CN113530269A

CN113530269A - Automatic brick piling construction device

Info

Publication number: CN113530269A
Application number: CN202110834041.0A
Authority: CN
Inventors: 宋二玮
Original assignee: Nanjing Higher Vocational And Technical School (jiangsu United Vocational And Technical College Nanjing Branch)
Current assignee: Nanjing Higher Vocational And Technical School (jiangsu United Vocational And Technical College Nanjing Branch)
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2021-10-22
Anticipated expiration: 2041-07-23
Also published as: CN113530269B

Abstract

The invention provides an automatic brick stacking construction device which comprises a ground track, wherein a tower is arranged on the ground track and is provided with a guide wheel, a driving motor, a feeding and conveying device, a circulating lifting device, a discharging and conveying device, a large arm and a large arm oil cylinder; the guide wheel is arranged in a guiding way with the ground track, and the driving motor drives the guide wheel; the feeding conveying device is close to the bottom of the tower, and the discharging conveying device is close to the top of the tower; the large arm oil cylinder is connected with the large arm, the other end of the large arm is provided with a small arm, and the other end of the small arm is provided with a mechanical arm; a small arm oil cylinder is connected between the large arm and the small arm; the large arm is provided with a large arm conveying device, the small arm is provided with a small arm conveying device, and the mechanical arm is provided with a visual sensor; the bricks are conveyed to the grabbing range of the mechanical arm sequentially through the feeding conveying device, the circulating lifting device, the discharging conveying device, the large arm conveying device and the small arm conveying device. According to the invention, the tower is utilized to realize the movement in the length direction in the construction site, the large arm and the small arm are utilized to realize the movement in the width direction and the height direction in the construction site, and the manipulator is utilized to realize the accurate placement of bricks, so that the automatic three-dimensional assembly is formed, and the building of the building is completed.

Description

Automatic brick piling construction device

Technical Field

The invention belongs to the technical field of construction machinery, and particularly relates to an automatic brick stacking construction device.

Background

Construction machines, as their name implies, are mechanical devices used to construct various construction facilities, such as the common tower cranes. At present, when buildings such as buildings are built, the tower crane is one of mechanical devices which must be used. However, for the construction of a building which occupies a small area and is short, large equipment such as a tower crane cannot be used due to limited site, and therefore, the building can be constructed only in a manual mode. Thus, the construction progress is delayed and the labor cost is increased.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: provided is an automatic brick-piling construction device which can meet the construction requirements for constructing a short building in a small place, thereby improving the construction progress and reducing the construction cost.

The invention is realized by the following steps: an automatic brick stacking construction device comprises a ground track, wherein a tower is arranged on the ground track and is provided with a guide wheel, a driving motor, a feeding and conveying device, a circulating lifting device, a discharging and conveying device, a large arm and a large arm oil cylinder; the guide wheel is arranged in a guiding manner with the ground track, and the driving motor drives the guide wheel; the feeding conveying device is close to the bottom of the tower, and the discharging conveying device is close to the top of the tower; the large arm oil cylinder is connected with the large arm, a small arm is arranged at the other end of the large arm, and a mechanical arm is arranged at the other end of the small arm; a small arm oil cylinder is connected between the large arm and the small arm; the large arm is provided with a large arm conveying device, the small arm is provided with a small arm conveying device, and the mechanical arm is provided with a visual sensor;

the bricks are conveyed to the grabbing range of the mechanical arm sequentially through the feeding conveying device, the circulating lifting device, the discharging conveying device, the large arm conveying device and the small arm conveying device.

Furthermore, the feeding conveying device comprises a feeding rack, and a material blocking rod, a plurality of groups of conveying wheels and a feeding motor are arranged on the feeding rack; the plurality of groups of conveying wheels are sequentially arranged along the conveying direction, and the feeding motor drives the plurality of groups of conveying wheels to rotate through the feeding transmission mechanism so as to finish the conveying of the bricks; the material blocking rod is arranged at the discharging end of the feeding frame to prevent the bricks from moving forwards; a plurality of conveying wheels in the same group are arranged at certain intervals, and the conveying wheels arranged along the same linear direction are connected through the same feeding conveying belt.

