possibility of railway director's department fine. Promote carriage bottom material through the scraper bowl, have stronger adaptability to large granule and well tiny particle, need not to open and close carriage door. The bucket has a simple structure and high reliability. Through the sweeping-assistant assembly, solid particles can be easily collected inside the bucket. And through the sweeping-assistant assembly, the materials adhered to the bottom can be loosened, and the cleaning effect is improved. Through handle control and camera observation mode, the remote control cartesian robot carries out multi freedom motion, carries out fixed point or regional clearance entirely to the carriage bottom. Carry on shovel material actuating mechanism with four degrees of freedom cartesian robot, the three-axis linear motion of robot and whole rotary motion fix a position very conveniently in the gondola car carriage, and end effector control is more convenient. Through a one-key automation button, the whole area of the bottom of the carriage is automatically cleaned. Through detecting the material quantity in the bucket, the volume of the material in the bucket is automatically detected, and the overflow after the material is full is avoided.

Example two

Please refer to fig. 7. The present embodiment provides a material recycling system 400, which has substantially the same structure as the material recycling system 100 in the first embodiment, except that:

the shoveling actuator 410 of the material recycling system 400 is different from the shoveling actuator 22 of the first embodiment. Specifically, the shoveling executing mechanism 410 includes a shoveling frame 411, a shovel component 412, a sweeping assisting component 413 and a hydraulic breaking hammer 414, the shovel component 412 and the sweeping assisting component 413 are respectively connected to the shoveling frame 411, the sweeping assisting component 413 corresponds to a feeding port of the shovel component 412, and the hydraulic breaking hammer 414 is disposed on the shovel component 412. The shovel frame 411 and the bucket assembly 412 are similar to the shovel frame 221 and the bucket assembly 222 in the first embodiment.

The sweeping assisting component 413 comprises a sweeping assisting rack 415, a rolling brush component 416 and a disc brush component 417, the sweeping assisting rack 415 is fixedly connected with the shoveling rack 411, and the rolling brush component 416 and the disc brush component 417 are arranged on the sweeping assisting rack 415. The rolling brush assembly 416 comprises an adjusting device 4161, a rolling brush supporting arm 4162, a rolling brush device 4163 and a rolling brush driving device 4164, wherein two ends of the adjusting device 4161 are respectively hinged with the sweeping machine frame 415 and the rolling brush supporting arm 4162, two ends of the rolling brush supporting arm 4162 are respectively hinged with the adjusting device 4161 and the rolling brush device 4163, and the rolling brush driving device 4164 and the rolling brush device 4163 are used for driving the rolling brush device 4163 to rotate.

The rolling brush device 4163 includes a rolling brush driving shaft and a central rolling brush provided at a side surface of the rolling brush driving shaft, the rolling brush supporting arm 4162 is hinged to the rolling brush driving shaft, and the rolling brush driving device 4164 is connected to the rolling brush driving shaft. Specifically, two adjusting devices 4161 and two rolling brush supporting arms 4162 are respectively arranged and located at two ends of the rolling brush driving shaft. The adjusting device 4161, the rolling brush supporting arms 4162 and the rolling brush driving shaft form a rolling brush compensation device, so that the two adjusting devices 4161 drive the two rolling brush supporting arms 4162 to synchronously swing, thereby driving the rolling brush driving shaft to swing up and down, and after the central rolling brush is worn, the wear loss of the central rolling brush can be automatically compensated through the rolling brush compensation device, thereby ensuring the working effectiveness of the rolling brush device 4163. In this embodiment, the rolling brush device 4163 is located inside the sweeping machine frame 415, and both ends of the rolling brush driving shaft respectively extend out of the sweeping machine frame 415, and the adjusting device 4161, the rolling brush supporting arm 4162 and the rolling brush driving device 4164 are all disposed outside the sweeping machine frame 415. An avoidance groove 4151 is formed in the sweeping machine frame 415 corresponding to the rolling brush device 4163, the avoidance groove 4151 is formed through a sidewall of the sweeping machine frame 415, and the avoidance groove 4151 is formed in a height direction, so that when the rolling brush compensation device adjusts the position of the rolling brush device 4163, the sweeping machine frame 415 does not block the position of the rolling brush device 4163. The roller brush driving device 4164 has substantially the same structure as the roller brush driving device 227 according to the first embodiment, and the roller brush driving device 4163 is driven by a hydraulic motor and a chain transmission unit.