Furthermore, the circulating conveying device comprises a lower driving wheel, an upper driving wheel and a circulating motor, wherein the lower driving wheel is arranged at a position close to the bottom of the tower, and the upper driving wheel is arranged at a position close to the top of the tower; the lower driving wheel and the upper driving wheel are in transmission connection through a circulating conveyor belt, and the circulating motor drives the lower driving wheel to rotate; a plurality of fixed seats are arranged on the circulating conveyor belt at equal intervals, a bearing seat is suspended on the fixed seats, and a plurality of bearing rods are arranged on the bearing seat; when the bearing seat passes through the discharge end of the feeding conveying device from bottom to top, the bearing rod of the bearing seat can pass through the interval between the two corresponding conveying wheels, so that bricks on the discharge end of the feeding conveying device are taken away.

Furthermore, the discharging conveying device comprises a discharging rack, a plurality of discharging rollers and a discharging motor are arranged on the discharging rack, the discharging rollers are arranged at certain intervals, and the discharging motor drives the discharging rollers to rotate through a discharging transmission mechanism so as to finish the conveying of the bricks; when the bearing seat passes through the feeding end of the discharging conveying device from top to bottom, the bearing rod of the bearing seat can penetrate through the interval between the two corresponding discharging rollers, so that bricks borne by the bearing rod are placed on the feeding end of the discharging conveying device.

Furthermore, the large arm conveying device and the small arm conveying device are belt conveying devices, first baffle plates are distributed on a conveying belt of the large arm conveying device, and second baffle plates are distributed on a conveying belt of the small arm conveying device.

Further, the mechanical arm comprises a base, a first arm and a first motor for driving the first arm to rotate around a first axis are arranged on the base, a second arm and a second motor for driving the second arm to rotate around a second axis are arranged at the tail end of the first arm, a third arm and a third motor for driving the second arm to rotate around a third axis are arranged at the tail end of the second arm, and a mechanical claw and a fourth motor for driving the mechanical claw to rotate around a fourth axis are arranged at the tail end of the third arm;

the first axis is perpendicular to the base, the second axis is perpendicular to the first axis, the third axis is parallel to the second axis, and the fourth axis is perpendicular to the third axis.

Further, the end of forearm is provided with the mounting panel, be provided with the fender brick board on the mounting panel, the arm set up in on the mounting panel.

Furthermore, the feeding conveying device, the discharging conveying device, the large arm conveying device, the small arm conveying device and the mechanical arm are arranged in a corresponding mode; the bearing seat is arranged on each of two sides of the fixed seat.

Further, the conveying direction of the feeding conveying device is parallel to the ground and the moving direction of the tower, and the conveying direction of the discharging conveying device is parallel to the ground and perpendicular to the moving direction of the tower.

The invention has the following beneficial effects:

1. according to the invention, the tower is utilized to realize the movement in the length direction in the construction site, the large arm and the small arm are utilized to realize the movement in the width direction and the height direction in the construction site, and the manipulator is utilized to realize the accurate placement of bricks, so that the automatic three-dimensional assembly is formed, and the building of the building is completed.

2. According to the automatic brick feeding device, the large arm and the small arm are used as space moving parts and are also used for conveying bricks, and automatic brick feeding is achieved.

3. According to the brick conveying device, the brick can be continuously conveyed from the feeding conveying device to the discharging conveying device by the circulating conveying device, and the brick conveying device and the discharging conveying device are not subjected to movement interference, so that the normal conveying of the bricks is ensured.

Drawings

FIG. 1 is a perspective view of a preferred embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is an enlarged view of a portion of FIG. 1 at B;

FIG. 4 is an enlarged view of a portion of FIG. 1 at C;

FIG. 5 is a perspective view of the embodiment of FIG. 1 from another perspective;

FIG. 6 is an enlarged view of a portion of FIG. 5 at D;

FIG. 7 is a front view of the structure of the embodiment shown in FIG. 1;

FIG. 8 is an enlarged view of a portion of FIG. 7 at E;

fig. 9 is a perspective view of the embodiment of fig. 1 in operation (the direction of movement of the block is indicated by the arrow).