Please refer to fig. 8. The disc brush assembly 417 is disposed at the front side of the rolling brush assembly 416, that is, at the front side of the rolling brush device 4163, the disc brush assembly 417 includes a disc brush frame 4171, a parallelogram mechanism 4172, a disc brush compensation device 4173, a disc brush angle adjustment seat 4174, a disc brush device 4175 and a buffer device 4176, the disc brush frame 4171 is fixed on the sweeping-assistant frame 415, one end of the parallelogram mechanism 4172 is hinged to the disc brush frame 4171, and the other end is connected to the disc brush angle adjustment seat 4174. The disc brush compensation device 4173 is arranged in the parallelogram 4172 for adjusting the posture of the parallelogram 4172, that is, the disc brush compensation device 4173 is used for driving the parallelogram 4172 to move, so as to adjust the position of the disc brush device 4175. The disc brush device 4175 is arranged on the disc brush angle adjusting seat 4174, and the disc brush angle adjusting seat 4174 is connected with one end of the parallelogram mechanism 4172, which is far away from the disc brush frame 4171. In this embodiment, the damping device 4176 is a damping cylinder, one end of the damping device 4176 is hinged to the cylinder seat 4152 on the sweeping machine frame 415, and the other end is hinged to the parallelogram 4172, and the damping device 4176 is configured to drive the parallelogram 4172 to move relative to the disc brush frame 4171.

Specifically, the parallelogram mechanism 4172 includes a swinging frame 41721, a lifting link seat 41722, a connecting rod 41723, and a connecting plate 41724, the swinging frame 41721 and the lifting link seat 41722 are spaced from each other, the rear end of the swinging frame 41721 is hinged to the disc brush frame 4171 through a swinging rotating shaft 4177, and the swinging rotating shaft 4177 is arranged in the vertical direction, that is, the swinging frame 41721 is hinged to the disc brush frame 4171 in the vertical direction. Two ends of the connecting rod 41723 are respectively hinged with the front end of the swinging frame 41721 and the lifting connecting rod seat 41722, two ends of the connecting plate 41724 are respectively hinged with the front end of the swinging frame 41721 and the lifting connecting rod seat 41722, the connecting plate 41724 is positioned below the connecting rod 41723, and the hinging directions of the connecting rod 41723 and the swinging frame 41721, the connecting rod 41723 and the lifting connecting rod seat 41722, the connecting plate 41724 and the swinging frame 41721, and the connecting plate 41724 and the lifting connecting rod seat 41722 are all along the horizontal direction. In this embodiment, the disc brush compensating device 4173 is a disc brush compensating cylinder, and one end of the disc brush compensating device 4173 is hinged to the front end of the oscillating frame 41721, and the other end is hinged to the connecting plate 41724.

The parallelogram mechanism 4172 and the disc brush compensation device 4173 jointly form a disc brush compensation device, the disc brush compensation device 4173 drives the parallelogram mechanism 4172 to move, and drives the lifting connecting rod seat 41722 to move up and down, so that the disc brush device 4175 is driven to move, and the compensation of the abrasion loss of the disc brush device 4175 is realized.

The buffer device 4176 is hinged to the cylinder block 4152 at one end and hinged to a side end of the swing frame 41721 at the other end, and the buffer device 4176 is configured to drive the parallelogram mechanism 4172 to rotate relative to the disc brush frame 4171, so as to drive the disc brush device 4175 to swing. Specifically, the buffer device 4176 is provided with an energy accumulator, the disc brush holder 4171, the swing rotating shaft 4177, the swing frame 41721 and the buffer device 4176 constitute a disc brush swing device, and the buffer device 4176 drives the disc brush device 4175 to swing back and forth around a vertical shaft.

It can be understood that, since the buffer unit 4176 is provided with an energy accumulator, when the disk brush unit 4175 encounters a rigid obstacle, the buffer unit 4176 retracts due to the energy accumulator, so that the disk brush unit 4175 can smoothly avoid the rigid obstacle in the vehicle cabin, and the buffer unit 4176 can absorb energy.

The disc brush device 4175 is fixed to the disc brush angle adjusting seat 4174, and a brush head of the disc brush device 4175 faces downward. The rotation of the pan brush assembly 4175 serves to funnel nearby material into the area of the bucket assembly 412, increasing cleaning efficiency. Specifically, the disc brush angle adjusting seat 4174 is provided with an arc-shaped groove 41741, and a corresponding portion of the arc-shaped groove 41741 is connected to the lifting link seat 41722, so that the inclination angle of the disc brush device 4175 can be adjusted through the arc-shaped groove 41741, and the disc brush device 4175 has a better cleaning effect.

Please continue to refer to fig. 7. Two disc brush assemblies 417 are provided, and the two disc brush assemblies 417 are respectively located at two sides of the front end of the sweeping assisting frame 415. The arrangement of the disc brush device 417 can collect materials near the outside of the bucket assembly 412 to the area of the bucket assembly 412, and the bristles of the disc brush device 4175 can avoid rib plates protruding from the wall of the open wagon, so that the shovel actuator 410 is prevented from colliding with the compartment of the open wagon.