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 to 9, an automatic brick stacking construction device includes a ground rail 1, and the ground rail 1 is designed to be separated and can be laid according to the field situation. The top of the ground track 1 is arranged in a triangular configuration. When the ground track 1 is laid, the ground needs to be leveled, and the ground track 1 is laid horizontally. The ground track 1 should be parallel with the direction of the maximum size of the construction site, ensuring coverage of the whole length direction of the whole building body.

The ground track 1 is provided with a tower 2, and the height of the tower 2 is 5-10 meters. The tower frame 2 is provided with a guide wheel 2.1, a driving motor, a feeding and conveying device 3, a circulating lifting device 4, a discharging and conveying device 5, a large arm 7 and a large arm oil cylinder 6.

The guide wheel 2.1 is arranged at the bottom of the tower frame 2, a V-shaped groove is formed in the outer circular surface of the guide wheel, so that the guide wheel is matched with the triangular structure of the ground track 1 to form guide connection along the linear direction, and the drive motor drives the guide wheel 2.1 to move back and forth along the ground track 1. The feeding conveyor 3 is close to the bottom of the tower 2, and the discharging conveyor 5 is close to the top of the tower 2. The large arm oil cylinder 6 is connected with the large arm 7 to drive the large arm 7 to swing up and down within a certain range. The other end of the big arm 7 is provided with a small arm 8, and the other end of the small arm 8 is provided with a mechanical arm 9. A small arm oil cylinder 14 is connected between the large arm 7 and the small arm 8, and the small arm oil cylinder 14 drives the small arm 8 to swing up and down within a certain range. The large arm 7 is provided with a large arm conveying device 13, the small arm 8 is provided with a small arm conveying device 12, the mechanical arm 9 is provided with a vision sensor, and the vision sensor is used for collecting images so as to feed back the images to a control system and realize accurate control of the mechanical arm 9. In this case, the sum of the lengths of the large arms 7 and the small arms 8 should exceed the maximum width of the entire building body. It should be noted that, big arm 7 and forearm 8 still are provided with the protection casing, place brick 100 and drop and cause personnel's injury in the transportation, have improved the security.

The bricks 100 are conveyed to the grabbing range of the mechanical arm 9 by the feeding conveying device 3, the circulating lifting device 4, the discharging conveying device 5, the large arm conveying device 13 and the small arm conveying device 12 in sequence.

As shown in fig. 4 and 8, the feeding conveyor 3 carries out the conveying of the bricks 100 by: the feeding and conveying device 3 comprises a feeding rack 3.3, the feeding rack 3.3 is fixed on the tower 2, and a material blocking rod 3.6, a plurality of groups of conveying wheels 3.1 and a feeding motor 3.5 are arranged on the feeding rack 3.3. The plurality of groups of conveying wheels 3.1 are sequentially arranged along the conveying direction, and the feeding motor 3.5 drives the plurality of groups of conveying wheels 3.1 to rotate through the feeding transmission mechanism 3.4 so as to finish the conveying of the bricks 100. The material blocking rod 3.6 is arranged at the discharging end of the material loading rack 3.3 to prevent the brick 100 from moving forwards. A plurality of delivery wheel 3.1 in the same group set up with certain interval between, and a plurality of delivery wheel 3.1 that set up along same straight line direction are connected through same material loading conveyer belt 3.2. The excircle face of conveying wheel 3.1 is provided with the recess, and the inside part of material loading conveyer belt 3.2 sets up in the recess.