The hydraulic breaking hammer 414 is arranged at the tail part of the bucket in the bucket assembly 412 and is used for breaking oversized bonding materials at the bottom of the open wagon compartment and on the wagon wall, so that the material recovery effect of the material recovery system 400 on the materials is increased.

EXAMPLE III

Please refer to fig. 9. The present embodiment provides a material recycling system 500, which has substantially the same structure as the material recycling system 100 in the first embodiment, except that:

the shoveling actuator 510 of the material recycling system 500 is different from the shoveling actuator 22 of the first embodiment. Specifically, the shoveling executing mechanism 510 includes a shoveling frame 511, a bucket assembly 512, a sweeping-assistant assembly 513 and a car wall sweeping assembly 514, the bucket assembly 512, the sweeping-assistant assembly 513 and the car wall sweeping assembly 514 are respectively connected with the shoveling frame 511, and the sweeping-assistant assembly 512 corresponds to the feeding port of the bucket assembly 512. The shovel frame 511, the bucket assembly 512 and the sweeping assistant assembly 513 are similar to the shovel frame 221, the bucket assembly 222 and the sweeping assistant assembly 223 in the first embodiment.

The car wall cleaning component 514 comprises a car wall cleaning driving device 5141, a movable frame 5142, a fixed frame 5143, a frame connecting rod 5144, a column brush device 5145 and a car wall disc brush device 5146, wherein the fixed frame 5143 is fixedly connected with the material shoveling frame 511, one end of the frame connecting rod 5144 is hinged to the fixed frame 5143, the other end of the frame connecting rod 5144 is hinged to the movable frame 5142, two frame connecting rods 5144 are arranged, and the two frame connecting rods 5144 are parallel to each other and arranged at intervals. The column brush device 5145 and the wall disc brush device 5146 are both arranged on the movable frame 5142, and the wall cleaning driving device 5141 is hinged to the movable frame 5142 to drive the movable frame 5142 to move.

Specifically, the wall cleaning driving device 5141 is a wall cleaning driving cylinder, one end of the wall cleaning driving device 5141 is hinged to the movable frame 5142, and the other end of the wall cleaning driving device 5141 is hinged to the rotary lower support. The movable frame 5142, the fixed frame 4143 and the two frame links 5144 together form a parallelogram mechanism, and the wall cleaning driving device 5141 is used for driving the parallelogram mechanism to move, so as to adjust the positions of the column brush device 5145 and the wall disc brush device 5146. When the sweeping assembly 513 is in a sweeping mode at the bottom of an open wagon, the parallelogram mechanism recovers the column brush device 5145 and the wall disc brush device 5146 to the upper part of the sweeping assembly 513, and the outer boundary of the column brush device 5145 and the wall disc brush device 5146 does not exceed the sweeping assembly 513, so that the sweeping assembly 513 and the wall sweeping assembly 514 are prevented from interfering with each other during operation; when a wall cleaning mode is required, the parallelogram mechanism extends the column brush device 5145 and the wall disc brush device 5146 out of the sweeping aid assembly 513 for a certain distance, so that the column brush device 5145 and the wall disc brush device 5146 can clean the surface of the wall of the carriage, corners, pits, corners and the like of the carriage with residual materials.

It should be noted that the wall cleaning assembly 514 provided in this embodiment can also be applied to the second embodiment. That is to say, the structures with the rolling brush cleaning device, the disc brush cleaning device, the bucket dumping device, the breaking hammer and the car wall cleaning device can be correspondingly combined according to different functional requirements, and a new material recovery system is formed.

Meanwhile, in other embodiments, the traveling rail 1121 may also be disposed on the ground, so that the first traveling device 211 is changed into a gantry frame, thereby eliminating a steel structure support of the support system 10 and reducing the difficulty of civil construction.

Compared with the prior art, the shovel material actuating mechanism provided by the invention has the advantages that the sweeping-assistant assembly is arranged at the feeding port of the bucket assembly, materials can be well swept and guided into the bucket assembly through the sweeping-assistant assembly, so that the cleaning efficiency is improved, the bonded materials can be loosened through the sweeping-assistant assembly, and the cleaning effect is also improved. Meanwhile, the labor intensity of workers can be effectively reduced through a mechanical cleaning mode, and the labor cost is reduced.

Correspondingly, the material recovery system provided by the invention adopts the shoveling actuating mechanism, so that the cleaning efficiency is improved, and the cleaning effect is also improved. Simultaneously the scraper bowl subassembly with the subassembly of sweeping the help set up in on the removal support body, through remove the support body can drive the scraper bowl subassembly with the subassembly of sweeping the help removes, realizes the clearance to each region, through automatic clearance, has also effectively reduced the human cost.

While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.