As shown in fig. 3, 4 and 6, endless conveyor 4 effects the conveying of bricks 100 by: the circulating conveying device 4 comprises a lower driving wheel 4.1, an upper driving wheel 4.2 and a circulating motor, wherein the lower driving wheel 4.1 is rotatably arranged at a position close to the bottom of the tower 2 through a rotating shaft, and the upper driving wheel 4.2 is rotatably arranged at a position close to the top of the tower 2 through a rotating shaft. The lower driving wheel 4.1 and the upper driving wheel 4.2 are in transmission connection through a circulating conveyor belt 4.3, and the circulating motor drives the lower driving wheel 4.1 to rotate. The cyclic conveyer belt 4.3 is equidistantly provided with a plurality of fixing seats 4.4, the fixing seats 4.4 are suspended with bearing seats 4.6, and the bearing seats 4.6 are provided with a plurality of bearing rods 4.7. When the bearing seat 4.6 passes through the discharge end of the feeding conveyor 3 from bottom to top, the bearing rod 4.7 thereof can pass through the interval between the two corresponding conveying wheels 3.1, thereby taking away the brick 100 on the discharge end of the feeding conveyor 3. The carrier bars 4.7 are used to carry the bricks 100 on the one hand and to pass through the spaces between the conveyor wheels 3.1 on the other hand, enabling a seamless engagement of the brick 100 conveying operation.

As shown in fig. 6, outfeed conveyor 5 effects the conveying of bricks 100 by: the discharging and conveying device 5 comprises a discharging machine frame 5.3, and the discharging machine frame 5.3 is fixed on the tower frame 2. A plurality of discharging rollers 5.1 and a discharging motor are arranged on the discharging rack 5.3, the discharging rollers 5.1 are arranged at certain intervals, and the discharging motor drives the discharging rollers 5.1 to rotate through the discharging transmission mechanism 5.2 so as to complete the conveying of the bricks 100. When the carrier 4.6 passes through the feed end of the outfeed conveyor 5 from top to bottom, its carrier bar 4.7 can pass through the space between the two corresponding outfeed rollers 5.1, so as to place the brick 100 it carries on the feed end of the outfeed conveyor 5.

As shown in fig. 1, 2 and 5, the large arm conveying device 13 and the small arm conveying device 12 are both belt conveying devices, a first baffle 13.1 is distributed on the conveying belt of the large arm conveying device 13, and a second baffle 12.1 is distributed on the conveying belt of the small arm conveying device 12. The effect of baffle lies in, when carrying fragment of brick 100, carries on spacingly to fragment of brick 100, avoids fragment of brick 100 to send and slides.

As shown in fig. 2, the robot arm 9 includes a base 9.5, a first arm 9.4 and a first motor for driving the first arm 9.4 to rotate around a first axis I are disposed on the base 9.5, a second arm 9.3 and a second motor for driving the second arm 9.3 to rotate around a second axis II are disposed at a distal end of the first arm 9.4, a third arm 9.2 and a third motor for driving the second arm 9.2 to rotate around a third axis III are disposed at a distal end of the second arm 9.3, a gripper 9.1 and a fourth motor for driving the gripper 9.1 to rotate around a fourth axis IV are disposed at a distal end of the third arm 9.3, and a visual sensor is disposed on the gripper 9.1.

The first axis I is perpendicular to the base 9.5, the second axis II is perpendicular to the first axis I, the third axis III is parallel to the second axis II, and the fourth axis IV is perpendicular to the third axis III. The end of forearm 12 is provided with mounting panel 11, is provided with on the mounting panel 11 and keeps off brick board 10, is provided with the detector on keeping off brick board 10, and after the detector was triggered, arm 9 adjusted the gesture and snatchs. The robot arm 9 is disposed on the mounting plate 11.

In order to improve the construction efficiency, the loading conveying device 3, the discharging conveying device 5, the large arm conveying device 13.1, the small arm conveying device 12.1 and the mechanical arm 9 are arranged in a corresponding mode; the bearing seat 4.6 is respectively arranged on two sides of the fixed seat 4.5.

The conveying direction of the feeding conveyor 3 is parallel to the ground and the moving direction of the tower 2, and the conveying direction of the discharging conveyor 5 is parallel to the ground and the moving direction of the tower 2.