Claims (10)

1. A shovel actuator, comprising:

a shoveling machine frame;

the scraper bucket assembly is arranged on the material shoveling rack and is provided with a feeding hole;

and the sweeping assisting assembly is arranged on the shoveling rack and is positioned at the front side of the bucket assembly and corresponds to the feeding port of the bucket assembly.

2. The scoop actuator of claim 1, wherein the sweeping assembly comprises:

the sweeping-assistant rack is fixedly connected with the shoveling rack;

one end of the rolling brush supporting arm is arranged on the sweeping assisting rack;

the rolling brush device is sleeved at the other end of the rolling brush supporting arm and is correspondingly positioned at the feed inlet of the bucket assembly;

the rolling brush driving device is connected with the rolling brush device and used for driving the rolling brush device to rotate;

and one end of the adjusting device is connected with the sweeping assisting rack, and the other end of the adjusting device is connected with the rolling brush supporting arm and used for adjusting the height of the rolling brush device.

3. The shovel actuator of claim 2, wherein the roller brush device comprises:

the rolling brush driving shaft is sleeved on the rolling brush supporting arm;

a central roll brush provided to a side surface of the roll brush driving shaft;

the rolling brush driving device is connected with the rolling brush driving shaft.

4. The shovel actuator of claim 3, wherein the roller brush device further comprises:

and the side rolling brush is arranged on the end surface of the rolling brush driving shaft.

5. The scooping actuator of claim 4, further comprising:

the car wall cleans the subassembly, set up in on the shovel material frame, the car wall cleans the subassembly and includes:

the fixed rack is fixedly connected with the shoveling rack;

one end of the rack connecting rod is hinged with the fixed rack;

the movable rack is hinged with the other end of the rack connecting rod;

the column brush device is arranged on the movable rack;

the wall disc brush device is arranged on the movable rack;

and the wall cleaning driving device is connected with the movable rack and used for driving the movable rack to move.

6. The scoop actuator of claim 3, wherein the sweeping assembly further comprises:

dish brush subassembly set up in the front side of round brush device, dish brush subassembly includes:

the disc brush rack is fixed on the sweeping assisting rack;

one end of the parallelogram mechanism is hinged with the disc brush machine frame;

the disc brush angle adjusting seat is connected with the other end of the parallelogram mechanism;

the disc brush device is arranged on the disc brush angle adjusting seat;

the disc brush compensation device is arranged in the parallelogram mechanism and used for driving the parallelogram mechanism to move;

and one end of the buffer device is connected with the sweeping assisting rack, and the other end of the buffer device is connected with the parallelogram mechanism and used for driving the parallelogram mechanism to move relative to the disc brush rack.

7. The shovel actuator of claim 6, wherein the parallelogram linkage comprises:

the rear end of the swinging rack is hinged with the disc brush rack;

the lifting connecting rod seat is spaced from the swinging rack;

one end of the connecting rod is hinged with the front end of the swinging rack, and the other end of the connecting rod is hinged with the lifting connecting rod seat;

one end of the connecting plate is hinged with the front end of the swinging rack, and the other end of the connecting plate is hinged with the lifting connecting rod seat;

the disc brush adjusting seat is connected with the lifting connecting rod seat, one end of the disc brush compensating device is connected with the front end of the swinging rack, the other end of the disc brush compensating device is connected with the connecting plate, the buffer device is provided with an energy accumulator, and the buffer device is connected with the side end of the swinging rack.

8. The shovel actuator of any one of claims 1 to 7, wherein the dipper assembly comprises:

one end of the first connecting rod is hinged with the shoveling rack;

one end of the second connecting rod is hinged with the other end of the first connecting rod;

a bucket hinged with the other end of the second connecting rod;

and one end of the bucket driving device is connected with the shoveling rack, and the other end of the bucket driving device is connected to the hinged position of the first connecting rod and the second connecting rod and used for driving the second connecting rod to drive the bucket to rotate.

9. A material recovery system, comprising:

a support system;

the material shoveling system comprises a movable frame body and a material shoveling actuating mechanism, the movable frame body is arranged on the supporting system, and the material shoveling actuating mechanism is arranged on the movable frame body;

the discharging system is positioned below the movable frame body and used for recovering materials in the shoveling system;

wherein the shoveling actuator is the shoveling actuator according to any one of claims 1 to 8.

10. The material recovery system of claim 9, wherein the support system is provided with a running rail thereon, and the moving frame body comprises:

the first walking device is arranged on the walking track and can move along the walking track;

the second walking device is arranged on the first walking device and can move along the first walking device;

the lifting device is arranged on the second walking device and used for driving the shoveling executing mechanism to lift;

the rotating device is arranged on the lifting device and used for driving the shoveling actuating mechanism to rotate;

the discharge system comprises:

the grate ditch is arranged below the first travelling device and is provided with a plurality of through holes;

the crusher is arranged on the grate ditch;

and the conveyor is arranged below the grate ditch.

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