As shown in fig. 9, before construction, it is necessary to complete installation of the device at a proper position on a construction site and then start the device. The constructor places bricks 100 on the feeding conveyor 3 one by one, and the bricks 100 move to the discharging end under the conveying of the feeding conveyor 3 and are blocked by the blocking rod 3.6 so as not to move forwards. When the bearing seat 4.6 passes through the position from bottom to top, the bearing rod 4.7 on the bearing seat 4.6 passes through the interval between the conveying wheels 3.1 to take away the bricks 100 at the position and continuously lift. When the highest point is reached, the brick is conveyed from top to bottom, at the moment, the bearing seat 4.6 passes through the feeding end of the blanking conveying device 5, the bearing rod 4.7 penetrates through the interval between the discharging rollers 5.1, and the brick 100 is intercepted on the discharging rollers 5.1 because the size is larger than the interval. Bricks 100, as delivered by outfeed conveyor 5, come onto large arm conveyor 13 and move forward under the push of first apron 13.1, then onto small arm conveyor 12 and likewise move forward under the push of second apron 12.1. Finally, brick 100 is moved to the end of the small arm conveyor 12 and stays there under the block of the brick stop plate 10 while the robot arm 9 is adjusted in posture to perform gripping of brick 100. In the process of conveying the bricks 100, the large arm 13 and the small arm 12 are driven by respective oil cylinders to adjust postures, so that the mechanical arm 9 reaches a placing area, and then the mechanical arm 9 adjusts the final posture under the cooperation of a visual sensor, so that the bricks 100 are placed at a preset position. Thereafter, as the tower 2 moves, a wall in the longitudinal direction is completely built. With the extension of the large arm 7 and the small arm 8, a wall body in the width direction is completely built.

It should be noted that the robot arm 9 has a plurality of degrees of freedom, and the posture adjustment in a small range in the longitudinal direction can be performed by the robot arm 9 itself, whereas the posture adjustment in a large range needs to be performed by the movement of the tower 2. All be provided with the deflector in fragment of brick 100's the transport route, realize fragment of brick 100 along the purpose of sharp transport to avoid appearing the error, influence the snatching of arm 9. The improvement of the present application lies in the structure, and the control method for the electrical component belongs to the prior art, and therefore, the details are not repeated.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. An automatic brick stacking construction device is characterized by comprising a ground track (1), wherein a tower (2) is arranged on the ground track (1), and the tower (2) is provided with a guide wheel (2.1), a driving motor, a feeding and conveying device (3), a circulating lifting device (4), a discharging and conveying device (5), a large arm (7) and a large arm oil cylinder (6); the guide wheel (2.1) is arranged in a guiding manner with the ground track (1), and the driving motor drives the guide wheel (2.1); the feeding conveying device (3) is close to the bottom of the tower (2), and the discharging conveying device (5) is close to the top of the tower (2); the large arm oil cylinder (6) is connected with the large arm (7), the other end of the large arm (7) is provided with a small arm (8), and the other end of the small arm (8) is provided with a mechanical arm (9); a small arm oil cylinder (14) is connected between the large arm (7) and the small arm (8); the large arm (7) is provided with a large arm conveying device (13), the small arm (8) is provided with a small arm conveying device (12), and the mechanical arm (9) is provided with a visual sensor;

the bricks (100) are conveyed to the grabbing range of the mechanical arm (9) sequentially through the feeding conveying device (3), the circulating lifting device (4), the discharging conveying device (5), the large arm conveying device (13) and the small arm conveying device (12).

2. The automatic brick piling construction device according to claim 1, wherein the feeding conveyor device (3) comprises a feeding frame (3.3), and a material blocking rod (3.6), a plurality of groups of conveying wheels (3.1) and a feeding motor (3.5) are arranged on the feeding frame (3.3); the conveying wheels (3.1) are sequentially arranged along the conveying direction, and the feeding motor (3.5) drives the conveying wheels (3.1) to rotate through the feeding transmission mechanism (3.4) so as to complete the conveying of the bricks (100); the material blocking rod (3.6) is arranged at the discharge end of the feeding rack (3.3) to prevent the bricks (100) from moving forwards; a plurality of conveying wheels (3.1) in the same group are arranged at certain intervals, and the conveying wheels (3.1) arranged along the same straight line direction are connected through the same feeding conveying belt (3.2).

3. An automatic brick-piling construction device according to claim 2, wherein the circulation conveyor (4) comprises a lower transmission wheel (4.1), an upper transmission wheel (4.2) and a circulation motor, the lower transmission wheel (4.1) is arranged at a position near the bottom of the tower (2), the upper transmission wheel (4.2) is arranged at a position near the top of the tower (2); the lower driving wheel (4.1) and the upper driving wheel (4.2) are in transmission connection through a circulating conveyor belt (4.3), and the circulating motor drives the lower driving wheel (4.1) to rotate; a plurality of fixed seats (4.4) are arranged on the circulating conveyor belt (4.3) at equal intervals, a bearing seat (4.6) is hung on each fixed seat (4.4), and a plurality of bearing rods (4.7) are arranged on each bearing seat (4.6); when the bearing seat (4.6) passes through the discharge end of the feeding conveying device (3) from bottom to top, the bearing rod (4.7) can pass through the interval between the two corresponding conveying wheels (3.1), so as to carry away bricks (100) on the discharge end of the feeding conveying device (3).

4. The automatic brick stacking construction device according to claim 3, wherein the discharging conveyor (5) comprises a discharging frame (5.3), a plurality of discharging rollers (5.1) and a discharging motor are arranged on the discharging frame (5.3), the discharging rollers (5.1) are arranged at certain intervals, and the discharging motor drives the discharging rollers (5.1) to rotate through a discharging transmission mechanism (5.2) so as to complete the conveying of the bricks (100); when the bearing seat (4.6) passes through the feeding end of the discharging conveying device (5) from top to bottom, the bearing rod (4.7) can pass through the interval between the two corresponding discharging rollers (5.1), so that bricks (100) borne by the bearing rod are placed on the feeding end of the discharging conveying device (5).

5. The automatic brick rampart construction device according to claim 4, wherein the large arm conveyor (13) and the small arm conveyor (12) are belt conveyors, a first baffle (13.1) is distributed on the conveying belt of the large arm conveyor (13), and a second baffle (12.1) is distributed on the conveying belt of the small arm conveyor (12).

6. A robotic brick-piling installation according to claim 5, characterized in that the robot arm (9) comprises a base (9.5), the base (9.5) is provided with a first arm (9.4) and a first motor driving the first arm (9.4) to rotate around a first axis (I), the end of the first arm (9.4) is provided with a second arm (9.3) and a second motor driving the second arm (9.3) to rotate around a second axis (II), the end of the second arm (9.3) is provided with a third arm (9.2) and a third motor driving the second arm (9.2) to rotate around a third axis (III), the end of the third arm (9.3) is provided with a gripper (9.1) and a fourth motor driving the gripper (9.1) to rotate around a fourth axis (IV);

the first axis (I) is perpendicular to the base (9.5), the second axis (II) is perpendicular to the first axis (I), the third axis (III) is parallel to the second axis (II), the fourth axis (IV) is perpendicular to the third axis (III).

7. An automatic brick-piling construction device according to claim 6, characterized in that the end of the small arm (12) is provided with a mounting plate (11), the mounting plate (11) is provided with a brick-blocking plate (10), and the mechanical arm (9) is provided on the mounting plate (11).

8. The automatic brick-piling construction device according to claim 7, wherein the loading conveyor (3), the discharging conveyor (5), the large arm conveyor (13.1), the small arm conveyor (12.1) and the mechanical arm (9) are arranged in two opposite directions; the two sides of the bearing seat (4.6) on the fixed seat (4.5) are respectively provided with one bearing seat.

9. An automatic brick-piling construction device according to claim 8, characterized in that the conveying direction of the feeding conveyor (3) is parallel to the ground and parallel to the moving direction of the tower (2), and the conveying direction of the discharging conveyor (5) is parallel to the ground and perpendicular to the moving direction of the tower (2).